Scheduling and planning in executive systems Connor LANGE
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Transcript of Scheduling and planning in executive systems Connor LANGE
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SCHEDULING AND PLANNING IN
EXECUTIVE SYSTEMSCONNOR LANGE
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Overview
Background Previous Systems GDMFAS
Task ManagerSchedulerSystem Monitor
Implementation Issues
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Research/Topic Area
Executive Systems in Space!
Special ConsiderationsExtreme Risk – Money and TimeCommunication – Little to None“Weak” hardware – Flight HeritageMistrust of AI – Flight Heritage / Risk
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Executive System Architecture Overview Agent architecture that acts as the
“brain” of an autonomous system (AS)
Handles all planning and scheduling of tasks and mission objective
Monitors system health and consolidates information about the agent to preserve the system
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Implications
Significant resource usage
Additional complexitySoftwareRisk Hardware
Increased development time
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Why?
Human error due to:Limited visibility of system stateAccidents (wrong commands, etc.)Humans being slow and inefficient (other
things)
It’s necessary… for the precise reasons it’s dangerous
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Overview
Background Previous Systems GDMFAS
Data ItemsTask ManagerSchedulerSystem Monitor
System Concerns
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List of Previous Systems
GENIE LOGOS ASOF ASPEN NMRA ASE CASPER NEAT
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Ground Station Approach
Systems: GENIE, LOGOS, ASOF Benefits:
Significant advantages all-around○ Hardware○ Error Correction○ Software Complexity/Testing
Cons:Comms!
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Platform Independent Approach
Systems: ASPEN Benefits:
Generic/Abstract ImplementationVersatility in mission planning
○ Ground/Space FocusEasier to interface with since humans think
in terms of “high-level” operations Cons:
Doesn’t inherently address specific spacecraft concerns (hardware, etc.)
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Spacecraft Approach
Systems: NMRA, ASE Benefits:
Considers unique spacecraft problemsImmune to communication problemsCounteracts human errorQuick response time
Cons:Added complexity, risk, development time,
etc.
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Partial Solutions
Systems: CASPER, NEAT Benefits:
UNIX philosophy – do 1 thing and do it well Forces modular architecture Provides versatility in system design and
decreases future development time Cons:
No assumptions about system designCommunication with other modules
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Overview
Background Previous Systems GDMFAS
Data ItemsTask ManagerSchedulerSystem Monitor
System Concerns
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Generic Decision Making Framework for Autonomous Systems (“the framework”)
Relieve the headache Make development simpler and more
cost effectiveDon’t reinvent the wheel
Don’t waste time with the “obvious”Ex: C program headers, function declaration
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Overview
Background Previous Systems GDMFAS
Data ItemsTask ManagerSchedulerSystem Monitor
System Concerns
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Data Item Design Decisions Executables
Effects on the system are all that matterTasks executed through user-code
ResourcesNumerical values and binary use indicatorsSafety
○ Minimum safe level○ Total amount
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Data Items - Tasks
Most basic schedulable unit
Most common unit
Use resources
Only directly executable unit
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Task Class Diagram
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Data Items: Activities and Mission Objectives Derived from ScheduleItem NOT directly executable
Executes the Tasks or Activities contained within
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Data Items - Resource
Used by the System Monitor to watch resource levels of all resources
Stores: The maximum capacity of the resource in
the systemIf the Resource is sharable or not
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Overview
Background Previous Systems GDMFAS
Data ItemsTask ManagerSchedulerSystem Monitor
System Concerns
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Task Manager
Repository for all possible Tasks in the systemKeeps track of what has been completed
and what hasn’t Adds new Tasks Updates Tasks Relays repository information to the
ground
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Task Manager – Adding Tasks All Tasks that the developers are aware
of at system creation time are automatically read
Future Tasks must be transmittedMission completed, changed, or aborted
Operator sends the data required for a Task to the system (“Task factory”)
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Task Manager - Updates
System Monitor sends updated Task properties to the repository where they are savedExecution TimeResource Usage
Updates completion status Task Activity Mission Objective
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Task Manager – Relaying Status
Creates a report of the current status of the Task repositoryOverall Mission Status %Mission Objectives %
○ ListActivities %
○ ListTasks %
○ List
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Overview
Background Previous Systems GDMFAS
Data ItemsTask ManagerSchedulerSystem Monitor
System Concerns
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Planning/Scheduling Considerations Time
Time sensitive tasks Resources
MemoryPower
StateBroken hardwareWithin communication range
PriorityExternal tasksControl Tasks
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Scheduler
Constructs the schedule but doesn’t execute it
Processing Risk ManagerPrioritizer
Schedule ConstructionScheduling Algorithm
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Scheduler – Risk Manager Removes Tasks from the selection pool
Dangerous tasks ○ Resources ○ Probability of success (< 65%)
consequences○ Mission status ( > 70%)
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Scheduler - Prioritizer
Assigns a ranking to Tasks in the selection poolTime - time of day
○ Absolute deadlines exit prioritizerFairness - starvationContribution to Mission - completion of tiersUser priority - importance to developer
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Scheduler - Algorithm
Place Tasks with absolute deadlines first Place rest of Tasks in selection pool by
ranking and time length
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Overview
Background Previous Systems GDMFAS
Data ItemsTask ManagerSchedulerSystem Monitor
System Concerns
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System Monitor
Ensures system safety Enforce manual overrideKill or halt a Task if it becomes dangerousForce critical tasks to execute
Monitor ResourcesEnforce sharing of resourcesPrevent Tasks from running due to Resource
problems Invoke other modules Comms
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Overview
Background Previous Systems GDMFAS
Data ItemsTask ManagerSchedulerSystem Monitor
System Concerns
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System Concerns
PerformanceMemory
○ Unnecessary modules○ Memory overhead
ComplexityEffectiveness
UsabilityEasy to understand, integrate
Practicality of Implementation
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QUESTIONS?
Sources in Paper