Presentation at the 2nd International Workshop on Model-driven Approaches for Simulation Engineering (held within the SCS/IEEE Symposium on Theory of Modeling and Simulation part of SpringSim 2012) Please see: http://www.sel.uniroma2.it/mod4sim12/ for further details

1. Model-­‐Based
So,ware
In-­‐the-­‐Loop-­‐Test
of
Autonomous
Systems
The
FALTER
Case
Andreas
Bayha,
Franziska
Grüneis,
Bernhard
Schätz
for9ss
gGmbH
Mod4Sim@TMS/DEVS,
Orlando,
27.03.2012

2. FALTER
Project
FALTER
Mission Management Mission
Data
Execute
Mission
Result
Information
FALTER:
Flugeinheit
zur
Autonomen
Lage-­‐
und
Terrain-­‐Erkundung
 Mission:
Autonomous
flight
for
in-­‐situ
indoor
analysis
(no
GPS
signal)
 PlaBorm:
Quadrocopter
with
IF/US/IMU
 Autonomy:
Online-­‐replanning
for
collision
avoidance
2

3. FALTER:
HW-­‐PlaHorm
Bluetooth Ultra Sonic
WLAN I!C
RC RoBoard I!C Compass
Reciever USB
PWM PWM
Camera
Safety
switch RS232
PWM
Gyros Battery
FlightCrtl
Accels Motors
HW-­‐ConstrucJon:
Modular
PlaKorm
 Sensors:
Incl.
gyroscope,
ultrasonic,
Pme-­‐of-­‐flight
camera,
alPmeter
 Actuators:
Motors,
camera
 CommunicaPon:
Mission
data/goal
informaPon,
emergency-­‐off
 Flight
control:
COTS-­‐control
unit
for
quadrocopter
 Mission
control:
Embedded-­‐qualified
GP
control
unit
3

4. FALTER:
So,ware
VerificaJon
Application Layer
So,ware
Architecture
Planing  HW-­‐abstracPon
layer
Environment Data
 ApplicaPon
layer:
Mission
funcPons
Execution
 Control:
Measuring
and
Control
FALTER Data
 ExecuPon:
Handling
of
flight
leg
Control
Command Sense
 Planning:
(Re-­‐)Planning
of
mission
path
FA LT E R - H A L
RoBoard-HAL FlighCtrl-HAL VerificaJon
Goals
RoBoard FlightCrtl  Reliability:
Faults
of
plaBorms
 Robustness:
SituaPons
in
environment
Hardware & Abstraction Layer
4

5. FALTER
Project:
IntegraJon
Test
FALTER:
Complicated
and
risky
integraJon
test
 Complex
state
space
(incl.
internal
model
of
environment)
 Complex
environment
(incl.
plaBorm
faults,
unexpected
obstacles)
 Safety
criPcal
funcPonality
(incl.
man
and
material)
5

6. Virtual
IntegraJon:
Simulated
PlaKorm
and
Environment
Virtual FALTER
FALTER
Planning
Environment
Model
Execute
FALTER Environment
Environment
Model Model
Control
Command
& Sense
Platform Model
Platform
Virtual
Commissioning:
Models
for
VerificaJon/ValidaJon
 Pla$orm
model:
HAL,
hardware,
electronics&mechanics
of
system
 FALTER:
Model
of
local
parameters
(e.g.,
posiCon,
speed)
 Environment
model:
Physical
environment
of
system
 FALTER:
Model
of
global
parameters
(e.g.,
walls,
obstacles)
 Virtual
Commissioning:
ExecuCon
of
applicaCon
on
simulated
plaKorm
in
simulated
environment
6

7. UAV
SimulaJon:
State
of
the
Art
-­‐-­‐Tools
UAV
SimulaJon:
Tools
for
Model
ConstrucJon
1. RC
Simulators:
SimulaCon
of
UAVs
for
RC
training
(e.g.,
FMS)
 SiL-­‐Usage:
6-­‐DoF-­‐Models,
no
environment
and
sensor
models
2. Physics
simulators:
SimulaCon
mech./elec.
processes
(e.g.
SimScape)
 SiL-­‐Usage:
Solids/fluids
models,
no
dyn.
environment
and
sensor
models
7

8. SimulaJon:
Structure
Structure: Modular Components
Control
• Environment model: Walls, obstacles
So]ware • Sensor model: Ultrasonic, time-of-
flight, gyroscopes, accelerators
PlaBorm • Actuator model: Flight mechanics,
Model power electronics
• Platform model: Preprocessing, flight
Sensor Actuator control, API
Model Model
• Control software: Unmodified
software
Environment
Model
8

9. SimulaJon:
Actuator
model
[] []
Walls Walls
V e (m/s) V e (m/s)
X e (m) Walls LED X (m)
GAS e
Position
F (N) Body F (N) Body Gier
xyz xyz DCM
Euler Angles (rad) FC ACCEuler Angles Nick (rad)
FC GYRO Roll
DCMbe DCMbe
Roboard
V (m/s) V (m/s)
b b
Fixed (rad/s) Fixed (rad/s)
Mass Mass
M xyz (N m) M xyz (N m)
d /dt d /dt
A (m/s2 ) A (m/s2 )
b b
6DoF (Euler Angles) 6DoF (Euler Angles)
GAS
F YAW
NICK
ROLL
M rad/s
Flight Dynamics F
Actuator
model:
Handling
of
flight
mechanics
 Physics:
6DoF-­‐MoPon
model
 Actuators:
TranslaPon
control
commands
via
power
electronics
9

10. SimulaJon:
Environment
and
Sensor
Model
z
e1
e2
v y
Environment
Model:
Walls,
Sensor
Modell:
Distance/PosiJon
Obstacles Measurement
 Surfaces:
One-­‐Vertex-­‐Dual-­‐Edges-­‐  Distance
Measurement:
PosiCon-­‐
Encoding
of
rectangles dependent
distance
list
 Walls,
Obstacles:
CombinaCon
of
 PosiCon
detecCon:
Provision
of
surfaces 6DoF-­‐values
10

11. SimulaJon:
ImplementaJon
Implementation: Matlab/Simulink
• Simulation: Simulink Aerospace Toolbox, simulation components
• Visualization: Simulink 3D Simulation (aka VR Toolbox)
• Software inclusion: S-function via API of Platform Model
11

12. SimulaJon:
Fault
Model
EffecPve
Signal Signal+Dri] Signal+Dri]+Noise
Fault Model: Support for generic classes of faults
• Systemic faults, e.g., noise, drift
• Sporadic faults, e.g., bit-flip, stuck-at
• Parametrized faults, e.g., fail time, noise strength
12

13. SimulaJon:
ApplicaJon
Intended
Z-­‐Speed/
AlPtude
EffecPve
Z-­‐Speed/
AlPtude
Assumed
Speed/
AlPtude
Application: In-the-Loop Test incl. Debugging by Simulation
• Execution of software, simulation of platform and environment
13

14. Test
Management
 Test
Management
System:
Scenarios
 Easily
reproducable
setups
for
in-­‐the-­‐loop
tests
 Independent
combinaPon
of
noise,
dri],
blackout,
obstacles
 ApplicaPon:
Reliability
(faults),
robustness
(obstacles)
14

15. SimulaJon:
ApplicaJon
15

16. Virtual
SiL
Test
SimulaJon
Framework
for
UAVs
 Standard
architecture
(Environment,
sensors,
pla$orm,
actuators)
 Modular
components
(incl.
ultrasonic,
Cme-­‐of-­‐flight)
 Robustness/reliability
test
(incl.
obstacles,
sensor
defects,
Cming
faults)
 Debugging
support
(incl.
internal
environment
model)
➡ Efficient
support
of
early
and
low-­‐risk
validaCon/verificaCon
➡ LimitaCon
due
to
degree
of
details
(e.g.,
energy
effects,
surface
properCes)
More
InformaJon:
at our site
at www.fortiss.org
16