Using Integrative Modeling for a hammer, look out for your Advanced - PowerPoint PPT Presentation

Arizona’s First University. Thm (Kelly): If all you have is Using Integrative Modeling for a hammer, look out for your Advanced Heterogeneous System thumb, and all that. Simulation Corollary: If everyone has a hammer, then you will not use Tapasya Patki, Hussain Al-Helal, Jacob Gulotta, anyone else’s nails. Jason Hansen, Jonathan Sprinkle In collaboration with Vanderbilt University, and the University of California, Berkeley. Supported by US AFOSR.

What kinds of heterogenous systems are we interested in? Electrical and Computer Engineering 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 2

What motivates us to integrate? Electrical and Computer Engineering Control Integration Framework Platform Control Integration 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 3

What domain is this anyway? Electrical and Computer Engineering • Command and Control – Lots of decision makers, looking at tactical data, making command decisions. – Lots of monitors – Lots of data – Lots of decisions to make • Types? – Tactical actors (manned/unmanned components) – GUI elements (human interfaces) – Vignettes (tactical tests) • Example vignette: – A UAV is sent to a location to look for blue trucks. After a blue truck is spotted, the UAV reports its location. The C2 staff tell that UAV to “track” the blue truck. The UAV then stays as close as it can. • Example problems: – What kind of UAV is it? What kinematic/dynamic properties does it have? – What connection/network settings do I use? Am I communicating via TCP/IP, or something more primitive? 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 4

Graphically? Electrical and Computer Engineering * From an unpublished manuscript by Balogh, et al. 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 5

What’s the hardest thing about integrative modeling? Electrical and Computer Engineering The integrative modeling part… Position Information Position Information Position Information Position Information VEHICLE VEHICLE POSITION POSITION (JAVA) (JAVA) CONTROLLER CONTROLLER AND AND Position Update Position Update VISUALIZATION VISUALIZATION New Waypoint New Waypoint OBJECT SEARCH OBJECT SEARCH (DELTA -3D) (DELTA -3D) GROUND GROUND (MATLAB (MATLAB Search for target Search for target STATION STATION SIMULINK) SIMULINK) Track target Track target (JAVA) (JAVA) Found Target Found Target Lost Target Lost Target 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 6

Defining the Message and Integration Types Electrical and Computer Engineering InteractionR oot SimpleM essage message : String U A V C ommand SimulationC ontrol T ex tM essage message : String SimLog T rackT arget R eturnT oBase N ew W ay Point C omment : String PosU pdate suspected_z : double SimPause SimR esume SimEnd time : double t : double T ime : double suspected_y : double Base_ID : String time : double F edN ame : String y : double suspected_t : double z : double z : double suspected_r : double y : double x : double suspected_x : double A utomaticBD A x : double M ediumPrio Low Prio V ery Low Prio N etw orkInteraction v z : double y aw : double v y : double z : double SearchF orT arget v y : double y : double v x : double v z : double feature : String target_t : double x : double v x : double H ighPrio radius : double target_r : double BestEffortR eceiv e pitch : double z : double target_z : double BestEffortSend roll : double send_interaction_handle : int y : double target_y : double D irectC ontrol x : double siz e : int target_x : double U A V C ontrol sender_ip : String target_id : String T O D O : String receiv er_ip : String uav _id : String control : String 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 7

Defining the Message and Integration Types Electrical and Computer Engineering ObjectR oot id x y z nam e vx vy del vz f ra las f ra f ra Vehicle sen sen rec pla SendStream sender_ip play ing receiver_ip delay f ram e_rat e f ram e_loss f ram e_siz e last _received_f sending R eceiv eStream 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 8

Defining Component Interconnectivity Electrical and Computer Engineering NewW ay Point t : double PosUpdate y : double time : double z : double z : double x : double y : double x : double y aw : double v y : double v z : double v x : double pitch : double roll : double UAV UAVGSOp 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 9

Making our UAV look right Electrical and Computer Engineering A “default” rotorcraft • A realistic model of the STARMAC was created using Blender • Rendered model used to represent UAV during simulation • Multiple instances of the rendered model can be used to simulate swarms of rotorcraft 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 10

STARMAC Electrical and Computer Engineering 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 11

How do those vehicles fly? Electrical and Computer Engineering 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 12

A small wrinkle: image processing in simulation Electrical and Computer Engineering Reported Delta3D Location Camera Sensor Software Gives GPS Algorithm Location of Object is Object Now in Some Area If Introduce Object Error to is In Simulate Data FoV Get a Pixel Return to GPS Location for Coordinates the Object 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 13

Demos Electrical and Computer Engineering • The GME Paradigm: what gets generated? • Camera models: where are things executed? • Vehicle dynamics: where does the logic live? 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 14

A thought on domains (again…) Electrical and Computer Engineering • In the “domain” of heterogeneous simulation – Every player has their own domain – That domain has the correct tools, etc., for doing development • There are lots of hard pieces – Hard for domain-experts to understand middleware programming – Hard for middleware programmers to understand domain concepts – Hard for anyone to install everyone else’s tools… • But, major benefits, if pieces can be integrated easily – Allows immediate work on domain-problems, deferring integration work until later – Permits domain-specific work to use the tools of the domain – Showcases the power of code generation (when used by Jedi appropriately) 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 18

Conclusions, and Future Work Electrical and Computer Engineering • We were able to stand up a significant demo within 3 months of (beginning) to install the software • Our work concentrated on developing domain-specific pieces to improve visualization and design-time analysis • The modeling infrastructure supported our development in the appropriate level of abstraction for future integration • Future Work – More advanced control algorithms (mesh travel/stability) – More advanced code generation (autogenerate vignette scripts, etc.) 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 19

Electrical and Computer Engineering We’re always looking for good graduate students! http://www.ece.arizona.edu/~sprinkjm/research/c2wt/ 11/11/08 11/11/08 Patki, et al. "Integrative Modeling...Heterogeneous Simulation" 20 20