会 Why model-based programming Q MERS Leading Diagnosis .Legs deployed during descent Noise spike on leg sensors latched by monitors Laser altimeter registers 50ft Begins polling leg monitors to determine touch down Latched noise spike read as mage courtesy of JPL touchdown Engine shutdown at -50ft Mars Climate Orbiter · Mars polar lander Create Embedded Languages That Reason on the Fly from Commonsense models Model-based Programs MERS lai 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 statesWhy Model-based Programming? Create Embedded Languages That Reason on the Fly from Commonsense Models Leading Diagnosis: •Legs deployed during descent. • Noise spike on leg sensors latched by monitors. • Laser altimeter registers 50ft. • Begins polling leg monitors to determine touch down. • Latched noise spike read as touchdown. • Engine shutdown at ~50ft. Mars 98: • Climate Orbiter • Mars Polar Lander 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. Image courtesy of JPL