Example: The model-based program sets the state to thrusting, and the deductive controller Oxidizer tank Fuel tank →轻柱 Deduces that Plans actions thrust is off. and the engine is healthy six valves Deduces that a valve failed -stuck closed Determines that valves on the backup engine will achieve thrust. and plans needed actions RMPL Model-based Program Titan Model-based Executive Control Program Executes concurrent Pr Generates target goal states Queries(hidden) states conditioned on state estimates Asserts(hidden) state System Model State estimates State goals Tracks Tracks least e Valve plant states cost goal states Stuck Closed t。+4 closed/OE Stuck bservations Commands inflow outflow= PlantExample: The model-based program sets the state to thrusting, and the deductive controller . . . . Determines that valves on the backup engine will achieve thrust, and plans needed actions. Deduces that a valve failed - stuck closed Plans actions to open six valves Oxidizer tank Oxidizer tank Fuel tank Fuel tank Deduces that thrust is off, and the engine is healthy Control Sequencer Deductive Controller System Model Observations Commands Control Program Plant RMPL Model-based Program Titan Model-based Executive State estimates State goals Generates target goal states conditioned on state estimates Mode Estimation Mode Reconfiguration Tracks likely plant states Tracks least cost goal states z Executes concurrently z Preempts z Queries (hidden) states z Asserts (hidden) state Closed Valve Open Stuck open Stuck closed Open Close 0. 01 0. 01 0.01 0.01 inflow = outflow = 0