Towards A Common Controller Software Architecture
Towards a Common ControllerSoftware ArchitectureApril 8, 2015Kurt Bruck
Why a common control software architecture1.Unmanned systems mission space is becoming more advanced(air/ground/sea collaboration)2.Unmanned systems vehicles are becoming more autonomous andhave a decreasing need for unique and dedicated controllers tocommand them.3.The opportunity for a reduction in cost, logistics, training, andgreater situational awareness with a CCA implementation growslarger as 1 & 2 trend onward.
Core Team Douglas Gregory: David Barnhard: Kurt Bruck: Bill Huff:Neya SystemsKutta TechnologiesQinetiQ North AmericaJHNATeam members representing the NAMC not their individual companies.17 MAR 2015JGRE CCA Study Team
Problems with existing common software Common to a subset of departmental needs Each government organization has unique objectives for a CCA. Strategy between departments vary: long-term versus short-term Air domain focused departments generally leave out ground domain: (E-Stop, multi-path radios, IOP/JAUS, teleop control). Ground domain focused departments generally leave out the air domain (Stanag 4586, complete mission planning features, general lightweight expectation). Maintenance required Common control software requires a high level of maintenance in order to not becomeobsolete in one or more domains. SDK maturity A solid SDK is critical to take advantage of innovation from industry
Scope & ApplicationHardware scope – hardware independence Objective – All hardware 8 bit microcontrollers to up 32 core server systems Threshold – Tactical hardware smartphone to x86 quad-coreHeterogeneous Robotics and Autonomous Systems (RAS) Tactical air platforms (Group 1 UAS) Ground vehicles/systemsRepresentative Operational Environments Tactical dismounted operations (e.g. CLARK) Support and logistics operations (e.g. runway clearing)
The Approach1. Top-Down Evaluate High level architectures provide a solid basis to inform enterprise level decision UAS Control Segment (UCS)Future Airborne Capability Environment (FACE)STANAG 4586 (Unmanned Aerial System messaging)Joint Architecture for Unmanned Systems (JAUS – ground and maritime robotics) Determine ideal, concept architecture: “blue-sky”2. Bottom-up Investigate Specific programs and prototypes provides a rapid path to “real”development Navy: SPAWAR’s Multi-robot Operator Control Unit (MOCU) Army: Tactical Open Government Architecture (TOGA), WMI, Nett Warrior Marines: Tactical Robot Controller3. Develop solutions for how the two meet
Top-down (ideal concept architecture)UASControlSegment(UCS)STANAG4586SAE AS4(JAUS) AS4-JAUS is ubiquitous amongst UGV’s Strengthened by IOP standards Gradual adoption by UUV’s STANAG 4586 is ubiquitous amongst the UAV community Soon to be a required messaging standard UCS is a well-established, Mature, well-funded UCS is migrating under the AS4 umbrella UCS extensions can be created to allow for interoperability between STANAG 4586and AS4-JAUS
Bottom-Up Potential Candidate being explored:MOCUDevelopment of a Common Controller Architecture could be expedited using aproduct like MOCU Strengths: Mature, government owned product that has been used across many different roboticsystems. MOCU is being utilized in many different programs, including the Army’s TOGA program. Weakness: The way MOCU is implemented works well for the Navy, but is not modular enough to suitthe needs of industry and the larger robotics enterprise Conclusion: MOCU would require industry and government support to enhance its architecture to moredirectly align with the UCS architecture and business model Impact: MOCU, in its present form, is not a ready made solution for the CCA, but is very close Risk Mitigation: Revise MOCU architecture to fundamentally align with UCS architecture and createtransition package including data use rights, etc. for industry.
DDS / UCS TopicsBottom-Up Meets Top-Down Option 1 Implement UCS service interfaces with MOCUcomponent architecture
Option1 Advanced implementationsDDS / UCS Topics MOCU/UCS “thin-client” resides as acomponent within Nettwarrior softwareframework Host MOCU/UCS on MCWL TacticalRobot Controller Host MOCU/UCS on TOGA controller Implement TARDEC’s WMI presentationlayer as a UCS component within MOCU
Next Steps Decide on 2-3 key architectural approaches Develop a prototype Test component elements on existinghardware
STANAG 4586 is ubiquitous amongst the UAV community Soon to be a required messaging standard UCS is a well-established, Mature, well-funded UCS is migrating under the AS4 umbrella UCS extensions can be created to allow for interoperability between STANAG 4586 and AS4-JAUS UAS Control
Fig.4.1 Step response using P controller Fig.4.2 Fig.4.3 Fig.4.4 Fig.4.5 Step response using PID controller Fig.4.6 Comparison of bode plot for smith predictor and PI . Step response of IMC PDF control structure Step response of PDF controller Step response using PI controller Step response using PID controller Step response using PI controller
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Controller Firmware Comment CMMS-ST-. From Version 1.3.0.1.14 Standard motor controller for stepper motors CMMS-AS-. From Version 1.3.0.1.16 Standard motor controller for servo motors CMMD-AS-. From Version 1.4.0.3.2 Standard double motor controller for servo motors Table 1.1 Controller and firmware versions For older versions:
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