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Distributed Communication and Control for a Network of Melting Probes in Extraterrestrial Ice

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Presented by: Dr.-Ing. Dipl.-Inform. Daniel Ewert, Head of Research Group "Engineering Cybernetics," Assoc. Insitute for Management Cybernetics e.V., RWTH Aachen University

The Ice moon Enceladus of planet Saturn holds vast amounts of liquid water beneath its solid ice shell which possibly contain simple extraterrestrial life. For further examination an intended space mission by Germany's national space program aims to take probes from subsurface water using an autonomous ice probe. In order to navigate to a designated goal position, this probe must be able to localize itself within the ice. This localization is achieved by utilizing a distributed network of autonomous pinger units (APUs) which serve as external reference for the ice probe. The talk focusses on the technical details and communication and control mechanisms for this network.

Publié dans : Technologie
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Distributed Communication and Control for a Network of Melting Probes in Extraterrestrial Ice

  1. 1. DDS Distributed Communication and Control for a Network of Melting Probes in Extraterrestrial Ice Dr.-Ing. Dipl.-Inform. Daniel Ewert IMA/ZLW&IfU RWTH Aachen University
  2. 2. • Motivation: Project “RANGE” • Why DDS? Why Connext? • Implementation/Open Issues Outline
  3. 3. MOTIVATION: PROJECT “RANGE”
  4. 4. Aliens!!
  5. 5. Aliens!!
  6. 6. EnEx Initiative • Funded by DLR (German Aerospace Center) • Goal: Space Mission in 2040  Enhance Tech Readiness Level for core technologies
  7. 7. EnEx Initiative – IceMole Dirigible Probe for retrieving subglacial samples • Top speed: 4m/h • Turning radius: ca. 10m
  8. 8. EnEx Initiative – IceMole Open Issue: Autonomy • Navigation • Perception • Localization • … ?
  9. 9. EnEx Initiative: RANGE Goal: Develop network of autonomous pinger units (APU) • Self-localization via acoustic- based multilateration • Autonomous optimization of melting depth  Maximize coverage • Adaptation to • APU failures • Changes in ice quality • Environment
  10. 10. EnEx Initiative: RANGE Sub goals: • Acoustic world model • Simulation Environment • Hardware minaturisation & improvement in performance
  11. 11. RANGE – Development so far
  12. 12. RANGE – Development so far
  13. 13. RANGE – System architecture
  14. 14. APU AGENT SKILLS COMPONENTS HARDWARE SUPERVISOR GLOBAL CONTROL STATION MONITORING & CONTROL DATABASE STATE INFO COMMANDS SIGNAL MGMT NEGOTIATIONS RANGE – Software architecture
  15. 15. APU AGENT SKILLS COMPONENTS HARDWARE SUPERVISOR GLOBAL CONTROL STATION MONITORING & CONTROL DATABASE STATE INFO COMMANDS SIGNAL MGMT NEGOTIATIONS RANGE – Languages/Hardware CLIPS C C ++ C++ JAVA/Javascript SQL MicroZed/Debian
  16. 16. WHY DDS? WHY RTI CONNEXT?
  17. 17. Requirements • Robust  Decentralized, brokerless • Lightweight • Easy to Use • Language support for C/C++, Java, Python
  18. 18. Candidates • Brokerless • Lightweight • Easy to Use • Language support ”…a flexible framework for writing robot software.” ros.org “…a publish/subscribe, extremely simple and lightweight messaging protocol, designed for constrained devices and low-bandwidth, high- latency or unreliable networks” mqtt.org
  19. 19. Candidates • Brokerless • Lightweight • Easy to Use • Language support ”It’s sockets on steroids.” zeromq.org “… is a socket library that provides several common communication patterns” nanomsg.org
  20. 20. Candidates • Brokerless • Lightweight • Easy to Use • Language support    
  21. 21. Suddenly… Features!! • Strong Type System • Distributed Logging • RTI Record/Replay • Content-filtered topics
  22. 22. IMPLEMENTATION/OPEN ISSUES
  23. 23. APU AGENT SKILLS COMPONENTS HARDWARE SUPERVISOR GLOBAL CONTROL STATION MONITORING & CONTROL DATABASE STATE INFO COMMANDS SIGNAL MGMT NEGOTIATIONS Software architecture
  24. 24. Domain 0 Topic: SIGNAL Topic: AGENT Software architecture – external view Topic: COMMAND Topic: APU_STATE GLOBAL CONTROL STATION APU 1 APU 2 APU 2
  25. 25. APU AGENT SKILLS COMPONENTS HARDWARE SUPERVISOR Topic: HEATER Topic: LOCAL. Topic: IMU Topic: ACOUST. Topic: COMMAND Domain i Domain 0 Topic: SIGNAL Topic: AGENT Software architecture – internal view Topic: COMMAND Topic: APU_STATE
  26. 26. Resulting Benefits Core functionality • Robust decentralized system • One single communication framework • Isolation of systems through different domains • Loose coupling of components Free gifts on top • IDL-Specifications in central repository  Ease of collaboration • Content-filtered topics  one channel, dedicated recipients • Decentralized logging • Replay of experiments with RTI Record/Replay
  27. 27. Work in Progress/Open Issues • Permanent Data Storage – Hack into RTI Record/Replay Database? • Management of Signals – More than one DataWriter for same Object? • GUI – Web based frontend needs ddsjson bridge.
  28. 28. Summary/Outlook • 2040 Mission to find extraterrestrial life on Saturn’s moon Enceladus • Acoustics based autonomous network allows for in-ice localization • RTI DDS allows brokerless, decentralized communication • Unexpected features satisfy unknown requirements
  29. 29. Thank you for your attention! Dr.-Ing. Daniel Ewert IMA/ZLW&IfU, RWTH Aachen University +49 241 80 911 28 Daniel.Ewert@ifu.rwth- Aachen.de Project Partners: Funded by:

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