MERS CSAIL WORLD observations Plant actions P(S sense act Diagnostic Agent AGENT · Monitors diagnoses Repairs avoids Symptom-based Probes and tests Consistency-based Model-based Programs MERS CsAIL Interact Directly with State Embedded programs interact with Model-based programs plant sensors/actuators interact with plant state · Read sensors Read state Set actuators Write state ,,, Model-based Embedded Program Embedded Program obs Cntrl Plant Plant Programmer must map between Model-based executive maps state and sensors/actuators between sensors actuators to statessense P(s) WORLD observations actions AGENT Diagnostic Agent: • Monitors & Diagnoses • Repairs & Avoids • Probes and Tests Plant act Symptom-based Consistency-based Model-based Programs Interact Directly with State Embedded programs interact with plant sensors/actuators: • Read sensors • Set actuators Model-based programs interact with plant state: • Read state • Write state Embedded Program S Plant Obs Cntrl Model-based Embedded Program S Plant Programmer must map between state and sensors/actuators. Model-based executive maps between sensors, actuators to states