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HRTC Hard Real-time CORBA IST 37652 WP1 / R.Sanz / Viena September 11-13, 2002 1 CORBA in Control Systems Ricardo Sanz.

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Presentation on theme: "HRTC Hard Real-time CORBA IST 37652 WP1 / R.Sanz / Viena September 11-13, 2002 1 CORBA in Control Systems Ricardo Sanz."— Presentation transcript:

1 HRTC Hard Real-time CORBA IST 37652 WP1 / R.Sanz / Viena September 11-13, 2002 1 CORBA in Control Systems Ricardo Sanz

2 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 20022 Contents  The Control Landscape  Why CORBA ?  What is CORBA ?  CORBA Basics  CORBA in Control Systems

3 HRTC Hard Real-time CORBA IST 37652 WP1 / R.Sanz / Viena September 11-13, 2002 3 The Control Landscape Trends and Perspectives in Software-based Control Systems

4 Management Command System (MCS) 10,000 tags Module Bus (32 Addr.) Superloop (10 Mbaud, 250 Nodes) RS-232 Interface To Others Process Control Unit (PCU) Communication Gateway Plant Loop (500 Kbaud, 63 Nodes) Process Control Unit (PCU) Operator Interface Unit (OIU) 5,000 tags Engineering Workstation (EWS) Loop/Bus Interface (LIM/BIM) Computer Interface Unit (CIU) Process Control View (PCV) 1,500 tags Slave Bus 64 Addr. Analog I/O Slaves Termination Units Logic Master Module (LMM) Digital I/O Slaves Digital Logic Station (DLS) Controller Module (COM) Redundant Analog Master Module (AMM) Redundant Multi-Function Controller (MFC) Digital Control Station (DCS) I/O Slaves Slave Bus 64 Addr. I/O Slaves Configuration & Tuning Module (CTM) Stand Alone Controller

5 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 20025 Field Management Process Management Business Management Continuous Process Plant Fieldbus Control Network Enterprise Network Process Control MIS Data Storage Process Operation Field Configuration Sensing and Acting Safety Software Intensive Control

6 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 20026 Design Issues / Challenges  Scaling  Communication  Coordination  Transparency  Naming  Load sharing  Consistency  Failures  Security  Heterogeneity  Mobility  Predictability

7 HRTC Hard Real-time CORBA IST 37652 WP1 / R.Sanz / Viena September 11-13, 2002 7 Why CORBA ? Reasons for using CORBA in control systems engineering

8 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 20028 A Device Maps to an Object ps.getADC() ps.getDAC() ps.setDAC() ps.getStatus() ps.off() interface PS { ADC:doubleRO DAC:doubleRW status: bits RO on(): void off():void } RampedPS : PS { start(): void stop(): void }

9 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 20029 Simple Example  Object-Wrapping a robot to build a simple master-slave relation: Master: A master Slave: A robot Robot.Goto(x)

10 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200210 DOC Benefits  Distributed computing can improve Collaboration through connectivity and interworking Performance through parallel processing Reliability and availability through replication Constructability, scalability and portability through modularity Extensibility through dynamic configuration and reconfiguration Cost effectiveness through resource sharing and reusability Lifespan through standardization

11 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200211 Technical advantages  Legacy assets can be leveraged by wrapping.  Programmers have the ability to distribute components of an application to computers that best fit the task of each object without having to change the rest of the application using these objects.  Since objects appear to be local to their clients, a client does not need to know what machine, or even what kind of machine, an object resides on.  Systems integration can be performed to a higher degree.

12 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200212 Elements in DOC  Object Models: OO classics on the net  Component Models: Black-box Reuse  Middleware: Integration and interoperation  Transports: Distribution  Services: Prebuilt reusable functionality Vertical domains Horizontal domains

13 HRTC Hard Real-time CORBA IST 37652 WP1 / R.Sanz / Viena September 11-13, 2002 13 What is CORBA ? A Brief Intro to Distributed Object Computing

14 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200214 Integration  In-Thread Method call: No concurrency, simplicity  In-Process Inter thread requests: complex, fast, reliable  In-Host Inter process requests: fast, reliable  In-Net Inter hosts requests: unpredictable, unreliable

15 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200215 RPC Server Server In-process Server IPC Client Process Server Process In-Host In-Net Server Machine Client Machine Integration RPC Client Client Client

16 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200216 M M IPC RPC M RPC M M Server Server Server Simplification: Middleware Client Client Client In-process In-Host In-Net Middleware Middleware Middleware

17 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200217 Brokering Middleware ServerClient Server Client ServerClient Middleware

18 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200218 Making a request IIOP(CORBA) or ORPC(DCOM) or JRMP(Java/RMI) Server Client ClientStub ServerStub

19 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200219 Vendor Specific Logic OPC Server OPC Custom I/F OPC Automation I/F OPC Structure C++Client VBClient

20 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200220 CORBA  CORBA is the acronym for Common Object Request Broker Architecture.  CORBA is OMG's open, vendor-independent specification for an architecture and infrastructure that computer applications use to work together over networks.  Interoperability results from two key parts of the specification: OMG Interface Definition Language (OMG IDL), The standardized protocols GIOP and IIOP.

21 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200221 CORBA  CORBA is standardized middleware  CORBA is a non-proprietary standard  It is based on industry requirements  Is demonstrated by implementations  Is tailorable and extensible  Runs on heterogeneous platforms  Multiple implementations for suitability  Vendor and language independent  Multiple services for easy development

22 HRTC Hard Real-time CORBA IST 37652 WP1 / R.Sanz / Viena September 11-13, 2002 22 CORBA Basics Basic ideas about the technology

23 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200223 Lifecycle Events Naming Persistence Transactions Concurrency Externalization Security Time Properties Query Licensing Compound Docs Object Linking Help Facilities Desktop Mgmt Not standardized by OMG; Scope is Single application or vendor Business Objects Healthcare Finance Telecommunication Application Objects Horizontal CORBA Facilities CORBA Services Vertical CORBA Facilities OMA Overview Object Request Broker Object Management Architecture

24 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200224 OMA Structure Trader Naming PersistenceTransactionEventQuery Concurrency SecurityTime Utilities Manufacturing E-Commerce Medical Repositories Internationalization MOF Input Method Common Object Services Horizontal Facilities Vertical (domain) facilities Application Specific Objects Object Request Broker Object Management Architecture

25 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200225 POA ORB Core Client Object Implementation Client Stubs ORB Interface DII Server Skeleton One interface One interface per object operation One interface per object adaptor Proprietary interface Normal call interface Up call interface DSI DSI: Dynamic Skeleton InterfacePOA: Portable Object Adapter DII: Dynamic Invocation Interface ORB Components

26 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200226 UML Modeling CORBAservices CORBAfacilities Business Object Facility Common Business Objects CORBA Domains CORBA Domains CORBA Domains Meta-Object Facility SECURITY IDL Interfaces, Mappings, & ORB Realtime, Embedded options Interoperability: IIOP, Asynch Components, Scripting Not Just Interoperability

27 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200227 Domains in the OMA CORBAservices Horizontal CORBAfacilities BOF, basic Business Objects & Framework Financial Objects Transprtation Objects E-Commerce Objects Healthcare Objects Telecom Objects Manufctring Objects Accounting Banking Insurance PDM Tele Netwk Mgmt Shop Floor Auto ERP Medical MPI Tele Services Stream Control EC Services E-Payment Dental Marine Rail Offer Loc/Trade Intermodal

28 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200228 OMG Adoption Process  RFI (Request for Information) to establish range of commercially available software.  RFP (Request for Proposals) to gather explicit descriptions of available software.  Letters of Intent to establish corporate direction.  Task Force Development  End User evaluation & recommendation; simultaneous Business Committee examination.  Board decision based on TC, End User, and BC recommendations.

29 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200229 Model Driven Architecture  Is a new way of writing specifications and developing applications, based on a platform-independent model (PIM) and mappings to implementations using tools.  A complete MDA specification consists of: A platform-independent base UML model One or more platform-specific models (PSM) Interface definition sets  A complete MDA application consists of a definitive PIM, plus one or more PSMs and complete implementations  MDA development focuses first on the functionality and behavior of a distributed application or system

30 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200230 Analysis and Design  The Unified Modeling Language (UML) is a graphical standard modeling language  The MetaObject Facility (MOF), standardizes a meta- model (i.e. the concepts that you use to build your application model).  XML Metadata Interchange (XMI), is a stream format for interchange of metadata (including the UML models)  The Common Warehouse Metamodel (CWM) standardizes a basis for data modeling commonality within an enterprise, across databases and data stores.

31 HRTC Hard Real-time CORBA IST 37652 WP1 / R.Sanz / Viena September 11-13, 2002 31 CORBA in Control Systems Examples of Use

32 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200232 Synchronized Pendulums Simplex Controller Lynx OS Node A: ILU ORB Simplex Controller Lynx OS Node B: ILU ORB SunOS Node C: ILU ORB outer loop control CORBA

33 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200233 Object Request Broker Browser Application JTIDS Controls & Displays Link 16 Interface Software F-15 JTIDS Terminal C2 JTIDS Terminal Virtual Target Folder Open Weapon Systems Collaboration Server C4I Simulation Quality of Service Management Quality Object Framework Link 16 Interface Software Pluggable Protocol Collaboration Client Link 16 C2 F-15 Resource Mgmt Adaptive

34 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200234 Behavior Virtual Arm Teleoperation Kavis 6 DOF Master

35 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200235 DOC in control systems

36 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200236 Risk Management

37 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200237 Camera User Interface Real time WAN video Remote operation of hydraulic power plants

38 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200238 Operator Terminal IED-2 IED-1 Pushbutton Ethernet Hub 10BaseFL 10BaseT GPS Camera 10BaseT Doorbell Configuration Terminal Leveraging Standards Electric Utilities / IEC 61850

39 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200239 Problems Facing DOC  More complex lifecycle models  Lack of complete end-to-end methods  More diverse architectures to deal with  Lack of established development processes  Lack of tools  Integration and testing starting from early stages  Multiple threads of control  More complex risk profile

40 HRTC IST 37652 Hard Real-time CORBA WP1 / R.Sanz / Viena September 11-13, 200240 Going Down in Control Strategic Control Complex Loops Advanced Control Operational Control Tactical Control Sensors & Actuators Simple Loops MIS Plant Optimization Plan execution Reactivity Conventional Process Control User Interface

41 HRTC


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