ScalingupfromCo-SimulationtoMulti-simulationusingHLAEvolvedastheMasterforFMICompatible

SimulationComponents

StefanSandbergManagingDirectorPitchTechnologies

OttoTronarpSoftwareEngineerWolframMathcore

10thMODPRODWorkshoponModel-BasedProductDevelopmentLinköpingUniversity – February2-3,2016

PitchTechnologies• PitchTechnologiesspecializesinstandardsbased

simulationinteroperabilityproductsandservices– Founded in1991inLinköping,Sweden

• Hasprovidedintheorderof80 000softwarelicenses– Tomorethan30differentcountries

• Inawiderangeofdifferentdomains– Defense&Training– Space– Healthcare&Medicine– Transportation– Energy– Manufacturing

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• Completemodelingprojectsandprovidesmodelingexpertise.

• CustomModelica librarydevelopment

• WolframSystemModelerincludingintegrationwithMathematica

• BioChem,Hydraulic,ModelPlug,andOPCClassic

Products Services

HLA,HighLevelArchitecture• IEEE1516-2010orNATOSTANAG4603

• DefinesservicesforsimulationdataexchangeandcoordinationprovidedbyaRun-TimeInfrastructure(RTI)oraServiceBus

• Servicesareaccessedthroughastandardizedinterface.

• Andatamodelexpressedinastandardizedxml-formatdefineshowhowobjectsinteractwitheachother

Federate

RuntimeInfrastructure

HLAAPI

FederationManagementDeclarationManagementObjectManagement

OwnershipManagementTimeManagement

DataDistributionManagement

FederationObjectModel<FOM><Sharedobjectclasses><Sharedinteractionclasses><More></FOM>

FederationObjectModel<FOM><Sharedobjectclasses><Sharedinteractionclasses><More></FOM>

HLAReferenceFOM• AreferenceFOMisastandardizedFOMforaparticular

purposeordomain• Aparticularsimulationoftenimplementspartsorallofthe

referenceFOM• ProjectscanextendareferenceFOMtomeettheirneeds

– ThereferenceFOMthendefinesabaselinelevelofinteroperability

• ExamplesofReferenceFOMs– Real-timePlatformReferenceFOM(RPR-FOM)

• DefenserelatedFOMincl.exchangeofgeographicalposition– NATONETNFOM– NATOextensionoftheRPR-FOM– AirTrafficManagementFOM– SpaceFOM– Link16FOM

AircraftFireDetonation

DefenseFOM

PlanetRocketDocking

SpaceFOM

HeartLungInfection

MedicalFOM

RelationshipwithSwedishFMV

• HLAProductsEnterpriseLicense(since2003)– PitchpRTI– PitchVisualOMT– PitchDISadapter– FreeusageinSWEMoD projects(includingNATOMSGs)

• Design&ArchitecturePartner– Architecture&Design– InterfaceRequirements– Test&Integration– ComponentorsystemCertification

HLAuseCases– Afewexamples• Swedishusecases

– TheVikingExercise• 9sites,2500peopleinthetrainingaudience

– SwedishAirForceCombatSimulationCentre,FLSC– SimArch

• “AModularDistributedDrivingSimulationPlatformusingHLA”• AndersAndersson,VTI,Sweden

– SwedishFOI,Mozartsimulationplatform

• Internationalusecases– NATO,Recommendedsimulationarchitecture– ATM,AirTrafficManagement

• GermanDFS,Eurocontrol,UKNATS– NASAandESA

• SimulationoftheISSandATV2

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BenefitsofusingHLA

• HighPerformanceandlowlatency– Outperformsstandardfilecopy– Unmeasurableaddedlatency

• Welldocumenteddataexchangemodel– projectandvendorindependent

• DatadistributionoverWAN• Reducedintegrationtimeandriskoflargesystems• Scalability– Allowsyouincrementallyaddcomponentsovertime

• AccesstoawellestablishedsimulationCOTSproductmarket

FMU

FMI- Principle

• Vendor/toolindependentstandardmanagedbytheModelicaAssociation

• DefinesaC-APIandapackagingformatforexchangeofexecutabledynamicmodels

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Tool

Solver Model Model

Solver

FMUTool

Modelexchange Co-simulation

HLAasMasterforFMICo-simulation– Thesiswork

• AnalyzeifHLAcouldbeappropriateforconnectingFMIcompliantsimulationcomponents

• AnalyzethebestwayofusingHLAtoconnectanytypeofFMIco-simulationcomponent– TranslationofFMUmodeldescriptionfiletoFederationObjectModel(FOM)

– AutomaticgenerationofHLAwrappercode– ImplementationoftheMasterAlgorithm

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HLAservicebus

FMU1 FMUXFMU2

SpecificSolution

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• TranslationfromFMUtoFOM– ModeltoanObject– Inputsandoutputstoattributes

• OwnershipManagementtodistributeattributes– Inputsownedbyfederateservingtheinputvalues– OutputsownedbythefederatecontainingtheFMU

Demonstration1. FMUFederation– 2FMUfederates– 1Masterfederate– 1displayfederate

2. FMUinaRPR-FOMfederation– FMU-Federatesimulatingavehicleoutput(position)mappedtotheRPR-FOM

– SyntheticEnvironmentsimulator

– GEAdapter– streamskml-datatoGoogleEarth

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FMU1Ball

simulationMaster

FMU2Air

resistance

ForceAltitudeSpeed

Speed SpeedForce

AltitudeSpeedForce

Conclusion• HLAiswellsuitedtodistributedata

betweenFMIcomponents– StraightforwardprocesstointegrateFMI

componentswithHLAinterface– Manydifferentstrategiescanbeused

dependingonrequirements

• Givesbenefitsintermsof– Scalabilityandperformance– AccessibilityforawidevarietyofCOTStools

• Recordingandfaultlocalization• Syntheticenvironmentandvisualization

• Future– InvestigatebetteruseofHLAservices– Timemanagementservicetosupport

synchronizedexecutionofFMIcomponents

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Datadistribution - IEEE1516HighLevelArchitecture