Human Failure Representation

This paper covers the exploration and analysis of error producing conditions by a human operator in the rover model.

[1]:

from examples.rover.rover_model_human import RoverHuman
from examples.rover.rover_model import plot_map

import fmdtools.sim.propagate as prop
import fmdtools.analyze as an
from fmdtools.sim.sample import ParameterSample, ParameterDomain, FaultSample, FaultDomain

import numpy as np
import matplotlib.pyplot as plt

Visualizing Rover Structure

[2]:

mdl = RoverHuman()
mdl.fxns

[2]:

{'power': power Power
 - PowerState(charge=100.0, power=0.0)
 - PowerMode(mode=off, faults=set()),
 'perception': perception Perception
 - PerceptionMode(mode=off, faults=set()),
 'communications': communications Communications,
 'operator': operator Operator
 - Mode(mode=nominal, faults=set()),
 'plan_path': plan_path PlanPath
 - PlanPathState(u_self=array([0., 0.]), u_lin=array([0., 0.]), u_lin_dev=array([0., 0.]), rdiff=0.0, vel_adj=1.0)
 - PlanPathMode(mode=standby, faults=set()),
 'override': override Override
 - OverrideMode(mode=off, faults=set()),
 'drive': drive Drive
 - DriveMode(mode=nominal, faults=set())}

[3]:

#%matplotlib qt
#an.graph.set_pos(mdl, gtype='fxnflowgraph')

[4]:

#%matplotlib inline

[5]:

g = mdl.as_modelgraph()
fig, ax = g.draw()

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_6_0.png

[6]:

fig.savefig("rover_structure.pdf", format="pdf", bbox_inches = 'tight', pad_inches = 0)

Visualizing Action Sequence Graph for the Controller

[7]:

from examples.rover.rover_model_human import asg_pos
ag = mdl.fxns['operator'].aa.as_modelgraph()
ag.set_pos(**asg_pos)
fig, ax = ag.draw()

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_9_0.png

[8]:

fig.savefig("action_graph.pdf", format="pdf", bbox_inches = 'tight', pad_inches = 0)

Testing behavioral simulation

Execution order

[9]:

g.set_exec_order(mdl)
fig, ax = g.draw()

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_13_0.png

Performance on turn

[10]:

mdl = RoverHuman(p={'ground': 'turn'})
endresults, mdlhist = prop.nominal(mdl)
plot_map(mdl, mdlhist)

[10]:

(<Figure size 400x400 with 1 Axes>, <Axes: >)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_15_1.png

Performance on sine map

[11]:

mdl = RoverHuman()
endresults, mdlhist = prop.nominal(mdl)
plot_map(mdl, mdlhist)

[11]:

(<Figure size 400x400 with 1 Axes>, <Axes: >)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_17_1.png

[12]:

from fmdtools.analyze.phases import from_hist
pm = from_hist(mdlhist)

[13]:

pm

[13]:

{'power': PhaseMap({'off': [0.0, 0.0], 'supply': [1.0, 109.0]}, {'off': {'off'}, 'supply': {'supply'}}),
 'perception': PhaseMap({'off': [0.0, 1.0], 'feed': [2.0, 109.0]}, {'off': {'off'}, 'feed': {'feed'}}),
 'look': PhaseMap({'nominal': [0.0, 109.0]}, {'nominal': {'nominal'}}),
 'percieve': PhaseMap({'no_action': [0.0, 1.0], 'nominal': [2.0, 109.0]}, {'no_action': {'no_action'}, 'nominal': {'nominal'}}),
 'comprehend': PhaseMap({'nominal': [0.0, 109.0]}, {'nominal': {'nominal'}}),
 'project': PhaseMap({'nominal': [0.0, 109.0]}, {'nominal': {'nominal'}}),
 'decide': PhaseMap({'nominal': [0.0, 109.0]}, {'nominal': {'nominal'}}),
 'reach': PhaseMap({'nominal': [0.0, 109.0]}, {'nominal': {'nominal'}}),
 'plan_path': PhaseMap({'standby': [0.0, 4.0], 'drive': [5.0, 109.0]}, {'standby': {'standby'}, 'drive': {'drive'}}),
 'override': PhaseMap({'off': [0.0, 1.0], 'override': [2.0, 109.0]}, {'off': {'off'}, 'override': {'override'}})}

[14]:

phase_fig = pm['override'].plot()

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_20_0.png

Testing Faults

[15]:

#app=SampleApproach(mdl, faults='Controller', phases={'drive':phases['Operations']['drive']})

fd = FaultDomain(mdl)
fd.add_all_fxn_modes('operator')
fd

[15]:

FaultDomain with faults:
 -('operator', 'look_failed_no_action')
 -('operator', 'percieve_failed_no_action')
 -('operator', 'percieve_not_visible')
 -('operator', 'percieve_wrong_position')
 -('operator', 'comprehend_failed_no_action')
 -('operator', 'project_failed_turn_left')
 -('operator', 'project_failed_turn_right')
 -('operator', 'project_failed_slow')
 -('operator', 'project_failed_fast')
 -('operator', 'project_failed_no_action')
 -...more

[16]:

fs = FaultSample(fd, phasemap = pm['override'])
fs.add_fault_phases('override')
fs

[16]:

FaultSample of scenarios:
 - operator_look_failed_no_action_t56p0
 - operator_percieve_failed_no_action_t56p0
 - operator_percieve_not_visible_t56p0
 - operator_percieve_wrong_position_t56p0
 - operator_comprehend_failed_no_action_t56p0
 - operator_project_failed_turn_left_t56p0
 - operator_project_failed_turn_right_t56p0
 - operator_project_failed_slow_t56p0
 - operator_project_failed_fast_t56p0
 - operator_project_failed_no_action_t56p0
 - ... (19 total)

[17]:

fs.scenarios()

[17]:

[SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['look_failed_no_action']}, disturbances={})}, times=(56.0,), function='operator', fault='look_failed_no_action', rate=1.0, name='operator_look_failed_no_action_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['percieve_failed_no_action']}, disturbances={})}, times=(56.0,), function='operator', fault='percieve_failed_no_action', rate=0.3333333333333333, name='operator_percieve_failed_no_action_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['percieve_not_visible']}, disturbances={})}, times=(56.0,), function='operator', fault='percieve_not_visible', rate=0.3333333333333333, name='operator_percieve_not_visible_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['percieve_wrong_position']}, disturbances={})}, times=(56.0,), function='operator', fault='percieve_wrong_position', rate=0.3333333333333333, name='operator_percieve_wrong_position_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['comprehend_failed_no_action']}, disturbances={})}, times=(56.0,), function='operator', fault='comprehend_failed_no_action', rate=1.0, name='operator_comprehend_failed_no_action_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['project_failed_turn_left']}, disturbances={})}, times=(56.0,), function='operator', fault='project_failed_turn_left', rate=0.2, name='operator_project_failed_turn_left_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['project_failed_turn_right']}, disturbances={})}, times=(56.0,), function='operator', fault='project_failed_turn_right', rate=0.2, name='operator_project_failed_turn_right_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['project_failed_slow']}, disturbances={})}, times=(56.0,), function='operator', fault='project_failed_slow', rate=0.2, name='operator_project_failed_slow_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['project_failed_fast']}, disturbances={})}, times=(56.0,), function='operator', fault='project_failed_fast', rate=0.2, name='operator_project_failed_fast_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['project_failed_no_action']}, disturbances={})}, times=(56.0,), function='operator', fault='project_failed_no_action', rate=0.2, name='operator_project_failed_no_action_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['decide_failed_turn_left']}, disturbances={})}, times=(56.0,), function='operator', fault='decide_failed_turn_left', rate=0.2, name='operator_decide_failed_turn_left_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['decide_failed_turn_right']}, disturbances={})}, times=(56.0,), function='operator', fault='decide_failed_turn_right', rate=0.2, name='operator_decide_failed_turn_right_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['decide_failed_slow']}, disturbances={})}, times=(56.0,), function='operator', fault='decide_failed_slow', rate=0.2, name='operator_decide_failed_slow_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['decide_failed_fast']}, disturbances={})}, times=(56.0,), function='operator', fault='decide_failed_fast', rate=0.2, name='operator_decide_failed_fast_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['decide_failed_no_action']}, disturbances={})}, times=(56.0,), function='operator', fault='decide_failed_no_action', rate=0.2, name='operator_decide_failed_no_action_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['reach_failed_no_action']}, disturbances={})}, times=(56.0,), function='operator', fault='reach_failed_no_action', rate=1.0, name='operator_reach_failed_no_action_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['press_failed_left']}, disturbances={})}, times=(56.0,), function='operator', fault='press_failed_left', rate=0.3333333333333333, name='operator_press_failed_left_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['press_failed_right']}, disturbances={})}, times=(56.0,), function='operator', fault='press_failed_right', rate=0.3333333333333333, name='operator_press_failed_right_t56p0', time=56.0, phase='override'),
 SingleFaultScenario(sequence={56.0: Injection(faults={'operator': ['press_no_press']}, disturbances={})}, times=(56.0,), function='operator', fault='press_no_press', rate=0.3333333333333333, name='operator_press_no_press_t56p0', time=56.0, phase='override')]

[18]:

ecs, hists = prop.fault_sample(mdl, fs)

SCENARIOS COMPLETE: 100%|██████████| 19/19 [00:04<00:00,  4.32it/s]

[19]:

fig, ax = plot_map(mdl, hists)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_26_0.png

[20]:

fig, ax = plot_map(mdl, hists)
ax.set_xlim(10, 20)
ax.set_ylim(-5, 5)

[20]:

(-5.0, 5.0)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_27_1.png

[21]:

fig.savefig("rover_map.pdf", format="pdf", bbox_inches = 'tight', pad_inches = 0)

Below shows the impact of each fault:

[22]:

tab = an.tabulate.result_summary_fmea(ecs, hists,
                                      *mdl.flows, *mdl.fxns,
                                      metrics = ["in_bound", "at_finish", "end_dist", "faults", "classification", "end_x", "end_y"])
tab

[22]:

	degraded	faulty	in_bound	at_finish	end_dist	faults	classification	end_x	end_y
operator_look_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['look_failed_no_action']}	incomplete mission faulty	15.24424	-0.529458
operator_percieve_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	[]	True	True	0.0	{}	nominal mission	29.254775	-0.782764
operator_percieve_not_visible_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	[]	True	True	0.0	{}	nominal mission	29.254775	-0.782764
operator_percieve_wrong_position_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	[]	True	True	0.0	{}	nominal mission	29.254775	-0.782764
operator_comprehend_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'compreh...	incomplete mission faulty	15.24424	-0.529458
operator_project_failed_turn_left_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	14.057688	{'operator': ['percieve_not_visible', 'project...	incomplete mission faulty	14.862043	-0.251773
operator_project_failed_turn_right_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.693675	{'operator': ['percieve_not_visible', 'project...	incomplete mission faulty	15.363988	1.140047
operator_project_failed_slow_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	True	False	9.31949	{'operator': ['project_failed_slow']}	incomplete mission faulty	19.740872	0.81243
operator_project_failed_fast_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	12.955107	{'operator': ['percieve_not_visible', 'project...	incomplete mission faulty	16.023518	0.480458
operator_project_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'project...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_turn_left_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_turn_right_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_slow_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_fast_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_reach_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'reach_f...	incomplete mission faulty	15.24424	-0.529458
operator_press_failed_left_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	True	True	0.0	{'operator': ['press_failed_left']}	faulty	29.254775	-0.782764
operator_press_failed_right_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	True	True	0.0	{'operator': ['press_failed_right']}	faulty	29.254775	-0.782764
operator_press_no_press_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	True	True	0.0	{'operator': ['press_no_press']}	faulty	29.254775	-0.782764
nominal	['ground', 'psfs', 'pos_signal', 'pos', 'ee_12...	[]	True	True	0.0	{}	nominal mission	29.254775	-0.782764

[23]:

tab.sort_values('end_dist', ascending=False)

[23]:

	degraded	faulty	in_bound	at_finish	end_dist	faults	classification	end_x	end_y
operator_project_failed_turn_left_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	14.057688	{'operator': ['percieve_not_visible', 'project...	incomplete mission faulty	14.862043	-0.251773
operator_project_failed_turn_right_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.693675	{'operator': ['percieve_not_visible', 'project...	incomplete mission faulty	15.363988	1.140047
operator_look_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['look_failed_no_action']}	incomplete mission faulty	15.24424	-0.529458
operator_project_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'project...	incomplete mission faulty	15.24424	-0.529458
operator_reach_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'reach_f...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_fast_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_slow_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_turn_right_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_decide_failed_turn_left_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'decide_...	incomplete mission faulty	15.24424	-0.529458
operator_comprehend_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	13.663813	{'operator': ['percieve_not_visible', 'compreh...	incomplete mission faulty	15.24424	-0.529458
operator_project_failed_fast_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	False	False	12.955107	{'operator': ['percieve_not_visible', 'project...	incomplete mission faulty	16.023518	0.480458
operator_project_failed_slow_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	True	False	9.31949	{'operator': ['project_failed_slow']}	incomplete mission faulty	19.740872	0.81243
operator_percieve_failed_no_action_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	[]	True	True	0.0	{}	nominal mission	29.254775	-0.782764
operator_percieve_wrong_position_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	[]	True	True	0.0	{}	nominal mission	29.254775	-0.782764
operator_percieve_not_visible_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	[]	True	True	0.0	{}	nominal mission	29.254775	-0.782764
operator_press_failed_left_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	True	True	0.0	{'operator': ['press_failed_left']}	faulty	29.254775	-0.782764
operator_press_failed_right_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	True	True	0.0	{'operator': ['press_failed_right']}	faulty	29.254775	-0.782764
operator_press_no_press_t56p0	['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5',...	['operator']	True	True	0.0	{'operator': ['press_no_press']}	faulty	29.254775	-0.782764
nominal	['ground', 'psfs', 'pos_signal', 'pos', 'ee_12...	[]	True	True	0.0	{}	nominal mission	29.254775	-0.782764

[24]:

print(tab.to_latex())

\begin{tabular}{llllllllll}
\toprule
 & degraded & faulty & in_bound & at_finish & end_dist & faults & classification & end_x & end_y \\
\midrule
operator_look_failed_no_action_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['look_failed_no_action']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_percieve_failed_no_action_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'operator', 'plan_path', 'override', 'drive'] & [] & True & True & 0.000000 & {} & nominal mission & 29.254775 & -0.782764 \\
operator_percieve_not_visible_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'operator', 'plan_path', 'override', 'drive'] & [] & True & True & 0.000000 & {} & nominal mission & 29.254775 & -0.782764 \\
operator_percieve_wrong_position_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'operator', 'plan_path', 'override', 'drive'] & [] & True & True & 0.000000 & {} & nominal mission & 29.254775 & -0.782764 \\
operator_comprehend_failed_no_action_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['percieve_not_visible', 'comprehend_failed_no_action']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_project_failed_turn_left_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 14.057688 & {'operator': ['percieve_not_visible', 'project_failed_turn_left']} & incomplete mission faulty & 14.862043 & -0.251773 \\
operator_project_failed_turn_right_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.693675 & {'operator': ['percieve_not_visible', 'project_failed_turn_right']} & incomplete mission faulty & 15.363988 & 1.140047 \\
operator_project_failed_slow_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & True & False & 9.319490 & {'operator': ['project_failed_slow']} & incomplete mission faulty & 19.740872 & 0.812430 \\
operator_project_failed_fast_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 12.955107 & {'operator': ['percieve_not_visible', 'project_failed_fast']} & incomplete mission faulty & 16.023518 & 0.480458 \\
operator_project_failed_no_action_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['percieve_not_visible', 'project_failed_no_action']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_decide_failed_turn_left_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['percieve_not_visible', 'decide_failed_turn_left']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_decide_failed_turn_right_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['percieve_not_visible', 'decide_failed_turn_right']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_decide_failed_slow_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['percieve_not_visible', 'decide_failed_slow']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_decide_failed_fast_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['percieve_not_visible', 'decide_failed_fast']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_decide_failed_no_action_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['percieve_not_visible', 'decide_failed_no_action']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_reach_failed_no_action_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'override', 'drive'] & ['operator'] & False & False & 13.663813 & {'operator': ['percieve_not_visible', 'reach_failed_no_action']} & incomplete mission faulty & 15.244240 & -0.529458 \\
operator_press_failed_left_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'plan_path', 'override', 'drive'] & ['operator'] & True & True & 0.000000 & {'operator': ['press_failed_left']} &  faulty & 29.254775 & -0.782764 \\
operator_press_failed_right_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'plan_path', 'override', 'drive'] & ['operator'] & True & True & 0.000000 & {'operator': ['press_failed_right']} &  faulty & 29.254775 & -0.782764 \\
operator_press_no_press_t56p0 & ['psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'plan_path', 'override', 'drive'] & ['operator'] & True & True & 0.000000 & {'operator': ['press_no_press']} &  faulty & 29.254775 & -0.782764 \\
nominal & ['ground', 'psfs', 'pos_signal', 'pos', 'ee_12', 'ee_5', 'ee_15', 'video', 'auto_control', 'motor_control', 'switch', 'comms', 'fault_sig', 'power', 'perception', 'operator', 'plan_path', 'override', 'drive'] & [] & True & True & 0.000000 & {} & nominal mission & 29.254775 & -0.782764 \\
\bottomrule
\end{tabular}

As shown, most modes now have an effect.

Examining Performance Shaping Factors

[25]:

from examples.rover.rover_model_human import RoverHumanParam
pd = ParameterDomain(RoverHumanParam)
#pd.add_constant('ground.linetype', 'sine')
#pd.add_constant('ground.amp', 4)
pd.add_variable('psfs.fatigue', var_lim=(0, 11))
pd.add_variable('psfs.attention', var_lim=(0, 11))
pd

[25]:

ParameterDomain with:
 - variables: {'psfs.fatigue': (0, 11), 'psfs.attention': (0, 11)}
 - constants: {}
 - parameter_initializer: RoverHumanParam

[26]:

ps = ParameterSample(pd)
ps.add_variable_ranges(comb_kwargs={'resolution': 1})
ps

[26]:

ParameterSample of scenarios:
 - rep0_range_0
 - rep0_range_1
 - rep0_range_2
 - rep0_range_3
 - rep0_range_4
 - rep0_range_5
 - rep0_range_6
 - rep0_range_7
 - rep0_range_8
 - rep0_range_9
 - ... (144 total)

[27]:

ps.scenarios()

[27]:

[ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 0}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 0}, rangeid='', name='rep0_range_0'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 1}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 1}, rangeid='', name='rep0_range_1'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 2}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 2}, rangeid='', name='rep0_range_2'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 3}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 3}, rangeid='', name='rep0_range_3'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 4}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 4}, rangeid='', name='rep0_range_4'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 5}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 5}, rangeid='', name='rep0_range_5'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 6}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 6}, rangeid='', name='rep0_range_6'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 7}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 7}, rangeid='', name='rep0_range_7'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 8}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 8}, rangeid='', name='rep0_range_8'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 9}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 9}, rangeid='', name='rep0_range_9'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 10}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 10}, rangeid='', name='rep0_range_10'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 0, 'attention': 11}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 0, 1: 11}, rangeid='', name='rep0_range_11'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 0}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 0}, rangeid='', name='rep0_range_12'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 1}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 1}, rangeid='', name='rep0_range_13'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 2}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 2}, rangeid='', name='rep0_range_14'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 3}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 3}, rangeid='', name='rep0_range_15'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 4}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 4}, rangeid='', name='rep0_range_16'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 5}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 5}, rangeid='', name='rep0_range_17'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 6}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 6}, rangeid='', name='rep0_range_18'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 7}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 7}, rangeid='', name='rep0_range_19'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 8}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 8}, rangeid='', name='rep0_range_20'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 9}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 9}, rangeid='', name='rep0_range_21'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 10}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 10}, rangeid='', name='rep0_range_22'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 1, 'attention': 11}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 1, 1: 11}, rangeid='', name='rep0_range_23'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 0}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 0}, rangeid='', name='rep0_range_24'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 1}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 1}, rangeid='', name='rep0_range_25'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 2}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 2}, rangeid='', name='rep0_range_26'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 3}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 3}, rangeid='', name='rep0_range_27'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 4}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 4}, rangeid='', name='rep0_range_28'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 5}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 5}, rangeid='', name='rep0_range_29'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 6}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 6}, rangeid='', name='rep0_range_30'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 7}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 7}, rangeid='', name='rep0_range_31'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 8}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 8}, rangeid='', name='rep0_range_32'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 9}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 9}, rangeid='', name='rep0_range_33'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 10}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 10}, rangeid='', name='rep0_range_34'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 2, 'attention': 11}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 2, 1: 11}, rangeid='', name='rep0_range_35'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 0}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 0}, rangeid='', name='rep0_range_36'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 1}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 1}, rangeid='', name='rep0_range_37'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 2}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 2}, rangeid='', name='rep0_range_38'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 3}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 3}, rangeid='', name='rep0_range_39'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 4}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 4}, rangeid='', name='rep0_range_40'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 5}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 5}, rangeid='', name='rep0_range_41'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 6}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 6}, rangeid='', name='rep0_range_42'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 7}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 7}, rangeid='', name='rep0_range_43'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 8}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 8}, rangeid='', name='rep0_range_44'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 9}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 9}, rangeid='', name='rep0_range_45'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 10}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 10}, rangeid='', name='rep0_range_46'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 3, 'attention': 11}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 3, 1: 11}, rangeid='', name='rep0_range_47'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 0}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 0}, rangeid='', name='rep0_range_48'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 1}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 1}, rangeid='', name='rep0_range_49'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 2}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 2}, rangeid='', name='rep0_range_50'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 3}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 3}, rangeid='', name='rep0_range_51'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 4}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 4}, rangeid='', name='rep0_range_52'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 5}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 5}, rangeid='', name='rep0_range_53'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 6}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 6}, rangeid='', name='rep0_range_54'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 7}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 7}, rangeid='', name='rep0_range_55'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 8}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 8}, rangeid='', name='rep0_range_56'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 9}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 9}, rangeid='', name='rep0_range_57'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 10}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 10}, rangeid='', name='rep0_range_58'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 4, 'attention': 11}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 4, 1: 11}, rangeid='', name='rep0_range_59'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 0}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 0}, rangeid='', name='rep0_range_60'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 1}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 1}, rangeid='', name='rep0_range_61'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 2}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 2}, rangeid='', name='rep0_range_62'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 3}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 3}, rangeid='', name='rep0_range_63'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 4}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 4}, rangeid='', name='rep0_range_64'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 5}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 5}, rangeid='', name='rep0_range_65'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 6}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 6}, rangeid='', name='rep0_range_66'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 7}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 7}, rangeid='', name='rep0_range_67'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 8}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 8}, rangeid='', name='rep0_range_68'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 9}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 9}, rangeid='', name='rep0_range_69'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 10}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 10}, rangeid='', name='rep0_range_70'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 5, 'attention': 11}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 5, 1: 11}, rangeid='', name='rep0_range_71'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 6, 'attention': 0}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 6, 1: 0}, rangeid='', name='rep0_range_72'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 6, 'attention': 1}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 6, 1: 1}, rangeid='', name='rep0_range_73'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 6, 'attention': 2}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 6, 1: 2}, rangeid='', name='rep0_range_74'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 6, 'attention': 3}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 6, 1: 3}, rangeid='', name='rep0_range_75'),
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 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 1}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 1}, rangeid='', name='rep0_range_133'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 2}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 2}, rangeid='', name='rep0_range_134'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 3}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 3}, rangeid='', name='rep0_range_135'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 4}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 4}, rangeid='', name='rep0_range_136'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 5}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 5}, rangeid='', name='rep0_range_137'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 6}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 6}, rangeid='', name='rep0_range_138'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 7}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 7}, rangeid='', name='rep0_range_139'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 8}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 8}, rangeid='', name='rep0_range_140'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 9}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 9}, rangeid='', name='rep0_range_141'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 10}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 10}, rangeid='', name='rep0_range_142'),
 ParameterScenario(sequence={}, times=(), p={'psfs': {'fatigue': 11, 'attention': 11}}, r={}, sp={}, prob=0.006944444444444444, inputparams={0: 11, 1: 11}, rangeid='', name='rep0_range_143')]

[28]:

ers, hists = prop.parameter_sample(mdl, ps)

SCENARIOS COMPLETE: 100%|██████████| 144/144 [00:56<00:00,  2.54it/s]

[29]:

plot_map(mdl, hists)

[29]:

(<Figure size 400x400 with 1 Axes>, <Axes: >)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_39_1.png

[30]:

ers.get_values("end_x")

[30]:

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rep0_range_117.endclass.end_x:       0.0
rep0_range_118.endclass.end_x:       0.0
rep0_range_119.endclass.end_x:       0.0
rep0_range_120.endclass.end_x:       0.0
rep0_range_121.endclass.end_x:       0.0
rep0_range_122.endclass.end_x:       0.0
rep0_range_123.endclass.end_x:       0.0
rep0_range_124.endclass.end_x:       0.0
rep0_range_125.endclass.end_x:       0.0
rep0_range_126.endclass.end_x:       0.0
rep0_range_127.endclass.end_x:       0.0
rep0_range_128.endclass.end_x:       0.0
rep0_range_129.endclass.end_x:       0.0
rep0_range_130.endclass.end_x:       0.0
rep0_range_131.endclass.end_x:       0.0
rep0_range_132.endclass.end_x:       0.0
rep0_range_133.endclass.end_x:       0.0
rep0_range_134.endclass.end_x:       0.0
rep0_range_135.endclass.end_x:       0.0
rep0_range_136.endclass.end_x:       0.0
rep0_range_137.endclass.end_x:       0.0
rep0_range_138.endclass.end_x:       0.0
rep0_range_139.endclass.end_x:       0.0
rep0_range_140.endclass.end_x:       0.0
rep0_range_141.endclass.end_x:       0.0
rep0_range_142.endclass.end_x:       0.0
rep0_range_143.endclass.end_x:       0.0

[31]:

from fmdtools.analyze.tabulate import NominalEnvelope
na = NominalEnvelope(ps, ers, 'at_finish', 'p.psfs.fatigue', 'p.psfs.attention', func= lambda x: x)
fig, ax = na.plot_scatter()

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_41_0.png

[32]:

fig.savefig("nominal_psfs.pdf", format="pdf", bbox_inches = 'tight', pad_inches = 0)

[33]:

mdl = RoverHuman(p={'ground': {'linetype': 'turn'}})
endresults, mdlhist = prop.one_fault(mdl, 'operator', 'look_failed_no_action', time=15)

[34]:

endresults

[34]:

endclass.rate:                       1.0
endclass.cost:                         0
endclass.prob:                       1.0
endclass.expected_cost:                0
endclass.in_bound:                 False
endclass.at_finish:                False
endclass.line_dist:                    1
endclass.num_modes:                    1
endclass.end_dist:    23.466067426611588
endclass.tot_deviation: 0.2759017544282031
endclass.faults: {'operator': ['look_failed_no_action']}
endclass.classification: incomplete mission faulty
endclass.end_x:        13.33333333333334
endclass.end_y:                      0.0
endclass.endpt:                 array(2)

[35]:

traj_fig = plot_map(mdl, mdlhist)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_45_0.png

[36]:

mdlhist.plot_trajectories('flows.pos.s.x', 'flows.pos.s.y')

[36]:

(<Figure size 400x400 with 1 Axes>, <Axes: >)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_46_1.png

[37]:

mdlhist.plot_line('flows.pos.s.vel', 'flows.pos.s.ux', 'flows.pos.s.uy')

[37]:

(<Figure size 600x400 with 4 Axes>,
 array([<Axes: title={'center': 'flows.pos.s.vel'}, xlabel=' '>,
        <Axes: title={'center': 'flows.pos.s.ux'}, xlabel='time'>,
        <Axes: title={'center': 'flows.pos.s.uy'}, xlabel='time'>,
        <Axes: >], dtype=object))

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_47_1.png

[38]:

fs = FaultSample(fd)
fs.add_fault_times([j for j in range(0, 30, 5)])
fs

[38]:

FaultSample of scenarios:
 - operator_look_failed_no_action_t0
 - operator_look_failed_no_action_t5
 - operator_look_failed_no_action_t10
 - operator_look_failed_no_action_t15
 - operator_look_failed_no_action_t20
 - operator_look_failed_no_action_t25
 - operator_percieve_failed_no_action_t0
 - operator_percieve_failed_no_action_t5
 - operator_percieve_failed_no_action_t10
 - operator_percieve_failed_no_action_t15
 - ... (114 total)

[39]:

ers, hists = prop.fault_sample(mdl, fs)

SCENARIOS COMPLETE: 100%|██████████| 114/114 [00:24<00:00,  4.59it/s]

[40]:

fig, ax = plot_map(mdl, hists)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_50_0.png

[41]:

fig.savefig("nocon_trajectories.pdf", format="pdf", bbox_inches = 'tight', pad_inches = 0)

[42]:

fig, ax = hists.plot_line('flows.psfs.s.attention')

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_52_0.png

[43]:

fig.savefig("nocon_attention.pdf", format="pdf", bbox_inches = 'tight', pad_inches = 0)

[44]:

mdl = RoverHuman(p={'ground': {'linetype': 'sine', 'amp': 2, 'period': 2/3.14*30}})

[45]:

ers, hists = prop.fault_sample(mdl, fs)

SCENARIOS COMPLETE: 100%|██████████| 114/114 [00:21<00:00,  5.32it/s]

[46]:

fig, ax = plot_map(mdl, hists)

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_56_0.png

[47]:

fig.savefig("nocon_trajectories_sine.pdf", format="pdf", bbox_inches = 'tight', pad_inches = 0)

[48]:

fig, ax = hists.plot_line('flows.psfs.s.attention')

../../../_images/examples_rover_HFAC_Analyses_IDETC_Human_Paper_Analysis_58_0.png

[49]:

fig.savefig("nocon_attention_sine.pdf", format="pdf", bbox_inches = 'tight', pad_inches = 0)

[ ]: