1. Applying MBSE to the Industrial IoT:
Using SysML with Connext DDS and
Simulink
Gerardo Pardo-Castellote, Ph.D.
Chief Technology Officer, RTI
OMG DDS SIG Chair May 2018
István Ráth, Ph.D.
Managing Director, IncQuery Labs Ltd.
http://www.rti.com

2. ©2018 Real-Time Innovations, Inc. Confidential.
Design
Develop
Deploy

3. Distributed Systems Deployment
©2018 Real-Time Innovations, Inc. Confidential.

4. ©2017 Real-Time Innovations, Inc. Confidential.
DECENTRALIZED PEER TO PEER SYSTEMS

5. Edge Autonomy
©2017 Real-Time Innovations, Inc. Confidential.
Mainframe
Centralized
1960-1970
Mobile
Centralized
2005-2020
Client-Server
Distributed
1980-2000
Edge Intelligence
Distributed
2020-

6. How to deploy, connect, integrate the components?
• Performance
• Scalability
• Reliability
• Redundancy
• Fail over
• Security
• Heterogeneity
• Domain-Specific
Technologies
• Legacy Systems
©2018 Real-Time Innovations, Inc. Confidential.

7. Industrial Internet Consortium: 270+ Companies, 30+ Countries
IIC Founding and Contributing Members
The World’s Largest IoT Consortium
The IIC created the IIoT market

9. Industrial Internet Connectivity Stack
Information (Data in Context)
Participant X
Connectivity
Information
Transport
Link
Framework
Distributed Data
Interoperability and Management
Physical
Network
Participant Y
Data (State, Events, Streams)
Messages
Packets
Frames
Bits
Transport
Link
Framework
Distributed Data
Interoperability and Management
Physical
Network
Networking

10. Connectivity Core Standards Architecture
• Connectivity Core Standards
– Provide syntactic
interoperability
– Stable, deployed, open
standard
– Standard Core Gateways
to all other CCS
• Domain-Specific Connectivity
Technologies
– Connect via non-standard
gateway to any connectivity
core standard
Few Core StandardsStandard Core Gateways
Many Domain
Technologies

11. IIOT Connectivity Standards
©2017 Real-Time Innovations, Inc
Manufacturing Origin
TSN /
Ethernet
(802.1,
802.3)
DDS
Wireless
PAN
(802.15)
Wireless
2G/3G/LTE
(3GPP)
Wireless
LAN
(802.11 Wi-
Fi)
Internet Protocol (IP)
CoAP MQTT
Web
Services
Wireless
Wide Area
(802.16)
HTTPDDSI-RTPS
oneM2M OPC-UA
OPC-UA Bin
Telecommunications Origin
UDP TCPTCP
Transport
Link
Framework
Distributed Data
Interoperability and Management
Physical
Network
Healthcare TransportationManufacturing… …
Energy &
Utilities

12. Selection Criteria
©2017 Real-Time Innovations, Inc
Core Standard Criterion DDS Web Services OPC-UA oneM2M
1 Provide syntactic interoperability ✔ Need XML or JSON ✔ ✔
2 Open standard with strong independent, international governance ✔ ✔ ✔ ✔
3 Horizontal and neutral in its applicability across industries ✔ ✔ ✔ ✔
4 Stable and proven across multiple vertical industries Software Integration &
Autonomy
✔ Manufacturing
Smart City
Pilots*
5 Have standards-defined Core Gateways to all other core connectivity
standards Web Services,
OPC-UA, oneM2M*
DDS, OPC-UA,
oneM2M
Web Services,
DDS, oneM2M*
Web Services,
DDS*
6 Meet the connectivity framework functional requirements
✔ ✗
Pub-Sub in
development
7 Meet non-functional requirements of performance, scalability,
reliability, resilience ✔ ✗
Real-time in
development
Reports not yet
documented or
public
8 Meet security and safety requirements ✔ ✔ ✔ ✔
9 Not require any single component from any single vendor ✔ ✔ ✔ ✔
10 Have readily-available SDKs both commercial and open source ✔ ✔ ✔ ✔
* = work in progress , ✔ = supported, ✗ = not supported GREEN = Gating Criteria

13. Connext DDS Applications

14. Energy
©2017 Real-Time Innovations, Inc.
Grand
Coulee Dam

15. Defense
©2017 Real-Time Innovations, Inc.

16. Healthcare
©2017 Real-Time Innovations, Inc.

17. Transportation
©2017 Real-Time Innovations, Inc.

18. Run 24x7 Across Continents
We selected Object Management
Group (OMG) DDS standard for its high
security rating; its wide support of
tools and programming languages,
and its reputation for performance,
scalability, and 24/7 reliability
Sid Koslow, Chief Technology
Officer, NAV CANADA
©2017 Real-Time Innovations, Inc.
Air Traffic Control for Canada
2nd largest ANSP in the world
7 major centers

19. Siemens Wind Power Distributed Control
• Wind turbine farms can include 500
turbines, 100m blades
• Gust control across the array
requires fast communications with
dynamic, selective filtering
• DDS enables large, distributed
intelligent machines

20. Grand Coulee Dam
• DDS controls the 6.8 GW Grand Coulee Dam
–Largest power plant in North America
–Fastest-responding major power source on the
Western Grid
• RTI system live since Jan 2014
©2018 Real-Time Innovations, Inc.

21. Audi Hardware-in-the-loop simulation
• Audi hardware-in-the-loop simulation feeds
realistic data to components for testing
• The system offers plug-n-play between
simulation vendor solutions
• RTI software enables a modular test environment
that scales to work with hundreds of devices

22. RTI Connext DDS deployed across Navy Systems
• Most US and NATO Navy systems
–Lockheed Aegis
–Raytheon DDG 1000
–Raytheon SSDS
–LCS (Lockheed and GDAIS)
–Raytheon LPD-17
–Many more, US and allies
• Highly distributed systems include
radar, weapons, displays, controls
• Standards-based, high-performance
middleware breaks vendor lock-in,
drives interoperability ,and future-
proofs the architectural design
©2018 Real-Time Innovations, Inc.

23. GE Transportation
©2017 Real-Time Innovations, Inc.
GE Transportation freight and
passenger locomotives require safe
and reliable control, signaling, and
communications
The system is being developed using
SysML, Simulink, and DDS

24. Typical Deployment
Sensing
Planning
Vehicle
Control
Logging
CONNEXT DDS DATABUS
Traffic Maps
Error
Management
Situation
Awareness
Situation
Awareness
Cameras,
LIDAR, Radar…
Cameras,
LIDAR, Radar…
Cameras,
LIDAR, Radar…
Data Fusion Cameras,
LIDAR, Radar…
Localization
Vehicle
Platform
Visualization Navigation
CONNEXT DDS DATABUS
©2018 Real-Time Innovations, Inc.

25. DDS and the Industrial Internet of Things
• Reliability: Severe consequences if
offline for 5ms (or 5 min)
• Real-time: measure in ms or µs
• Interface scale: 10+
applications/teams
• Dataflow complexity: data has many
destinations
• Architecture: Next generation IIoT
Deployed in 1000s of Systems Industrial IoT Systems
Industries: Energy, Industrial Control, Transportation, Healthcare, Defense
3+ Yes?

26. DDS Concepts

27. DDS Standard family
DDS v 1.4
RTPS v2.2DDS-SECURITY
DDS-RPC
DDS-XTYPES
Application
UDP TCP DTLS TLS
DDS-C++ DDS-JAVA DDS-IDL-C DDS-IDL-C#
SHARED-MEMORYIP
HTTP
IDL4.
TSN
Ethernet
DDS-WEB
DDS-OPCUA
OPC/
TPC

28. Virtual Global Data Space
Topic A
QoS
Topic C
QoS
Topic D
QoS
DDS DOMAIN
Persistence
Service
Recording
Service
CRUD operations
Topic B : “Turbine State”
Source (Key) Speed Power Phase
WPT1 37.4 122.0 -12.20
WPT2 10.7 74.0 -12.23
WPTN 50.2 150.07 -11.98
QoS

29. Quality of Service (QoS) Policies
QoS Policy
DURABILITY
HISTORY
LIFESPAN
WRITER DATA LIFECYCLE
READER DATA LIFECYCLE
ENTITY FACTORY
RESOURCE LIMITS
RELIABILITY
TIME BASED FILTER
DEADLINE
CONTENT FILTERS
Cache
UserQoS
Delivery
Presentation
Availability
Resources
Transport
QoS Policy
USER DATA
TOPIC DATA
GROUP DATA
PARTITION
PRESENTATION
DESTINATION ORDER
OWNERSHIP
OWNERSHIP STRENGTH
LIVELINESS
LATENCY BUDGET
TRANSPORT PRIORITY

30. DDS Security Goals
• Authenticate subjects
• Enforce access control to data
objects
• Ensure data integrity
• Ensure data confidentiality
• Enforce non-repudiation
• Provide availability of data
• Create auditable security logs
….while maintaining high performance
DDS DataBus
Connext
DDS
App 1
Connext
DDS
App 2
Key Management
Authentication
Logging
Cryptography
Access Control

31. Adaptive AUTOSAR
• Component model for Automotive
–Classic AUTOSAR supported by most
OEMs
–New “Adaptive” AUTOSAR being
developed
• A-AUTOSAR defines a programming
model & API called ara::com
• Release 18.03 added DDS as an
alternative network binding under
ara::com
©2017 Real-Time Innovations, Inc. Confidential.
Provides a framework for all car software to use DDS

32. Level 1
Driver Assistance
Single control functions
such as speed selection,
braking or lane keeping
are automated
Level 3
Conditional
Automation
Vehicle takes control
most of the time
Driver expected to be
available for occasional
control with comfortable
transition times
Level 5
Full Automation
Vehicle takes control
all the time
Driver not expected to
control any systemsLevel 2
Partial Automation
More than one control
function is automated
Driver expected to
available for control at all
times and on short notice
Level 4
High Automation
Vehicle takes control
all the time
Driver not expected to
be available for control
at any time
Adaptive AUTOSAR connectivity
©2017 Real-Time Innovations, Inc. Confidential.
CAN bus
OMG DDS
SOME/IP

33. Robotic Operating System
Component Model
INSIDE

34. MBSE with MagicDraw, DDS, and
Simulink
©2017 Real-Time Innovations, Inc

35. Design, Develop, Deploy
• MagicDraw SysML/UML for design
• Simulink (or plain code) for development
• RTI Connext DDS for deployment integration
©2017 Real-Time Innovations, Inc. Confidential.

36. Code-driven DDS deployment
©2017 Real-Time Innovations, Inc

37. Data and Service Definition
DDS-XTYPES and IDL4 standards
• Logical Data Model and Service Interfaces
–Portable: Language-Independent Type System
–Safe: Rules for Type Compatibility
–Flexible: Types/Interfaces expressed in IDL or XML
• Interoperable System Evolution
–Types/Services changes (add, remove, reorder, …)
–Incremental/Partial upgrades
• Dynamic API’s to access data and types
–Systems that adapt at run-time
• Efficient binary serialization
@mutable
struct ShapeType {
@key string color;
@range(0, 200) long x;
@range(0, 250) long y;
@optional @min(5) float size;
};
struct ShapeTypeExt : ShapeType {
@unit(“meter”) long x;
};
/* Service definition */
enum Command { START, STOP };
@service
interface RobotControl
{
void command(Command com);
float setSpeed(float speed)
raises (TooFast);
float getSpeed();
};

38. DDS-XML: Qos Definitions
© 2012 RTI • COMPANY CONFIDENTIAL

39. DDS-XML: Application Definition
Define
Types, Topics,
Writers, Readers,
Applications

40. Complete C++ Example
enum TempUnit {
CELSIUS,
FAHRENHEIT,
KELVIN
};
struct TempType {
@key short id;
float temp;
TempUnit unit;
};
dds::domain::DomainParticipant dp(0);
dds::topic::Topic<TempType> topic(dp, "TTempSensor");
dds::pub::Publisher pub(dp);
dds::pub::DataWriter<TempType> writer(pub, topic);
TempType sensor(1, 0, 0, TempUnit::CELSIUS);
for ( int i = 0; i < 100; ++ i, ) {
sensor.temp( i%100 );
writer.write(sensor);
std::this_thread::sleep_for(std::chrono::seconds(1));
}
dds::domain::DomainParticipant dp(0);
dds::topic::Topic<TempType> topic(dp, "TTempSensor");
dds::sub::Subscriber sub(dp);
dds::sub::DataReader<TempType> reader(sub, topic);
dds::sub::cond::ReadCondition condition(reader,
dds::sub::status::DataState::any());
dds::core::cond::WaitSet waitset;
waitset += condition;
while (true) {
waitset.wait(dds::core::Duration(4))
auto samples = reader.take();
for (auto s : samples) {
std::cout << s.data() << std::endl;
}
}
// Subscriber Application:
// Publisher Application:
// IDL

41. SysML profile for DDS
©2017 Real-Time Innovations, Inc

42. SysML DDS Profile building blocks
•Interface definitions
–Data Types
–DDS Topics
•Application Definition
–DDS Domains, Participants, Writers, Readers
–Simulink Block interfaces
•Quality of Service Definitions
–DDS Qos Profiles
©2018 Real-Time Innovations, Inc. Confidential.

43. Design Interfaces (Topics and Types)
©2017 Real-Time Innovations, Inc. Confidential.
Custom types
DDS-XTYPES Complex
types
DDS Topics

44. Designing Applications (Domains and Participants)
©2017 Real-Time Innovations, Inc. Confidential.

45. Designing Applications (Domains and Participants)
©2017 Real-Time Innovations, Inc. Confidential.
Readers and Writers as
flow ports with type
compatibility
validation
and Qos definition
DDS Domain
Participant

46. Toolchain Design and Validation of the model
(Domain Specific Editor)
• Import QoS definitions
• Generate DDS-XML
Generate Simulink
skeleton (DDS Blockset)
Simulation
Code generation Code generationBuild &
deployment

47. Screenshots

48. Screenshots

49. Screenshots

50. http://demo.rti.com/system-designer
Screenshots

51. http://demo.rti.com/system-designer
Screenshots

52. Conclusion
• New SysML Plugin for DDS integrates MagicDraw, Simulink,
and RTI Connext DDS
• Plugin enables going from SysML design to implementation
and deployment on a distributed system
• Use of proven, standard DDS connectivity databus enables
robust and secure deployment of distributed applications
and components
©2018 Real-Time Innovations, Inc. Confidential.

53. More information
Demo Theater at 1pm
Visit IncqueryLabs booth
www.rti.com
http://portals.omg.org/dds/
https://community.rti.com/
https://www.mathworks.com/hardware-support/rti-dds.html
https://www.mathworks.com/videos/simulink-and-the-dds-
support-package-107761.html
https://www.iiconsortium.org/IICF.htm
https://www.slideshare.net/GerardoPardo/presentations

54. Thank You!