hrtc hard real-time corba ist 37652 wp1 / r.sanz / viena september 11-13, 2002 1 corba in control...

WP1 / R.Sanz / Viena September 11-13, 2002

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Hard Real-time CORBA

IST 37652

CORBA in Control SystemsCORBA in Control Systems

Ricardo Sanz

WP1 / R.Sanz / Viena September 11-13, 2002 2

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IST 37652Hard Real-time CORBA

ContentsContents

The Control Landscape Why CORBA ? What is CORBA ? CORBA Basics CORBA in Control Systems


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The Control LandscapeThe Control Landscape

Trends and Perspectives in Software-based Control Systems

ManagementCommand System(MCS) 10,000 tags

Module Bus (32 Addr.)

Superloop (10 Mbaud, 250 Nodes)RS-232 InterfaceTo Others

Process ControlUnit (PCU)

CommunicationGateway

Plant Loop (500 Kbaud, 63 Nodes)

Process ControlUnit (PCU)

OperatorInterface Unit

(OIU) 5,000 tags

EngineeringWorkstation

(EWS)

Loop/BusInterface(LIM/BIM)

Computer InterfaceUnit (CIU)

ProcessControl View

(PCV) 1,500 tags

Slave Bus 64 Addr.

AnalogI/O

Slaves

Termination Units

Logic MasterModule (LMM)

DigitalI/O Slaves

DigitalLogic

Station(DLS)

ControllerModule(COM)

RedundantAnalog MasterModule (AMM)

RedundantMulti-FunctionController (MFC)

DigitalControlStation

(DCS)

I/OSlaves

Slave Bus 64 Addr.

I/OSlaves

Configuration& Tuning

Module (CTM)

Stand AloneController


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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 ControlSoftware Intensive Control


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Design Issues / ChallengesDesign Issues / Challenges

Scaling Communication Coordination Transparency Naming Load sharing

Consistency Failures Security Heterogeneity Mobility Predictability


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Why CORBA ?Why CORBA ?

Reasons for using CORBA in control systems engineering


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A Device Maps to an ObjectA Device Maps to an Object

ps.getADC()

ps.getDAC()

ps.setDAC()

ps.getStatus() ps.off()

interface PS {

ADC: double RO

DAC: double RW

status: bits RO

on(): void

off(): void

}

RampedPS : PS {

start(): void

stop(): void

}


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Simple ExampleSimple Example

Object-Wrapping a robot to build a simple master-slave relation:• Master: A master• Slave: A robot

Robot.Goto(x)


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DOC BenefitsDOC 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


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Technical advantagesTechnical 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.


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Elements in DOCElements 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


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IST 37652

What is CORBA ? What is CORBA ?

A Brief Intro to Distributed Object Computing


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IntegrationIntegration

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


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RPCRPC ServerServer

ServerServerIn-process In-process

ServerServerIPCIPC

Client Process Server Process

In-HostIn-Host

In-NetIn-Net Server MachineClient Machine

IntegrationIntegration

RPCRPC

ClientClient

ClientClient

ClientClient


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MM

MMIPCIPC

RPCRPC

MM

RPCRPCMM

MM ServerServer

ServerServer

ServerServer

Simplification: MiddlewareSimplification: Middleware

ClientClient

ClientClient

ClientClient

In-process In-process

In-HostIn-Host

In-NetIn-Net

MiddlewareMiddleware




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Brokering MiddlewareBrokering Middleware

ServerServerClientClient

ServerServer

ClientClient




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Making a requestMaking a request

IIOP(CORBA) or ORPC(DCOM) IIOP(CORBA) or ORPC(DCOM) or JRMP(Java/RMI)or JRMP(Java/RMI)


ClientClientStubStub

ServerServerStubStub


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VendorVendorSpecificSpecific

LogicLogic

OPCOPCServerServer

OPCOPCCustomCustom

I/FI/F

OPCOPCAutomationAutomation

I/FI/F

OPC StructureOPC Structure

C++C++ClientClient

VBVBClientClient


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CORBACORBA

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.


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CORBACORBA

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


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CORBA BasicsCORBA Basics

Basic ideas about the technology


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LifecycleEventsNamingPersistenceTransactionsConcurrency

ExternalizationSecurityTimePropertiesQueryLicensing

Compound DocsObject LinkingHelp FacilitiesDesktop Mgmt

Not standardized by OMG; Scope isSingle application or vendor

Business ObjectsHealthcareFinanceTelecommunication

ApplicationObjects

HorizontalCORBA Facilities

CORBA Services

VerticalCORBA Facilities

OMA OverviewOMA Overview

Object Request BrokerObject Request Broker

Object Management Architecture


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OMA StructureOMA Structure

TraderTrader

NamingNaming PersistencePersistence TransactionTransaction EventEventQueryQuery

ConcurrencyConcurrency SecuritySecurity TimeTime

UtilitiesUtilities

ManufacturingManufacturing

E-CommerceE-Commerce

MedicalMedicalRepositoriesRepositories

InternationalizationInternationalizationMOFMOF

Input MethodInput Method

Common Object Services

Horizontal Facilities Vertical (domain) facilities

Application Specific Objects

Object Request Broker

Object Management Architecture


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POA

ORB Core

Client Object Implementation

ClientStubs

ORBInterface

DIIServer

Skeleton

One interface

One interface per object operationOne interface per object adaptor

Proprietary interfaceNormal call interfaceUp call interface

DSI

DSI: Dynamic Skeleton Interface POA: Portable Object AdapterDII: Dynamic Invocation Interface

ORB ComponentsORB Components


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UMLModeling CORBAservices

CORBAfacilities

Business Object Facility

Common Business Objects

CORBADomains

CORBADomains

CORBADomains

Me

ta-O

bje

ct F

aci

lity

SE

CU

RIT

Y

IDL Interfaces, Mappings, & ORB

Realtime, Embedded options

Interoperability: IIOP, Asynch

Components, Scripting

Not Just InteroperabilityNot Just Interoperability


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Domains in the OMADomains in the OMA

CORBAservices

Horizontal CORBAfacilities

BOF, basic Business Objects & Framework

FinancialObjects

TransprtationObjects

E-CommerceObjects

HealthcareObjects

TelecomObjects

ManufctringObjects

Acc

ou

nti

ng

Ban

kin

g

Insu

ran

ce

PD

M

Tel

e N

etw

k M

gm

t

Sh

op

Flo

or

Au

to

ER

P

Med

ical

MP

I

Tel

e S

ervi

ces

Str

eam

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EC

Ser

vice

s

E-P

aym

ent

Den

tal

Mar

ine

Rai

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Off

er L

oc/

Tra

de

Inte

rmo

dal


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OMG Adoption ProcessOMG 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.


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Model Driven ArchitectureModel 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


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Analysis and DesignAnalysis 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.


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CORBA in Control SystemsCORBA in Control Systems

Examples of Use


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Synchronized PendulumsSynchronized Pendulums

Simplex ControllerLynx OS

Node A: ILU ORB

Simplex ControllerLynx OS

Node B: ILU ORB

SunOSNode C: ILU ORB

outer loop controlCORBA


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Object Request Broker

Browser

Application

JTIDS

Controls &

Displays

Link 16 Interface Software

F-15 JTIDS TerminalC2 JTIDS Terminal

Virtual Target

Folder

Open Weapon SystemsOpen Weapon SystemsCollaboration

Server

C4I

Simulation

Quality of Service Management

Quality Object

Framework

Link 16 Interface Software

Pluggable ProtocolPluggable Protocol

Collaboration

Client

Link 16

C2C2 F-15F-15

Resource Mgmt

Adaptive


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BehaviorBehavior

Virtual Arm TeleoperationVirtual Arm Teleoperation

KavisKavis

6 DOF Master6 DOF Master


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RiskRisk ManManagementagement


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CameraCamera

User Interface

User Interface

Real time WAN videoReal time WAN video

Remote operation of hydraulic power plants


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OperatorTerminal

IED-2

IED-1

Pushbutton

Ethernet Hub

10BaseFL

10BaseT

GPS

Camera

10BaseT

Doorbell

ConfigurationTerminal

Leveraging StandardsLeveraging Standards

Electric Utilities / IEC 61850


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Problems Facing DOCProblems 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


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Going Down in ControlGoing Down in Control

Strategic ControlStrategic Control

Complex LoopsComplex Loops

Advanced ControlAdvanced Control

Operational ControlOperational Control

Tactical ControlTactical Control

Sensors & ActuatorsSensors & Actuators

Simple LoopsSimple Loops

MISMIS

PlantPlant

Optimization

Plan execution

Reactivity

Conventional Process Control

User

Inte

rface

User

Inte

rface

hrtc hard real-time corba ist 37652 wp1 / r.sanz / viena september 11-13, 2002 1 corba in control...

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corba basics corba

hrtc hard realtime corba

hard realtime corba

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controller slide

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