老外提供的PPT模板 Mocnik.ppt

1,CAT/RFSimulationLessonsLearned,IntelligentVehicleSystemsSymposium,ChristopherMocnik,EmbeddedSimulationTeam,Tank-AutomotiveResearch,Development&EngineeringCenter,UNCLASSIFIED,Email:(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-mancrewstationforasystem20tonsincorporatingtheFCSfight,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:1:1OperatortoARVControlARVEngagement,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,andfullytestsystemsinordertomeetthecustomersneeds.TheCAT/RFATDwasoriginallyatwoyeardevelopmenteffort.However,inordertosupporttheFCSprogramandmeettheFCSmilestoneBdecision,theamountofavailabledevelopmenttimewasreducedtooneyear.Inthattime,theESTeamandDCShadtosupportnotonlytheCAT/RFsimulationrequirements,butthatoftheUCDaswell.RequirementsSpecification:Requirementsspecificationmaybethemostimportantpartofanysoftwareengineeringprocess.Capturesthecustomersneeds.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.Withoutyoudonthaveasimulation.Therefore,theappropriateamountoftimeshouldalsobebudgetedforthisactivity.,22,ESSHardwareArchitecture,ESSUsedCommercial-off-the-shelf(COTS)hardware.EachchannelisaRacksaverTM1UboxcontainingaTyanTMdualprocessor(1.6GHz)motherboardandaTI4600graphicscardItalsocontainsaNationalInstrumentsFieldPointTMunitthatcanshutdowntheESSiftemperaturesinsideanyoftheboxesreachaprogrammablethresholdlevel.Overall,thehardwareperformedwell.Someproblemswerethegene