Publications

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This report describes the architectural design for a high fidelity simulation of a refinery and refinery burner, including demonstrations of impacts to the refinery if errors occur during the refinery process. The refinery burner model and simulation are a part of the capabilities within the Sandia National Laboratories Virtual Control System Environment (VCSE). Three components comprise the simulation: HMIs developed with commercial SCADA software, a PLC controller, and visualization software. All of these components run on different machines. This design, documented after the simulation development, incorporates aspects not traditionally seen in an architectural design, but that were utilized in this particular demonstration development. Key to the success of this model development and presented in this report are the concepts of the multiple aspects of model design and development that must be considered to capture the necessary model representation fidelity of the physical systems.

This paper describes a new hybrid modeling and simulation architecture developed at Sandia for understanding and developing protections against and mitigations for cyber threats upon control systems. It first outlines the challenges to PCS security that can be addressed using these technologies. The paper then describes Virtual Control System Environments (VCSE) that use this approach and briefly discusses security research that Sandia has performed using VCSE. It closes with recommendations to the control systems security community for applying this valuable technology.

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This report describes recent progress made in developing and utilizing hybrid Simulated, Emulated, and Physical Investigative Analysis (SEPIA) environments. Many organizations require advanced tools to analyze their information system's security, reliability, and resilience against cyber attack. Today's security analysis utilize real systems such as computers, network routers and other network equipment, computer emulations (e.g., virtual machines) and simulation models separately to analyze interplay between threats and safeguards. In contrast, this work developed new methods to combine these three approaches to provide integrated hybrid SEPIA environments. Our SEPIA environments enable an analyst to rapidly configure hybrid environments to pass network traffic and perform, from the outside, like real networks. This provides higher fidelity representations of key network nodes while still leveraging the scalability and cost advantages of simulation tools. The result is to rapidly produce large yet relatively low-cost multi-fidelity SEPIA networks of computers and routers that let analysts quickly investigate threats and test protection approaches.

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The Design for Tractable Analysis (DTA) framework was developed to address the analysis of complex systems and so-called “wicked problems.” DTA is distinctive because it treats analytic processes as key artifacts that can be created and improved through formal design processes. Systems (or enterprises) are analyzed as a whole, in conjunction with decomposing them into constituent elements for domain-specific analyses that are informed by the whole. After using the Systems Modeling Language (SysML) to frame the problem in the context of stakeholder needs, DTA harnesses the Design Structure Matrix (DSM) to structure the analysis of the system and address questions about the emergent properties of the system. The novel use of DSM to “design the analysis” makes DTA particularly suitable for addressing the interdependent nature of complex systems. The use of DTA is demonstrated by a case study of sensor grid placement decisions to secure assets at a fixed site. © 2009, IGI Global. All rights reserved.

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This paper analyzes three simulation architectures from the context of modeling scalability to address System of System (SoS) and Complex System problems. The paper first provides an overview of the SoS problem domain and reviews past work in analyzing model and general system complexity issues. It then identifies and explores the issues of vertical and horizontal integration as well as coupling and hierarchical decomposition as the system characteristics and metrics against which the tools are evaluated. In addition, it applies Nam Suh's Axiomatic Design theory as a construct for understanding coupling and its relationship to system feasibility. Next it describes the application of MATLAB, Swarm, and Umbra (three modeling and simulation approaches) to modeling swarms of Unmanned Flying Vehicle (UAV) agents in relation to the chosen characteristics and metrics. Finally, it draws general conclusions for analyzing model architectures that go beyond those analyzed. In particular, it identifies decomposition along phenomena of interaction and modular system composition as enabling features for modeling large heterogeneous complex systems.

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This document describes the Umbra System representation. Umbra System representation, initially developed in the spring of 2003, is implemented in Incr/Tcl using concepts borrowed from Carnegie Mellon University's Architecture Description Language (ADL) called Acme. In the spring of 2004 through January 2005, System was converted to Umbra 4, extended slightly, and adopted as the underlying software system for a variety of Umbra applications that support Complex Systems Engineering (CSE) and Complex Adaptive Systems Engineering (CASE). System is now a standard part Of Umbra 4. While Umbra 4 also includes an XML parser for System, the XML parser and Schema are not described in this document.

This report describes Umbra's High Level Architecture HLA library. This library serves as an interface to the Defense Simulation and Modeling Office's (DMSO) Run Time Infrastructure Next Generation Version 1.3 (RTI NG1.3) software library and enables Umbra-based models to be federated into HLA environments. The Umbra library was built to enable the modeling of robots for military and security system concept evaluation. A first application provides component technologies that ideally fit the US Army JPSD's Joint Virtual Battlespace (JVB) simulation framework for Objective Force concept analysis. In addition to describing the Umbra HLA library, the report describes general issues of integrating Umbra with RTI code and outlines ways of building models to support particular HLA simulation frameworks like the JVB.

Umbra is a new Sandia-developed modeling and simulation framework. The Umbra framework allows users to quickly build models and simulations for intelligent system development, analysis, experimentation, and control and supports tradeoff analyses of complex robotic systems, device, and component concepts. Umbra links together heterogeneous collections of modeling tools. The models in Umbra include 3D geometry and physics models of robots, devices and their environments. Model components can be built with varying levels of fidelity and readily switched to allow models built with low fidelity for conceptual analysis to be gradually converted to high fidelity models for later phase detailed analysis. Within control environments, the models can be readily replaced with actual control elements. This paper describes Umbra at a functional level and describes issues that Sandia uses Umbra to address.

This paper identifies active research topics concerning human machine interfaces for intelligent machine systems. The paper was compiled by performing a series of literature searches and organizing the information according to the author's interest in better directing his own Human Machine Interface (HMI) research. Introductory literature from outside the HMI communities is also referenced to provide context.

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The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories (SNL) is developing technologies for glovebox size reduction in the DOE nuclear complex. A study was performed for Kaiser-Hill (KH) at the Rocky Flats Environmental Technology Site (RFETS) on the available technologies for size reducing the glovebox lines that require size reduction in place. Currently, the baseline approach to these glovebox lines is manual operations using conventional mechanical cutting methods. The study has been completed and resulted in a concept of the robotic system for in-situ size reduction. The concept makes use of commercially available robots that are used in the automotive industry. The commercially available industrial robots provide high reliability and availability that are required for environmental remediation in the DOE complex. Additionally, the costs of commercial robots are about one-fourth that of the custom made robots for environmental remediation. The reason for the lower costs and the higher reliability is that there are thousands of commercial robots made annually, whereas there are only a few custom robots made for environmental remediation every year. This paper will describe the engineering analysis approach used in the design of the robotic system for glovebox size reduction.

The Internet and the applications it supports are revolutionizing the way people work together. This paper presents four case studies in engineering collaboration that new Internet technologies have made possible. These cases include assembly design and analysis, simulation, intelligent machine system control, and systems integration. From these cases, general themes emerge that can guide the way people will work together in the coming decade.

Sandia National Laboratories is responsible for assuring that the US nuclear deterrent remains credible and that the one in a billion disaster of unintended nuclear detonation never occurs. Letting mistake-generated defects into the stockpile would undermine its mission. The current era of shrinking stockpiles is shrinking Sandia`s opportunities to discover and correct mistakes and fine tune processes over long production runs. In response, Sandia has chosen to develop and use a science-based, life cycle systems engineering practices that, in part, require understanding the design to manufacturing issues in enough detail to tune processes and eliminate mistakes before ever making a part. Defect prevention is a key area of concern that currently lacks sufficient theoretical understanding. This report is the result of a scoping study in the application of best-practice quality techniques that could address Sandia`s stockpile mission. The study provides detail on sources and control of mistakes, poka-yoke or mistake-proofing techniques, the Toyota Production system, and design theory in relation to manufacturing quality prediction. Scoping experiments are described and areas for future research are identified.

With the goal of improving the ability of people around the world to share the development and use of intelligent systems, Sandia National Laboratories` Intelligent Systems and Robotics Center is developing new Virtual Collaborative Engineering (VCE) and Virtual Collaborative Control (VCC) technologies. A key area of VCE and VCC research is in shared visualization of virtual environments. This paper describes a Virtual Collaborative Visualizer (VCV), named Rocinante, that Sandia developed for VCE and VCC applications. Rocinante allows multiple participants to simultaneously view dynamic geometrically-defined environments. Each viewer can exclude extraneous detail or include additional information in the scene as desired. Shared information can be saved and later replayed in a stand-alone mode. Rocinante automatically scales visualization requirements with computer system capabilities. Models with 30,000 polygons and 4 Megabytes of texture display at 12 to 15 frames per second (fps) on an SGI Onyx and at 3 to 8 fps (without texture) on Indigo 2 Extreme computers. In its networked mode, Rocinante synchronizes its local geometric model with remote simulators and sensory systems by monitoring data transmitted through UDP packets. Rocinante`s scalability and performance make it an ideal VCC tool. Users throughout the country can monitor robot motions and the thinking behind their motion planners and simulators.

With a goal of producing faster, safer, and cheaper technologies for nuclear waste cleanup, Sandia is actively developing and extending intelligent systems technologies through the US Department of Energy Office of Technology Development (DOE OTD) Robotic Technology Development Program (RTDP). Graphical programming is a key technology for robotic waste cleanup that Sandia is developing for this goal. Graphical programming uses simulation such as TELEGRIP `on-line` to program and control robots. Characterized by its model-based control architecture, integrated simulation, `point-and-click` graphical user interfaces, task and path planning software, and network communications, Sandia`s Graphical Programming systems allow operators to focus on high-level robotic tasks rather than the low-level details. Use of scripted tasks, rather than customized programs minimizes the necessity of recompiling supervisory control systems and enhances flexibility. Rapid world-modelling technologies allow Graphical Programming to be used in dynamic and unpredictable environments including digging and pipe-cutting. This paper describes Sancho, Sandia`s most advanced graphical programming supervisory software. Sancho, now operational on several robot systems, incorporates all of Sandia`s recent advances in supervisory control. Graphical programming uses 3-D graphics models as intuitive operator interfaces to program and control complex robotic systems. The goal of the paper is to help the reader understand how Sandia implements graphical programming systems and which key features in Sancho have proven to be most effective.