1. IST 37652 Hard Real-time CORBA HRTC WP6 / R.Sanz / Lund 16 September 2003 WP6: Status & Achievements Project Management Report Ricardo Sanz Universidad Politécnica de Madrid

2. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Contents  HRTC Project overview Project Context and Objectives Project Context and Objectives Work Organisation Work Organisation  Previous Review Recommendations Recommendations Actions Actions  Present status Achievements Achievements Numbers Numbers  Future

3. IST 37652 Hard Real-time CORBA HRTC WP6 / R.Sanz / Lund 16 September 2003 The HRTC Project An Step toward Hard Real-time CORBA

4. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Complex Control Systems  Control systems are software-intensive applications that are becoming extremely complex as new functionality is required from them.  Software complexity is a major engineering challenge  Distributed object technology and middleware have proved useful in dealing with the integration problem in complex systems

5. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 HRTC Project Objectives  Start R+D activities in CORBA for hard real-time distributed control: Elaborate requirements for CORBA-based controllers Elaborate requirements for CORBA-based controllers Foster activity inside the OMG Foster activity inside the OMG  Domain Analysis and Domain Architecting  Build two testbeds Robot Control Testbed: tight timing, performance Robot Control Testbed: tight timing, performance Process Control Testbed: heterogeneity, scalability Process Control Testbed: heterogeneity, scalability  Build a pluggable transport over predictable networking hardware

6. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Milestones  Milestone MS1 Domain analysis of CORBA control systems (CCS) Domain analysis of CORBA control systems (CCS) Analysis and design of real-time protocols Analysis and design of real-time protocols Specification and design of testbeds Specification and design of testbeds  Milestone MS2 Implementation of HRT Protocols for RT CORBA Implementation of HRT Protocols for RT CORBA Non-HRT testbeds Non-HRT testbeds Core set of CCS architectures Core set of CCS architectures  Milestone MS3 HRT testbeds HRT testbeds Testbed testing and documentation Testbed testing and documentation CCS engineering handbook CCS engineering handbook

7. IST 37652 Hard Real-time CORBA HRTC WP6 / R.Sanz / Lund 16 September 2003 Work Organisation Team and Workpackage Structure

8. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Work Packages 1.CORBA Control Systems 2.Hard Real-time Protocols 3.Robot Control Testbed (RCT) 4.Process Control Testbed (PCT) 5.Dissemination 6.Management

9. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Project Testbeds  Robot Control Testbed Robots, sensors, native controllers Robots, sensors, native controllers Focus on temporal aspects Focus on temporal aspects  Process Control Testbed Continuous process, commercial DCS, simulation, embedded devices Continuous process, commercial DCS, simulation, embedded devices Focus on integration Focus on integration

10. IST 37652 Hard Real-time CORBA HRTC WP6 / R.Sanz / Lund 16 September 2003 Previous Review Brussels, Jan 22, 2003

11. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendations  8+4 recommendations 8 from the review report 8 from the review report 4 from the addendum 4 from the addendum  The consortium took the necessary steps to implement recommendations of the HRTC 1 st Review Report and addendum.

12. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendation 1  “The deliverables provided were of varying standards and quality. It should be noted that the deliverables for WP4 set the appropriate standard and project partners should aim to emulate this in all future deliverables.”  Quality control measures have been enhanced to ensure quality and homogeneity.

13. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendation 2  “For WP2 discussing ‘protocols’ the presentation given clarified many things that were not clear from the deliverable. The partners should ensure that future deliverables provide a clear, concise and complete description of the work done.”  Enhanced releases of the protocol design deliverable have been produced.

14. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendation 3  “In the presentation for WP3 emphasis was placed on the TrueTime and JITTERBUG tools that had been developed at the University of Lund. The use of these tools is not clearly stated in Annex 1 and little was said about them in the deliverables provided. The work on co- simulation and timing analysis using these tools was thought to be very useful and it would be helpful to explain how these tools will be used in the definition of requirements and the analysis of systems.”  The document HRTC 057 was prepared and submitted. It was accepted with qualification.

15. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendation 4  “The criteria and method for evaluation proposed in Evaluation Plan D6.2 was thought to be insufficient. The partners should produce a revised version at the end of month 8 that expresses evaluation criteria on tangible outputs. The partners should concentrate on identifying outputs that demonstrate the success of the project.”  A new version was released (2.0) that was accepted with qualification.

16. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendation 5  “The late / delayed deliverables D1.1, D2.2 and D3.3 should be provided latest at the end of month 8; no further delay would be considered acceptable.”  Done.

17. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendation 6  “The Dissemination and Exploitation plans presented were acceptable for this stage of the project and it is clear that activities within the OMG have started very well. However, the strategy for commercial exploitation of the results was not clear. Decisions should be made for the final plan to be provided at the end of the project. The final plan should consider the target market and the potential for strategic partnerships. Also the consortium is encouraged to circulate the questionnaire to as wide an audience as possible.”  Done.

18. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendation 7  “For planning the routes for exploitation the consortium is strongly advised to put a consortium agreement in place that discusses and clarifies among the partners the Intellectual Property Rights (IPRs).”  Done. A Consortium Agreement has been prepared and is in lawyer hands for approval and signature.

19. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Recommendation 8  “The consortium should reassess the project progress/status at the end of month 9 when the impact of the current delay on the project is clearer. At that moment of time a decision should be taken whether an extended project duration is needed or not. The request made for an extension of two months should be reconsidered at that moment of time, i.e at the end of March 2003.”  The decision to ask for extension was taken and the extension was granted.

20. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 After-review Deliverables  Sent after the review: D1.1 Domain Analysis D1.1 Domain Analysis D3.3 RCT Procurement D3.3 RCT Procurement HRTC 057 TrueTime and Jitterbug HRTC 057 TrueTime and Jitterbug D2.2 Protocol Specification D2.2 Protocol Specification D6.2 Evaluation Plan (second version) D6.2 Evaluation Plan (second version)

21. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Additional Actions: D1.1  “it remains unclear how the timing analysis or control techniques to compensate for delays presented fed into the HRT CORBA”  “clarification on the above open issues should be provided at the next review.”  Clarifications will be provided in WP1 presentation

22. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Additional Actions: D2.2  “deliverable suffers from the said weaknesses and seems to be not yet complete; it would benefit from a revision”  A new release has been provided HRTC D2.2 HRT Protocol Specification v 1.2 HRTC D2.2 HRT Protocol Specification v 1.2

23. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Additional Actions: D6.2  Some concerns regarding testing procedures and depth of tests in both testbeds  To be addressed during testbed testing

24. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Additional Actions: 057  “Any ‘additional enhancements’ should be reported in an ‘addendum to HRTC 057’ and presented during the final review of the project”  They will be reported in WP1 presentation and new release of HRTC-057

25. IST 37652 Hard Real-time CORBA HRTC WP6 / R.Sanz / Lund 16 September 2003 Present Status As of M14

26. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Expected/Actual Status  Planned for Milestone 2 Implementation of non-HRT RCT Implementation of non-HRT RCT Completed*Completed* Implementation of non-HRT PCT Implementation of non-HRT PCT CompletedCompleted Implementation of HRT Protocols Implementation of HRT Protocols Completed (Prototype)Completed (Prototype) Core set of CCS architectures specified Core set of CCS architectures specified CompletedCompleted

27. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Expected/Actual Status  Planned for Milestone 3 Implementation of HRT RCT Implementation of HRT RCT OngoingOngoing Implementation of HRT PCT Implementation of HRT PCT OngoingOngoing Testbed Documentation Testbed Documentation OngoingOngoing Engineering Handbook Engineering Handbook OngoingOngoing

28. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003

29. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003

30. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Deliverables for the Review IdTitle Lead D1.2CCS Domain ArchitecturesUPM D2.2HRT Protocol Specification (revised Version)SCI D2.3HRT ProtocolTUV HRTC 066RTE Transport DefinitionULUND HRTC 067TTP Transport DefinitionTUV D4.4Non HRTP PCT ImplementationUPM D5.2.7CSWG White PaperUPM D5.2.8HRTC Poster at OMG RT-DOC WorkshopUPM D5.2.9CORBA on TTA at OMG RT-DOC WorkshopTUV D5.4HRTC Project Web PageSCI D5.6Exploitation and Use PlanSCI HRTC 082HRT CORBA Market StudySCI D6.5Quarterly Report (Q3/M9)UPM D6.6Periodic Report M12UPM

31. IST 37652 Hard Real-time CORBA HRTC WP6 / R.Sanz / Lund 16 September 2003 Efforts Used during the project

32. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Efforts by WorkPackage Q1Q2Q3Q4TotalPlanned% WP12.57.56.54.9921.493169 % WP22.844.63.42313.8613106 % WP32.8343.685.8616.372082 % WP42.59.289.529.222122 % WP52.2152.452.391.488.53517.549 % WP62.8952.752.721.629.9851283 %

33. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Efforts by partner Q1Q2Q3Q4TotalPlanned% UPM5.71313.511.2543.454694 % Lund4.596.257.7527.53774 % TUV2.583.52.663.2511.9913,589 % SCI354.34.216.51987 %

34. IST 37652 Hard Real-time CORBA HRTC WP6 / R.Sanz / Lund 16 September 2003 Future Activities and plans for the rest of the project

35. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Next Milestone  MS3: Scheduled for M15 Scheduled for M15 Operational testbeds with new protocols Operational testbeds with new protocols Tests performed Tests performed Final Documentation Final Documentation

36. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Work per Package (MS3) 1.Complete Engineering Handbook 2.Testing 3.Implement HRT robot testbed Perform tests + document 4.Implement HRT process testbed Perform tests + document 5.OMG RFI in CSWG Prepare journal papers 6.Perform project evaluation and reporting

37. Copyright © 2003 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP6 / R.Sanz / Lund 16 September 2003 Pending Documents (M15) D1.3 CCS Engineering Handbook D3.6 RCT Testing D3.7 RCT Documentation D4.6 PCT Testing D4.7 PCT Documentation D5.2.10 Control Systems RFI D6.9 Periodic Report M15 D6.7 Project Evaluation Report D6.8 Final Report HRTC075 TrueTime and Jitterbug 2.0

38. IST 37652 Hard Real-time CORBA HRTC WP6 / R.Sanz / Lund 16 September 2003 Questions ?

39. HRTC UPM LTH TUW SCI IST 37652