1. Extending SISO LSA philosophy to real world challenges
08/02/2012
Extending SISO LSA philosophy to real world challenges
CITIUS PROJECT : USING LSA TO PROVIDE A COMMON SIMULATION PLATFORM FOR C2 & ROBOTIC SYSTEMS
Jose-Ramon Martinez-Salio Jose-Maria Lopez-Rodriguez
14F-SIW-049

2. What is CITIUS?

3. CITIUS is a R&D project made by a Spaniard consortium
08/02/2012
CITIUS is a R&D project made by a Spaniard consortium
Citius is a R&D Project, lead by Spanish naval shipyard and system integrator, Navantia, and in which we are leading the simulation work-package. Preliminary studies were performed by Navantia and NADS during 2012, based on our collaboration in simulation and training activities since These studies were the base to the construction of an Integrated Project Team, incorporating other companies actually involved in the development of the naval combat systems that Navantia is providing to the Spanish Navy, for Surface ships and also for submarines.

4. 08/02/2012
Project in Brief
THE PROBLEM
Future NAVAL OPS will be be NET-CENTRIC, integrating C2, ROBOTICS and SIMULATION
A SCALABLE and MODULAR architecture is demanded
M&S must be seamless INTEGRATED with operational systems.
THE SOLUTION
Develop an OPEN System of System ARCHITECTURE fully based on standards.
Provide SEAMLESS INTEROPERABILITY between C2, robotics and simulation systems.
Build your SIMULATIONS AS SERVICES available in the Network.
CASE IN POINT
CITIUS, a consortium of Spanish companies, lead by Navantia, is working together to improve interoperability for Net-Centric Naval operations.
CITIUS improves interoperability by providing a common platform for C2, simulations and robotics systems.
What is the purpose of this Project? Navantia is starting to work in her next generation of naval combat systems, which will be integrated in the next generation frigate, who should be operational in next decade. This new ship is based on a NetCentric CONOPS, demanding a very flexible and modular architecture for her combat system, that can interoperate without efforts with many other systems. Of course seamless integration with robotics systems is a request.
In order to speed up development times, reduce integration efforts and improve training, a request for a seamless integration of the simulation systems is a must. M&S assets must be part of a more complex System of Systems architecture, in which C2, robotics and simulations must be integrated without efforts in many different ways, as I will show you in this presentation later.

5. Net-Centric SoS life Cycle?
08/02/2012
CITIUS challenges
Sim
Asset
UAS
How to do
Command & Control
of Unmanned vehicles?
How to embed M&S
into operational systems?
Sim
Asset
CMS
How to interoperate
everything?
CMS
Citius presents many challenges to the state of the art in interoperability between operational systems and between these and simulation systems:
How we are going to be able to interoperate heterogeneus systems, made by different providers?
How we are going to be able to manage from a console in the combat system an autonomous system, for which we don’t know now his specification?
How can I go to a SoS architecture, valid for integration of any kind of system, Real or Simulated?
How can I leverage simulations to speed up development and integration times?
How can I embed simulation assets into an operational system for virtual prototyping and testing?
UAS
How to integrate M&S in
Net-Centric SoS life Cycle?

6. SOLUTION: CONVERGING MULTIPLE STANDARDS IN ONE ARCHITECTURE
08/02/2012
SOLUTION: CONVERGING MULTIPLE STANDARDS IN ONE ARCHITECTURE
CITIUS is developing an Open Net-Centric architecture based on:
C-BML and MSDL to command and control of robotics and M&S systems
JAUS architecture for robotics systems and to interoperate robotics and M&S
DDS as interoperable data exchange mechanism
DIS and HLA to interoperate with simulation systems
SCORM to interoperate with Training Management Systems
Naval CMS
Sim assets UV
GCS UV
CITIUS ARCHITECTURE
The answer to these questions it is in the architecture: Citius leverages standards, already implemented and new ones. Citius is based only on standards to interoperate C2,robotics and simulation systems. The frontier of simulation and operational standards is erased here. We don’t talk about a sim std or an operational one, we use the best standard for each application. As examples: standards designed for robotics as JAUS are also used by the simulations and others as C-BML or MSDL, designed in origin for interoperability between C2 and sim systems, are used also to integrate the combat system and the control stations of the robots, as we will see now.
And this is a very important point: we cannot still be talking about standards for simulation and for the operational systems. Here, in SISO, we have been discussing a lot in recent years about simulation versus operational standards. In my point of view this discussion is already obsolete: Net-Centric concepts of operation and SoS architectures request to use standards, just it. Systems must use the best available standard to their requirements in order to be built and to interoperate. Of course features and services required by each type of solutions can be wide different and because of that different standards must exist, but something must provide the “glue” between the standards in order to improve interoperability and make possible SoS architectures.
SISO LSA
OMG DDS
IEEE HLA
IEEE DIS
OMG DDSI
SCORM
C-BML
MSDL
JAUS

7. Citius Architecture Simulated Sensors DDS CMS Network DDS
08/02/2012
Citius Architecture
#include "SimwareLab_dataTypes.idl"
#include "SimwareLab_SelectedAttr.idl"
module SimwareLab{
attribute fullName "HLAobjectRoot.DatosEntidad.JAUSCommunication.VehicleControlStatus"
kind objectClass
attribute name "VehicleControlStatus"
attribute nameNotes "NA"
attribute semantics "NA"
attribute sharing "Publish"
struct VehicleControlStatus {
unsigned long ncwareKey;
attribute fullName "HLAobjectRoot"
kind attribute
attribute dataType "Unsigned32"
attribute keys "DataId"
attribute name "DataId"
attribute ownership "NoTransfer"
attribute publishers "_NULL_"
attribute semantics "_NULL_"
attribute sharing "PublishSubscribe"
attribute subscribers "_NULL_"
attribute transportation "HLAbestEffort"
attribute updateCondition "NA"
CMS Network
Simulated Sensors
DDS
DDS
Real Sensor
Adaptor CMS-Sim
<objectClass name="JAUSCommunication" nameNotes="NA" semantics="NA" sharing="Neither">
<objectClass name="HeartBeat" nameNotes="NA" semantics="NA" sharing="Subscribe">
<attribute dataType="JAUSheartbeatStruct" keys="_NULL_" name="info" ownership="NoTransfer" publishers="JAUS" semantics="Exp16" sharing="PublishSubscribe" subscribers="UAV,USV,UGV" updateType="NA"/>
</objectClass>
<objectClass name="VehicleControlStatus" nameNotes="NA" semantics="NA" sharing="Publish">
<attribute dataType="JAUScontrolStatusStruct" keys="_NULL_" name="controlInfo" ownership="NoTransfer" publishers="UAV,USV,UGV" semantics="NA" sharing="PublishSubscribe" subscribers="JAUS" updateType="NA"/>
ICD
DDS
DIS
DDS
DDS
C-BML
CMS Consoles
MSDL / C-BML
Simulation Network
C-BML
GCSs UxV
HLA
DDS
GCS UxV
JAUS
In this figure, you can see in more detail how the different systems in Citius “talk” each other. For example the combat system is going to use MSDL to initialize a simulation exercise, providing a XML file with the initial conditions for the exercise, as you can see in the template.
Simulation Manager is going to use a HLA datamodel used by our platform Simware, to manage the simulation providing a common management datamodel to every Publisher and subscriber in the simulation network. Translation to DDS topics is transparent to the user.
Another example it is how to map JAUS messages with simulation datamodels. In this case you can see an example of how JAUS events and objects are translated to HLA datamodels and how Simware translate these datamodels to DDS topics.
Simulated UxVs
JAUS /
Datalink
Operational Scenario
UxVs
DDS
Simulated Sensor
Simulation Data Flows
Operational Data Flows

8. Simulated Radar Tracks
08/02/2012
CITIUS leverages a common simulation platform for CD&E and Training
C2 systems
Autonomous systems
Comp #1
Comp#2
Combat System
Control Station
Simulated Radar Tracks
Comp#3
Comp#4
SIMULATION PLATFORM
Electrical System
Radar Simulation
Hydro Dynamics
Atmospherics
UAS SIMULATOR
Radar Simulation
Using this architecture, Citius is able to leverage a common simulation platform to every stage of the life cycle of the SoS. Some examples:
While integrating the CMS with the Naval robotic system, the control station is available but the real drone doesn’t. In this case a virtual prototype of the real naval drone is provided with a simulation in order to start the integration and avoid delays.
when this integration is completed, the real drone arrives, but without some of his sensors: for example the radar. In this case, a simulated radar must be integrated as a virtual sensor into the real platform. Because we don’t have a ral radar, simulated tracks must be also provided, for example using an HLA federate, like Stage or VrForces.
When we are doing the testing at a system level, scalability tests can be performed, combining virtual and real drones in the same testing scenario. Same simulation assets will be employed in this case.
When training, the same infrastructure would be used, with some advantages:
LVC Simulation is already available, out-of-the-box, without any changes.
We can use real equipment to enhance user experience, using the control stations and consoles of the combat systems as Human-Machine interfaces in the training sessions.
C2 Integ
C2-UAS Integ
Training
SoS Testing

9. Citius and SISO LSA

10. A quick introduction to SISO LSA (Layered Simulation Architecture)
TENA
DIS
HLA
SISO Study Group working on the final report
Looking for convergence of multiple standards in a common platform
Going to a pure Data-Centric architecture leveraging OMG DDS std. 10

11. CITIUS as a proof of concept of LSA
JAUS
Jaus Gwty
UAS Real Assets
Control Station
Robotics Systems
UAS Sim Assets
UAS Sim Asset Server
Terrain
Atmos effects
Common
Services
DIS Eng Sim
DIS Bridge
DIS Sim
HLA
HLA Gwty
HLA CGF
Tactical
Scenario
Common simulation services
DDS Simulation Network
C-BML / MSDL broker
C-BML Gtwy
CMS consoles
Adaptor
Naval Combat System

12. Join us in our LSA meeting Forum West 2. Tuesday 08.00am
To know more about SISO LSA …
Join us in our LSA meeting
Forum West 2. Tuesday 08.00am

13. Jose-Ramon Martinez jrmartinez@nads.es Jose-Maria Lopez
The Easy Way to Real Time Distributed Simulation
Jose-Ramon Martinez
Jose-Maria Lopez