riso.belief_nets.TemporalBeliefNetwork damper-tbn
{
	riso.belief_nets.BeliefNetwork damper-tbn
	{
		riso.belief_nets.Variable damper-status
		{
			type discrete { "OK" "stuck open" "stuck closed" "everything else" }
			parents { prev[damper-status] }
			parent-prior prev[damper-status] riso.distributions.Discrete { dimensions { 4 } probabilities { 0.97 0.01 0.01 0.01 } }

			distribution riso.distributions.ConditionalDiscrete
			{
				dimensions-child { 4 }
				dimensions-parents { 4 }

				probabilities
				{
					% context[0]: prev state is "OK"
					0.999000 0.000330 0.000330 0.000340

					% context[1]: prev state is "stuck open"
					0.000001 0.999990 0.000000 0.000009				

					% context[2]: prev state is "stuck closed"
					0.000001 0.000000 0.999990 0.000009				

					% context[3]: prev state is "???"
					0.250000 0.250000 0.250000 0.250000
				}
			}
		}

		riso.belief_nets.Variable ZTO-actual
		{
			% distribution riso.distributions.Uniform { a -20  b 20 }
			distribution riso.distributions.Gaussian { mean 5 std-deviation 2 }
		}

		riso.belief_nets.Variable ZTO-sensor-status
		{
			type discrete { "OK" "failed" }
			distribution riso.distributions.Discrete
			{
				dimensions { 2 } probabilities { 0.99 0.01 }
			}
		}

		riso.belief_nets.Variable ZTO-measurement
		{
			parents { ZTO-actual ZTO-sensor-status }
			distribution riso.distributions.IndexedDistribution
			{
				index-variables { ZTO-sensor-status }
				components 
				{
					% normal operation model
					riso.distributions.ConditionalGaussian { conditional-variance { 0.01 } }

					% failed sensor model
					riso.distributions.Gaussian { mean 0 std-deviation 0.1 }
				}
			}
		}

		riso.belief_nets.Variable pressure-actual
		{
			distribution riso.distributions.Gaussian { mean 0.25 std-deviation 0.10 }
		}

		riso.belief_nets.Variable pressure-sensor-status
		{
			type discrete { "OK" "failed" }
			distribution riso.distributions.Discrete
			{
				dimensions { 2 } probabilities { 0.99 0.01 }
			}
		}

		riso.belief_nets.Variable pressure-measurement
		{
			parents { pressure-actual pressure-sensor-status }
			distribution riso.distributions.IndexedDistribution
			{
				index-variables { pressure-sensor-status }
				components 
				{
					% normal operation model
					riso.distributions.ConditionalGaussian { conditional-variance { 0.000625 } }

					% failed sensor model
					riso.distributions.Gaussian { mean 0 std-deviation 0.000625 }
				}
			}
		}

		riso.belief_nets.Variable position-actual
		{
			parents { damper-status ZTO-actual pressure-actual }
			distribution riso.distributions.IndexedDistribution
			{
				index-variables { damper-status }
				components 
				{
					% normal operation model
					riso.distributions.RegressionDensity
					{
						regression-model riso.regression.SquashingNetwork
						{
							linear-output true
							nlayers 3
							nunits 2 6 1
							weights  

							-4.83073   0.930677   -2.56589  
							 6.27819  -1.20383    -0.0654726
							-3.7283    0.738155   -1.54963 
							 0.107028 -0.0560008  -0.0416254
							-4.10404   0.703819    0.11002  
							 1.11134  -0.144575   -0.0362058

							9.40161 6.56195 -3.57311 -4.22305 5.01486 -4.70692 -5.90046 
						}
						noise-model riso.distributions.Gaussian { mean 0 std-deviation 0.4344 }
					}

					% stuck open model
					riso.distributions.Gaussian { mean 9.6 std-deviation 0.4344 }

					% stuck at minimum model
					riso.distributions.Gaussian { mean 4.1 std-deviation 0.4344 }

					% ??? model
					riso.distributions.Uniform { a 4.5344  b 9.1656 }
				}
			}
		}

		riso.belief_nets.Variable position-sensor-status
		{
			type discrete { "OK" "failed" }
			distribution riso.distributions.Discrete
			{
				dimensions { 2 } probabilities { 0.99 0.01 }
			}
		}

		riso.belief_nets.Variable position-measurement
		{
			parents { position-actual position-sensor-status }
			distribution riso.distributions.IndexedDistribution
			{
				index-variables { position-sensor-status }
				components 
				{
					% normal operation model
					riso.distributions.ConditionalGaussian { conditional-variance { 0.04 } }

					% failed sensor model
					riso.distributions.Gaussian { mean 0 std-deviation 0.1 }
				}
			}
		}
	}
}