Abstract: A hierarchical modular arbitration architecture for a mobile platform guidance system is disclosed. In embodiments, the architecture comprises a hierarchy of arbitration layers, each arbitration layer narrower in scope than the layer above (e.g., mission objective arbitrators, route arbitrators, path arbitrators). Each arbitration layer includes one or more objective-based arbitrators in communication with one or more applications or modes. Each arbitrator receives control input (e.g., from the pilot, from aircraft sensors) and control signals from the level above, selecting a mode to make active based on decision agents within the arbitrator layer which control mode priorities and sequencing (e.g., some flight objectives may involve multiple arbitrators and their subject applications coordinating in sequence).

Abstract: An overflow pan for a water heater utilizing recycled material for cost and material efficiency. The overflow pan includes a bottom, a sidewall with an outlet for water drainage therefrom as is standard, a U-shaped lip and a plurality of ribs spaced therearound. The pan bottom includes an exterior surface having a series of regular hexagon shapes, each comprising a concave web for material reduction while retaining integrity and durability.