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% ----------------------------------------------------------------------------
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% ----------------------------------------------------------------------------
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% 1. INTRODUCTION AND HYBRID SYSTEMS DEFINITION
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% 1. INTRODUCTION AND HYBRID SYSTEMS DEFINITION
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% ----------------------------------------------------------------------------
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% ----------------------------------------------------------------------------
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Previous approaches to autonomous control have verified
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discrete switching logic or continuous control behavior, but not both
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simultaneously. Validation of continuous controllers today consists of
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extensive simulation trials. Discrete switching logic for routine operation
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has been driven by human operators, whose evaluation includes simulated
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control room testing and human factors research. Neither method, despite
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being extremely resource intensive, provides rigorous guarantees of control
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system behavior. HAHACS bridges this gap by composing formal methods from
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computer science with control-theoretic verification, formalizing reactor
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operations using the framework of hybrid automata.
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The challenge of hybrid system verification lies in the interaction between
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discrete and continuous dynamics. Discrete transitions change the governing
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vector field, creating discontinuities in the system's behavior. Traditional
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verification techniques designed for purely discrete or purely continuous
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systems cannot handle this interaction directly.Our methodology addresses this
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challenge through decomposition. We verify discrete switching logic and
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continuous mode behavior separately, then compose these guarantees to reason
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about the complete hybrid system. This two-layer approach mirrors the structure
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of reactor operations themselves: discrete supervisory logic determines which
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control mode is active, while continuous controllers govern plant behavior
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within each mode.
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To build a high-assurance hybrid autonomous control system (HAHACS), we must
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To build a high-assurance hybrid autonomous control system (HAHACS), we must
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first establish a mathematical description of the system. This work draws on
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first establish a mathematical description of the system. This work draws on
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automata theory, temporal logic, and control theory. The nomenclature across
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automata theory, temporal logic, and control theory. A hybrid system is a
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these fields is far from homogeneous, and the reviewer of this proposal is not
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dynamical system that has both continuous and discrete states. The specific type
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expected to be an expert in all of them simultaneously. To present the research
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of system discussed in this proposal is a continuous autonomous hybrid system.
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ideas as clearly as possible, the following definitions are provided.
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This means that the system does not have external input and that continuous
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states do not change instantaneously when discrete states change. For our
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A hybrid system is a dynamical system that has both continuous and discrete
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systems of interest, the continuous states are physical quantities that are
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states. The specific type of system discussed in this proposal is a continuous
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always Lipschitz continuous. This nomenclature is borrowed from the Handbook on
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autonomous hybrid system. This means that the system does not have external
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Hybrid Systems Control \cite{HANDBOOK ON HYBRID SYSTEMS}, but is redefined here
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input and that continuous states do not change instantaneously when discrete
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for convenience:
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states change. For our systems of interest, the continuous states are physical
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quantities that are always Lipschitz continuous. This nomenclature is borrowed
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from the Handbook on Hybrid Systems Control, but is redefined here for
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convenience:
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\begin{equation}
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\begin{equation}
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H = (\mathcal{Q}, \mathcal{X}, \mathbf{f}, Init, \mathcal{G}, \delta, \mathcal{R}, Inv)
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H = (\mathcal{Q}, \mathcal{X}, \mathbf{f}, Init, \mathcal{G}, \delta, \mathcal{R}, Inv)
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@ -55,46 +73,16 @@ where:
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The creation of a HAHACS amounts to the construction of such a tuple together
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The creation of a HAHACS amounts to the construction of such a tuple together
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with proof artifacts demonstrating that the intended behavior of the control
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with proof artifacts demonstrating that the intended behavior of the control
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system is satisfied by its actual implementation.
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system is satisfied by its actual implementation. This approach is tractable now
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because the infrastructure for each component has matured. The novelty is not in
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\textcolor{blue}{Previous approaches to autonomous control have verified
|
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discrete switching logic or continuous control behavior, but not both
|
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simultaneously. Validation of continuous controllers today consists of
|
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extensive simulation trials. Discrete switching logic for routine operation
|
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has been driven by human operators, whose evaluation includes simulated
|
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control room testing and human factors research. Neither method, despite
|
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being extremely resource intensive, provides rigorous guarantees of control
|
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system behavior. HAHACS bridges this gap by composing formal methods from
|
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computer science with control-theoretic verification, formalizing reactor
|
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operations using the framework of hybrid automata.}
|
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|
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\textcolor{blue}{The challenge of hybrid system verification lies in the
|
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interaction between discrete and continuous dynamics. Discrete transitions
|
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change the governing vector field, creating discontinuities in the system's
|
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behavior. Traditional verification techniques designed for purely discrete or
|
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purely continuous systems cannot handle this interaction directly.}
|
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|
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\textcolor{blue}{Our methodology addresses this challenge through decomposition. We verify
|
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discrete switching logic and continuous mode behavior separately, then compose
|
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these guarantees to reason about the complete hybrid system. This two-layer
|
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approach mirrors the structure of reactor operations themselves: discrete
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supervisory logic determines which control mode is active, while continuous
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controllers govern plant behavior within each mode.}
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\textcolor{blue}{This approach is tractable now because the infrastructure for each component
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has matured. Reactive synthesis from temporal logic specifications has
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progressed from theoretical results to practical tools; solvers like Strix
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can synthesize controllers from LTL specifications in seconds. Reachability
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analysis and barrier certificates for continuous systems have decades of
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theoretical foundation and modern computational tools. The novelty is not in
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the individual pieces, but in the architecture that connects them. By defining
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the individual pieces, but in the architecture that connects them. By defining
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entry, exit, and safety conditions at the discrete level first, we transform
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entry, exit, and safety conditions at the discrete level first, we transform the
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the intractable problem of global hybrid verification into a collection of
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intractable problem of global hybrid verification into a collection of local
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local verification problems with clear interfaces. Verification is performed
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verification problems with clear interfaces. Verification is performed per mode
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per mode rather than on the full hybrid system, keeping the analysis tractable
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rather than on the full hybrid system, keeping the analysis tractable even for
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even for complex reactor operations.}
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complex reactor operations.
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\begin{figure}[htbp]
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\begin{figure}
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\centering
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\centering
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\begin{tikzpicture}[
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\begin{tikzpicture}[
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state/.style={
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state/.style={
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@ -113,9 +101,9 @@ even for complex reactor operations.}
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]
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]
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% States
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% States
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\node[state] (q0) at (0,0) {$q_0$\\Cold\\Shutdown};
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\node[state] (q0) at (0,0) {$q_0$\\Cold\\Shutdown};
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\node[state] (q1) at (4,0) {$q_1$\\Heatup};
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\node[state] (q1) at (5,0) {$q_1$\\Heatup};
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\node[state] (q2) at (8,0) {$q_2$\\Power\\Operation};
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\node[state] (q2) at (10,0) {$q_2$\\Power\\Operation};
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\node[state, fill=red!15] (q3) at (4,-3.5) {$q_3$\\SCRAM};
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\node[state, fill=red!15] (q3) at (5,-3.5) {$q_3$\\SCRAM};
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% Normal transitions
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% Normal transitions
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\draw[trans] (q0) -- node[guard, above] {$T_{avg} > T_{min}$} (q1);
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\draw[trans] (q0) -- node[guard, above] {$T_{avg} > T_{min}$} (q1);
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@ -133,9 +121,9 @@ even for complex reactor operations.}
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% Dynamics labels below states
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% Dynamics labels below states
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\node[dynamics] at (0,-1.4) {$\dot{x} = f_0(x)$};
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\node[dynamics] at (0,-1.4) {$\dot{x} = f_0(x)$};
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\node[dynamics] at (4,-1.4) {$\dot{x} = f_1(x,u)$};
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\node[dynamics] at (6,-1.2) {$\dot{x} = f_1(x,u)$};
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\node[dynamics] at (8,-1.4) {$\dot{x} = f_2(x,u)$};
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\node[dynamics] at (10,-1.4) {$\dot{x} = f_2(x,u)$};
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\node[dynamics] at (4,-4.9) {$\dot{x} = f_3(x)$};
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\node[dynamics] at (5,-4.9) {$\dot{x} = f_3(x)$};
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\end{tikzpicture}
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\end{tikzpicture}
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\caption{Simplified hybrid automaton for reactor startup. Each discrete state
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\caption{Simplified hybrid automaton for reactor startup. Each discrete state
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@ -157,54 +145,6 @@ even for complex reactor operations.}
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% ----------------------------------------------------------------------------
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% ----------------------------------------------------------------------------
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\subsection{System Requirements and Specifications}
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\subsection{System Requirements and Specifications}
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\textcolor{blue}{Before constructing a HAHACS, we must completely describe its
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intended behavior. The behavior of any control system originates in
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requirements: statements about what the system must do, must not do, and under
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what conditions. For nuclear systems, these requirements derive from multiple
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sources including regulatory mandates, design basis analyses, and operating
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procedures. The challenge is formalizing these requirements with sufficient
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precision that they can serve as the foundation for automated controller
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synthesis and verification.}
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Autonomous control systems are fundamentally different from automatic control
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systems. The difference lies in the level at which they operate. Automatic
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control systems are purely operational systems that maintain setpoints or track
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references. Autonomous control systems make decisions about which operational
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objectives to pursue.
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\begin{figure}[htbp]
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\centering
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\begin{tikzpicture}[scale=0.8]
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% Pyramid layers
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\fill[blue!60!black] (0,4) -- (2,4) -- (1,5.5) -- cycle;
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\fill[blue!30!white] (-1.5,2.5) -- (3.5,2.5) -- (2,4) -- (0,4) -- cycle;
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\fill[blue!15!white] (-3,1) -- (5,1) -- (3.5,2.5) -- (-1.5,2.5) -- cycle;
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% Labels inside pyramid
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\node[font=\small\bfseries, white] at (1,4.5) {Strategic};
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\node[font=\small\bfseries] at (1,3.1) {Operational};
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\node[font=\small\bfseries] at (1,1.6) {Tactical};
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% Descriptions to the right
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\node[anchor=west, font=\small, text width=6cm] at (5.5,4.5)
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{\textit{Long-term planning:} maintenance scheduling, capacity planning, economic dispatch};
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\node[anchor=west, font=\small, text width=6cm] at (5.5,3.1)
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{\textit{Discrete decisions:} startup/shutdown sequences, power level changes, mode transitions};
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\node[anchor=west, font=\small, text width=6cm] at (5.5,1.6)
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{\textit{Continuous control:} temperature regulation, pressure control, load following};
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% Bracket showing HAHACS scope (simple line with text)
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\draw[thick] (-3.3,1) -- (-3.5,1) -- (-3.5,4) -- (-3.3,4);
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\node[font=\small, align=center, rotate=90] at (-4.2,2.5) {HAHACS scope};
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\end{tikzpicture}
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\caption{Control scope hierarchy in nuclear power operations. Strategic control
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(long-term planning) remains with human management. HAHACS addresses the
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operational level (discrete mode switching) and tactical level (continuous
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control within modes), which together form a hybrid control system.}
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\label{fig:strat_op_tact}
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\end{figure}
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Human control of nuclear power can be divided into three different scopes:
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Human control of nuclear power can be divided into three different scopes:
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strategic, operational, and tactical. Strategic control is high-level and
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strategic, operational, and tactical. Strategic control is high-level and
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long-term decision making for the plant. This level has objectives that are
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long-term decision making for the plant. This level has objectives that are
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@ -233,6 +173,51 @@ the continuous evolution of the plant according to the control input and control
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law, while the operational level is a discrete state evolution that determines
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law, while the operational level is a discrete state evolution that determines
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which tactical control law to apply.
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which tactical control law to apply.
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%Say something about autonomous control systems near here?
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Before constructing a HAHACS, we must completely describe its
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intended behavior. The behavior of any control system originates in
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requirements: statements about what the system must do, must not do, and under
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what conditions. For nuclear systems, these requirements derive from multiple
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sources including regulatory mandates, design basis analyses, and operating
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procedures. The challenge is formalizing these requirements with sufficient
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precision that they can serve as the foundation for autonomous control system
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synthesis and verification.
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\begin{figure}
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\centering
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\begin{tikzpicture}[scale=0.8]
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% Pyramid layers
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\fill[blue!30!white] (0,4) -- (2,4) -- (1,5.) -- cycle;
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\fill[blue!20!white] (-1.5,2.5) -- (3.5,2.5) -- (2,4) -- (0,4) -- cycle;
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\fill[blue!10!white] (-3,1) -- (5,1) -- (3.5,2.5) -- (-1.5,2.5) -- cycle;
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% Labels inside pyramid
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\node[font=\small\bfseries] at (1,4.5) {Strategic};
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\node[font=\small\bfseries] at (1,3.1) {Operational};
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\node[font=\small\bfseries] at (1,1.6) {Tactical};
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% Descriptions to the right
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\node[anchor=west, font=\small, text width=8cm] at (5.5,4.6)
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{\textit{Long-term planning:} maintenance scheduling, capacity planning, economic dispatch};
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\node[anchor=west, font=\small, text width=8cm] at (5.5,3.1)
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{\textit{Discrete decisions:} startup/shutdown sequences, power level changes, mode transitions};
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\node[anchor=west, font=\small, text width=8cm] at (5.5,1.6)
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{\textit{Continuous control:} temperature regulation, pressure control, load following};
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% Bracket showing HAHACS scope (simple line with text)
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\draw[thick] (5.0,1.0) -- (-3.5,1) -- (-3.5,4) -- (2.0,4) -- cycle;
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\node[font=\small, align=center, rotate=90] at (-4.2,2.5) {HAHACS scope};
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\end{tikzpicture}
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\caption{Control scope hierarchy in nuclear power operations. Strategic control
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(long-term planning) remains with human management. HAHACS addresses the
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operational level (discrete mode switching) and tactical level (continuous
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control within modes), which together form a hybrid control system.}
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\label{fig:strat_op_tact}
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\end{figure}
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This operational control level is the main reason for the requirement of human
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This operational control level is the main reason for the requirement of human
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operators in nuclear control today. The hybrid nature of this control system
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operators in nuclear control today. The hybrid nature of this control system
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makes it difficult to prove that a controller will perform according to
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makes it difficult to prove that a controller will perform according to
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5
main.aux
5
main.aux
@ -20,18 +20,19 @@
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\citation{Kiniry2024}
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\citation{Kiniry2024}
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\citation{HANDBOOK ON HYBRID SYSTEMS}
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|
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||||||
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\contentsline {subsubsection}{\numberline {2.3.2}Sequent Calculus and Differential Dynamic Logic}{5}{}%
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\contentsline {subsubsection}{\numberline {2.3.2}Sequent Calculus and Differential Dynamic Logic}{5}{}%
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\contentsline {paragraph}{TRL 3 \textit {Critical Function and Proof of Concept}}{16}{}%
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\contentsline {paragraph}{TRL 4 \textit {Laboratory Testing of Integrated Components}}{16}{}%
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