EXample: Driver Valve Command Sequence Goal: No thrust Valve driver dr Valve vlv demin din Commands Driver state Valve state MES dr= off vIv=open MS: dr= off vlv= closed MRP demin = on ME dr= on vIv=open MRP dcmdin= close ME: dr= reset failure en v=ope MRP demin reset ME dr= on vIv=open MRP demin off ME: dr= off vIv =open Artificial Intelligence e pace Systems laboratories Massachusetts Institute of TechnologyArtificial Intelligence & Space Systems Laboratories Massachusetts Institute of Technology Example: Driver Valve Command Sequence Valve Driver dr Valve vlv vcmdin dcmdin Commands Driver State Valve State ME: dr = off, vlv = open MS: dr = off, vlv = closed MRP dcmdin = on ME: dr = on, vlv = open MRP dcmdin = close ME: dr = reset failure, vlv = open MRP dcmdin = reset ME: dr = on, vlv = open MRP dcmdin = off ME: dr = off, vlv = open Goal: No thrust