Open Control Platform for Uninhabited Air Vehicles

1
Open Control Platform for Uninhabited Air Vehicles

• API Working Group Meeting
• 13-14 Dec 1999
• Boeing St. Louis

2
OCP for UAVs

• API WG Meeting -- Day 1
• Core OCP Team Meeting
• 13 Dec 1999
• Boeing St. Louis

3
Agenda
100 PM
Introduction
115 PM
OCP Progress to Date
Boeing
145 PM
GIT
215 PM
HTC
UCB (deferred to Tuesday)
235 PM
Summary of Template Submittals
305 PM
BREAK
320 PM
Detailed Review of Template Submittals and
Categorization of Template Inputs
450 PM
Review of Tuesday 14Dec99 Meeting Agenda
455 PM
Action Items
500 PM
Adjourn
4
Introduction

• Incidentals
• Phone/fax/email connectivity
• Action Item process
• Sign-in sheet
• Introduction of Participants
• Customers
• Hosts
• Other OCP Core Researchers
• Goals of meeting
• Review OCP progress to date
• Review template submittals
• Allocate template inputs to to OCP design

5
OCP Background

• OCP Definition
• Combination of run-time methods, run-time
  software, and simulation capabilities, hostable
  on multiple computer and vehicle platforms
• Objective
• Create a common environment usable for a large
  class of control system problems

6
OCP Functional Areas
OCP is divided into three primary areas of
technology developer support
7
OCP Composition
OCP Requirements are Allocated to Three Layers
US
CC
CC
CC
US
DW
DW
DW
Core
Architectural Layers

• Core - Common requirement for SEC
• Domain Wrapper (DW) - Glue Code around common
  capability (CC) needed by multiple TD but not
  integrated into OCP core
• User Specific (US) - Requirement specific to
  single / few SEC Tech Developers

8
Major OCP Challenges

• Definition of Common Vocabulary for Design
  Expression
• Recognition of Common Patterns for Design
  Implementation
• Features vs Performance
• Communication across TDs

9
OCP Program Plan
Build 1 ? -OCP
Demo 2
Demo 1
Prep for Demo 2
Build 2 ? -OCP
Run-Time Framework
Run-Time Framework

• Run-Time
• Framework
• Designs S/W
• Challenge
• Scenarios
• Simulation
• Environments
• APIs, Plug-Ins

Desktop Simulations

• Live Multi-Vehicle OCP Validation Demo

• Ground Test of OCP Validation

• Improved OCP

• Seedling
• Programs
• Initial
• Requirements

FinalizedOCP ? - OCP
36
40
12
18
Months
Breakthrough Control Technologies
Support Demo 2 Plans
Technology Integration
Feedback
API Working Group
Transition to Warfighter
SEC Technology Suppliers
Build 0 ? -OCP
10
API Working Group (APIWG)

• Function
• Guide development of the OCP and content of
  validation demonstrations
• Members
• Core Team - DARPA, AFRL, Boeing, OCP team members
• OCP Customers - PIs from technology developers

11
APIWG Detailed Responsibilities

• Solicit Technology Needs
• Select Capabilities
• Alignment with Bid, Planned Capabilities
• Breadth of Coverage
• Supportive of Demonstrations
• Review Selections with Technology Providers
• Plan Implementation Schedule
• Monitor and Adjust Plan

12
What Does the APIWG Need as Inputs

• Project Description
• OCP Dependencies/Capabilities
• Needed OCP capabilities according OCP categories
  (see OCP Capability Categories)
• Build 1 and Build 2 Allocation for Needs
• Schedule forthcoming
• Email POC to Dr. David Corman -Boeing
• david.e.corman_at_boeing.com

13
Description Guidelines

• Use APIWG Core Template
• Submit by mid December
• Earlier if possible
• Template Focus
• OCP functional area allocation
• Alternatives and relative prioritization
• Performance (typical rates of execution, max
  latency)
• Reference implementations

14
Capability Selection Process

• APIWG Core - Review Technology Submissions
• Distill common functions, patterns
• Organize by OCP architectural layers
• Prioritize implementation
• Consult with technology developers
• Refine According to APIWG Review

15
Notional APIWG Schedule
Build 1 CapabilitiesDefined
Technology ProviderInputs
APIWG Core Recommendations Complete
OCP NeedsTemplate
Nov
Dec
Jan
Feb
Mar
Apr
May
June
APIWG
APIWG
APIWG
TD Visits

• September 00 - Beta Release
• October 00 - API WG
• October 00 - Build 1 OCP Release

16
OCP Progress to Date

• CDRL Deliveries
• Monthly Status Reports (technical and C/SSR)
• Contract Activity
• Worked subcontractor SOWs
• Addressing clause limiting foreign person access
  to any information created during the contract
  necessary to facilitate OCP/SEC TD coordination
• Working to secure FY00 funding
• Needed to get subcontractors on contract
• Working with internal Boeing groups to create a
  work plan needed to support C/SSR requirements
• Template Solicitation and Processing
• PI Meetings
• 06Dec99 with OGI in St. Louis

17
OCP Progress to Date (Continued)

• Engaging in Requirements Analysis for Software
  Deliverables
• Telecons with OCP core teammates
• Working transferal of X-36 classified data from
  prior program
• Working security plan to allow access of X-36
  classified data on OCP contract
• Developing export control plan
• Clearing the release of certain OCP contract
  deliverables and data to foreign nationals

18
GIT Input

• OCP progress to date
• Current Issues

19
HTC Input

• OCP progress to date
• Current Issues

20
UCB Input

• OCP progress to date
• Current Issues
• Deferred to Tuesday 14Dec99

21
Template Submittal Statistics

• TDs solicited for input in mid-Nov99 via Jessica
  Greenhalgh email
• Replies received from 11 TDs for Part 1 of the
  Template (as of Sunday 12Dec99)

22
Template Part 1

• Shown on viewfoil

23
Summary of Template Part 2 Replies

• Replies received from 8 TDs for Part 2 of the
  Template (as of Sunday 12Dec99)

24
Template Part 2

• Shown on viewfoil

25
Template Summaries

• Template contents illustrate spectrum of current
  TD design and test environments
• TD design and test environment summaries --
• Controls design tools used
• Designs lead to eventual implementation in
  embedded software
• Simulation design tools used
• Simulations used as part of test environment for
  embedded software
• Languages used
• For controls design, embedded software
  development, and simulation and test development
• Operating Systems used
• For controls design, embedded software
  development, embedded software execution,
  simulation development and simulation execution
• Generic hardware platforms used
• For controls design, embedded software
  development, embedded software execution,
  simulation development and simulation execution
• Special-purpose hardware platforms used
• For embedded software execution, HWIL simulation,
  and flight demonstration

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TD Environment and OCP Goals

• Goals of OCP--improvement of TD design and test
  environment
• Migrate TDs towards using OCP capabilities and
  simulation (especially for TDs to transition to
  flight test)
• Help TDs use their current design and test
  processes better
• Provide a migration path to different/modified
  design and test processes
• Help controls engineers translate controls
  designs into embedded software
• Embedded software executes in a UAV, a UAV
  controller (e.g., ground-based, airborne), a HWIL
  simulation, or an all-software simulation
• OCP should let controls engineers concentrate on
  controls
• Lessen the burden on design of the remaining
  elements of reliable embedded software
• Scheduling, inter-process communication,
  inter-CPU communication, intra-vehicle
  communication (flight software processors,
  sensors, actuators) inter-vehicle communication
  (swarm vehicles, vehicles and control stations)
• Lessen the burden on design of a test environment
  (e.g., simulation)
• Scheduling (embedded flight software, simulation
  models, simulation testability tools)
• Inter-process, inter-CPU, and inter-system
  communication (flight software in a simulation
  computer or HWIL-simulation flight hardware,
  simulation models, simulation testability tools)

27
TD Environment and OCP Products

• OCP products and their role in TD design and test
  environment
• Run-time and support products aid in embedded
  software development
• Run-time and support products aid in simulation
  development for test of embedded software
• Help TDs improve and extend their heritage
  simulations
• The Desktop Simulation Deliverable provides a
  generic UAV model that is designed to be of use
  to those TDs wishing to migrate from their
  heritage simulations

28
OCP TD Controls Design Tools

• Controls designs lead to eventual implementation
  in embedded software

29
OCP TD Simulation Design Tools

• Simulations are used as part of test environment
  for embedded software

30
OCP TD Languages Used

• For controls design, embedded software
  development, and simulation and test development

31
OCP TD Operating Systems Used

• For controls design, embedded software
  development, embedded software execution,
  simulation development and simulation execution

32
OCP TD Generic Hardware Platforms Used

• For controls design, embedded software
  development, embedded software execution,
  simulation development and simulation execution

33
OCP TD Special-Purpose Hardware Platforms Used

• For embedded software execution, HWIL simulation,
  and flight demonstration

34
Categorization of Template OCP Capability Requests
35
Categorization of Template OCP Capability
Requests (Continued)
36
Categorization of Template OCP Capability
Requests (Continued)
37
Example Requirements Analysis
38
Summary

• Lots of work in progress by OCP
• Middleware
• Simulation
• Planning to get OCP team-mates under contract
  ASAP (pending arrival of incremental funding)
• Working export control issues
• Plan to schedule detailed discussions with TD PIs
  modeled after OGI discussions of 6 Dec
• Communications
• Ready for 14 Dec APIWG

39
Review of Tuesday 14Dec99 Agenda

• DARPA Welcome
• APIWG Requirements and Process
• TD Template Briefs
• OCP Discussion Breakouts
• OCP Recap and Next Actions

40
Meeting Closure

• Action item process (accept/reject, assign
  person/due date)
• Final Comments