# Instance instance_005

Name instance_005 [Root]    Planning (2188)    Hydraulic System (2188)    Hydraulic Timed Planning (2129) Max Ostrowski NASA 2009-08-19 16:11 2009-08-19 16:11 %%%%%%%%%%%%%%%%%% Problem Module %%%%%%%%%%%%%%%%%% % DEC 16, 2000 % Variation of problem4 % Performs maneuver -Z (there are 8 faults involved.) % Plan contains 21 actions, performed in 7 steps. %%%%%%%%%%%%%%%%%% Initial Situation %%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%% COMMON PART %%%%%%%%%%%%%%%%%%%% % Initially, the Helium tanks are pressurized. % h(pressurized_by(X,X),0) is true iff tank X is pressurized by X % at time 0. h(pressurized_by(ffh,ffh),0). h(pressurized_by(foh,foh),0). h(pressurized_by(lfh,lfh),0). h(pressurized_by(loh,loh),0). h(pressurized_by(rfh,rfh),0). h(pressurized_by(roh,roh),0). % All switches are normally in state GPC initially. % h(in_state(D,S),0) is true iff device D is in state S at time 0. h(in_state(Sw,gpc),0) :- of_type(Sw,v_switch), not nh(in_state(Sw,gpc),0). % Valves are all normally closed initially. h(in_state(V,closed),0) :- of_type(V,valve), not h(in_state(V,open),0). % Except the dummy valves which are always open. stuck(V,open) :- dummy_valve(V). %%%%%%%%%%%%%%%%%% Initial Situation %%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%% FAULTS and OTHER EXCEPTIONS %%%%%%%%%%%%%%%%%%%% has_leak(ffm2). has_leak(fom3). has_leak(lfx345). has_leak(rfx12). has_leak(rfm2). has_leak(rfi345a). has_leak(roi345a). has_leak(rfi345b). stuck(lx12,closed). h(in_state(ffm2,open),0). h(in_state(fom3,open),0). h(in_state(lfx345,open),0). h(in_state(rfx12,open),0). h(in_state(rfm2,open),0). h(in_state(rfi345a,open),0). h(in_state(roi345a,open),0). h(in_state(rfi345b,open),0). %stuck_at(fhca_w99,fhca_g5,0). %%%%%%%%%%%%%%%%%%%%%%%% GOALS %%%%%%%%%%%%%%%%%%%%%%%%%% % A goal must be specified for every subsystem of the RCS. % If subsystem 's' is not involved in the goal use done(s). % Maneuver -Z goal(T,fwd_rcs) :- time(T), pair_of_jets(J1,J2), h(ready_to_fire(J1),T), h(ready_to_fire(J2),T). goal(T,left_rcs) :- time(T), jet_of(J,left_rcs), direction(J,down), h(ready_to_fire(J),T). goal(T,right_rcs) :- time(T), jet_of(J,right_rcs), direction(J,up), h(ready_to_fire(J),T). % Checking plan: %occurs(flip(fm2,closed),0). %occurs(flip(fm3,closed),1). %occurs(flip(fha,open),2). %occurs(flip(fi12,open),3). %occurs(flip(fi345,open),4). %occurs(flip(fm1,open),5). %occurs(flip(fm4,open),6). %occurs(flip(rm4,closed),0). %occurs(flip(rha,open),1). %occurs(open_roi345a,2). %occurs(open_rfi345b,3). %occurs(flip(rx345,open),4). %occurs(flip(rx12,open),5). %occurs(flip(rm2,open),6). %occurs(opena_lfhb,0). %occurs(open_loi345b,1). %occurs(flip(lm3,open),2). %occurs(flip(lm4,open),3). %occurs(close_lfx345,4). %occurs(flip(li12,open),5). %occurs(flip(lm2,open),6).