老外提供的PPT模板Mocnik.ppt

1 CAT RFSimulationLessonsLearned IntelligentVehicleSystemsSymposium ChristopherMocnik EmbeddedSimulationTeam Tank AutomotiveResearch Development EngineeringCenter UNCLASSIFIED Email mocnikc tacom army mil 586 574 5491 DSN786 5491Fax 586 574 5008 RDECOMTARDECVetronicsTechnologyArea AMSTA TR R Mailstop264Warren MI48397 5000 11June2003 2 IntroductionVetronicsTechnologyTestbed VTT CrewintegrationandAutomationTestbed CAT RoboticFollower RF OverviewUnmannedCombatDemonstration UCD OverviewEmbeddedSimulationSystemOverviewLessonsLearnedScheduleandRequirementsESSProcessOverviewDistributedControlInter processCommunicationsUnmannedGroundVehicle UGV ProcessReconnaissance Surveillance TargetAcquisition RSTA andAutomaticTargetRecognition ATR ImageGenerationScenarioDevelopmentTerrainDatabaseDevelopmentHardwareImplementationConclusion Agenda 3 Introduction TheEmbeddedSimulationTeamfromTARDEC alongwithDCSCorp Successfullydesigned developed andintegratedanEmbeddedSimulationSystem ESS thatsupportedboththeCAT RFexperimentsaswellastheUnmannedCombatDemonstration UCD withtheLeadSystemsIntegrator LSI ThefollowingpresentationwillprovidesomebackgroundinformationonpreviousandcurrentprogramsandthendiscusslessonslearnedfromCAT RFandUCDdevelopment 4 BackgroundInformation 5 VetronicsTechnologyTestbed VTT Goal Improvethewarfightingcapabilityofgroundcombatvehiclesystems Approach Develop integrateandfieldtestadvancedVetronicstechnologyforgroundcombatvehicles AdvancedCrewStationInterfaceIndirectVisionDrivingMulti functionDisplaysSpeechRecognition3 DAudioAdvancedElectronicsArchitectureEmbeddedSimulationSystemModifiedM2A0BradleyFightingVehicleusedastestplatform 6 CrewintegrationandAutomationTestbed CAT Goal Designanadvanced2 mancrewstationforasystem 20tonsincorporatingtheFCSfight carrier reconnaissance andC2ofunmannedsystems Approach BuildonVTTtechnologiesandprovidedevelopmentsforintegrationintotheFCSdemonstrator Additionalcapabilitiesinclude RoboticMissionPlanningandControlRoboticAssistedDrivingDecisionAidsRSTAControlProveouttechnologydevelopmentsusingaFCSclasschassis InterimArmoredVehicle IAV InfantryCarrierVariant ICV orStryker EnhancedESStosupportRoboticplanningandcontrol andRSTAoperation 7 RoboticFollower RF Goal Develop integrateanddemonstratethetechnologiesrequiredtoachieveunmannedfollowercapabilitiesforfuturelandcombatvehiclesKeyRequirements DismountedorMountedFollowing Semi autonomousperception Significantseparationtimesanddistances Mapdataandsensorterrainfeatureregistration RoaddetectionOn comingtrafficdetection H W S WdesignbasedonDemoIII Chassis StrykerrepresentativeofFCSmountedsystems XUVrepresentativeofmulesystem 8 Demonstrating 1 1OperatortoARVControl ARVEngagement LSIUnmannedCombatDemo UCD ARV 2 DemoIIIXUV Targets SimulatedtargetsforManeuver RealtargetsforLive Fire ARV 1 RFATD w COUGARturret ControlVehicle CV CATATD RSTAand Engagement RSTAand Engagement SurrogatePlatformMobility 16T SemiAutonomousNavSimulatedObjectiveCapabilityTurret WeaponsRSTA SurrogatePlatformMobility 2 5T Semi AutonomousNavSimulatedObjectiveCapabilityTurret WeaponsRSTA SurrogatePlatformMobilitySemi AutonomousNav2CrewStationsC2 9 EmbeddedSimulationSystem ESS Vehicleandcrewinteractiondata EmbeddedSimulationSystem CrewStations FCSClassVehicle SimulatedTurretVirtualLethalityVirtualSensorsSimulatedATRSimulatedATTSimulatedC2 SIMULATIONBASEDACQUISITION VEHICLESIMULATIONS MobilitySurvivabilityVirtualOPFORVirtualFriendlies OPERATIONALAPPLICATIONS BattlefieldVisualizationTerrainRegistrationVirtualSensorCoverageVirtualLethalityCoverage MISSIONAPPLICATIONS EmbeddedTrainingMissionRehearsalMissionPlanning 10 CAT RFandUCDSimulationLessonsLearned 11 ScheduleandRequirementsSpecification Schedule Inaperfectworld appropriatedevelopmenttimeshouldbeallocatedintheprogramscheduletoadequatelydesign develop andfullytestsystemsinordertomeetthecustomer sneeds TheCAT RFATDwasoriginallyatwoyeardevelopmenteffort However inordertosupporttheFCSprogramandmeettheFCSmilestoneBdecision theamountofavailabledevelopmenttimewasreducedtooneyear Inthattime theESTeamandDCShadtosupportnotonlytheCAT RFsimulationrequirements butthatoftheUCDaswell RequirementsSpecification Requirementsspecificationmaybethemostimportantpartofanysoftwareengineeringprocess Capturesthecustomer sneeds Basisforsystemdesign 12 ScheduleandRequirementsSpecification Firmrequirementsweredifficulttocaptureanddocument FCSandLSIunmannedsystemsconceptswerestillevolving PhysicalassetsavailablefordemossuchasRSTAs vehicleplatforms weaponsplatformsetc werestillbeingnegotiated Results DCSandtheESTeamwereabletosuccessfullydemonstrateanembeddedsimulationcapability thoughmanynon criticalrequirementshadtobedropped Givenafiniteamountoftime afinitenumberofhumanresources and creeping requirements trade offshavetobemadeinordertomeetharddeadlines LessonsLearned Workcloserwithinternalandexternalcustomerstolockbasesystemrequirementsasearlyinthedevelopmentprocessasispossible Thiswillallowformoreeffectiveuseoftheavailabletime 13 Processesfunctionallypartitionedbytheservicetheyprovide VTTcodereusedtolargestextentpossible withnewprocessesforUGVandRSTAcontroladded ReusedprocessesmodifiedtoincorporatenewfunctionalityInter processcommunicationsperformedthroughPIUCommObject ESSProcessOverview 14 DistributedControl TheCATESSsoftwareexpandedonVTTcapabilitiesbyaddingsupportfordynamiccontrolofanyunmannedasset controlledbytheESS fromeitherofthecrewstations However theVTTESScodewasdesignedaroundcontrolofoneownshipvehicleandthereforewastightlycoupledwithVTTownshipvehiclestatesandmodes Asaresult somelimitationswerepresentintheCATimplementation Itwasnotpossibletocontroltwoindependentbattlefieldvisualizationeye pointsforexample LessonLearned Amoreflexiblesoftwarearchitecturewillbeneededtobelessdependantonvehiclestatesandmodes Inthefutureitisrequiredtonotonlydynamicallycontrolunmannedgroundassets butunmannedairassetsaswell Thenotionistocontrolanyassetfromanycrewstationatanytime 15 ESSInter ProcessCommunications ThePIUCommObjectwasaneffectivetoolformanaginginter processcommunications Provenandwellunderstood CodeReusedfromVTTprogramHowever anextra layer ofmanagementisneededattheA kit B Kitinterfacelevel LessonLearned Allowingeachprocesstowritedirectlytoacommonsharedmemoryareawiththevehiclewilleliminatetheneedforanextralayerofmanagement WillperformtradeanalysisontheimpactofmovingtotheWSTAWGOEforthispurpose 16 ESSUGVProcess UGVProcessInstantiatesaUGVobjectforeachUGVunderESScontrolinthescenario andcommunicatestootherprocessesviaPIUCommObject PlanObjectparsesincomingUGVmissionplansfromthevehicle Communicatesdirectlywithvehicleviaitsownsocketconnection notthroughPIU UGVObjectcontrolsthevirtualUGVsInterpretsUGVMissionPlansControlswhendataispassedtotheUGVPlatformObject UGVPlatformObjectstartsathreadwhereineachfunctionalobjectisinstantiated Passesdatatoeachobject 17 ESSUVProcess LessonLearned UGVprocessperformedverywell ItwasalsoanobjectbaseddesigninsteadoffunctionalbaseddesignaswastheearlierVTTcode Ifpossible thesecondphaseoftheVTIwillexpandonthisdesignphilosophywiththeinclusionofUAVs UGVprocessmaybecomeUnmannedVehicle UV processandinstantiateobjectsforallunmannedassets FuturedesigneffortswillutilizesuchmethodsastheUnifiedModelingLanguagetoidentify describe andmodelsystemcomponentsandbehavior 18 ESSRSTAArchitecture RSTAarchitectureutilizedoneRSTAservervideochanneltoservicemultipleRSTAClients CausedseverelagwhenservingmorethanoneRSTAclientrequest LessonLearned EnvisionedRSTAarchitecturemayapplyonevideochanneltoeachclient Usesmorechannelsbutincreasesperformance Willinvestigateatradeofdedicatedserversandclientsversusavailablevideochannels RSTASimServer UGVSim1 UGVSim2 UGVSimN RSTASimClient RSTASimClient RSTASimClient RSTASimServer RSTASimServer CurrentRSTAConfiguration FutureRSTAConfiguration 19 ESSImageGenerationArchitecture Currently eachindividualoutputchanneliscontrolledthroughamasterchannel ThisconceptwascarriedoverfromtheVTTwhereswitchingoftheeye pointwasverylimitedbecauseofthesinglevehicleenvironment LessonLearned MovingtoadistributedIGcontrolapproachwouldsolveseveralproblems suchasRSTAupdates andbettersupportsthenotionofamulti crewstation vehiclearchitecture WillalsoperformtradestudytolookatotherIGalternativestoX IGTM CurrentIGConfiguration FutureIGConfiguration 20 ScenarioDevelopment CATandUCDemployedonemasterscenariothatwasadjustedasneededforaparticularexperiment OriginallytheintentwastodevelopaseriesofscenarioswitheachexercisingadifferentfacetoftheFCSscoutmission Lengthyprocessinvolvinganumberoffactors Subjectmatterexpertsdesignthevignettes AdifficulttaskasnoonehasexperiencewithanFCSsoldier robotteamincombat Vignettesapprovedbytheusercommunity SAFusersconvertvignettesintodigitalscenarios IGusersrunthroughthescenariofromdifferentpointsofview Dependentondigitalterraindatabase LessonLearned Scenariodevelopmentismoretimeconsumingthanonewouldthink Enoughtimeshouldbebudgetedfortheprocess 21 DigitalTerrainDatabaseDevelopment Nohigh resdatawasavailableforFt BlissTexas desiredDTEDlevel5 Fly overshadtobeconductedtocapturetheelevationdataandfeaturedataforthetestsite Companyneedstobescheduledandflighttimeoverthesiteauthorized RawdatathenneedstobeconvertedintoDTEDlikedata AtrialanderrormethodoffindingtherightmixofterrainresolutionandrenderingperformancewiththeIGmayneedtobeconducted FtBlissdigitalterrainareawasroughly13kmx9km At1meterpostings thisisalargeamountofdatafortheIGtorender ForCAT postingswereputat10meterstogetthedesiredperformance LessonsLearned Dependingontheoverallqualityyoudesire resolutionofdatabase qualityoffeaturedata performanceinrendering digitalterraindatabasedevelopmentcanalsotakealargeamountoftime Atthecoreofthevirtualworldistheterraindatabase Withoutyoudon thaveasimulation Therefore theappropriateamountoftimeshouldalsobebudgetedforthisactivity 22 ESSHardwareArchitecture ESSUsedCommercial off the shelf COTS hardware EachchannelisaRacksaverTM1UboxcontainingaTyanTMdualprocessor 1 6GHz motherboardandaTI4600graphicscardItalsocontainsaNationalInstrumentsFieldPointTMunitthatcanshutdowntheESSiftemperaturesinsideanyoftheboxesreachaprogrammablethresholdlevel Overall thehardwareperformedwell Someproblemswerethegener