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Applying MBSE to the Industrial IoT: Using SysML with Connext DDS and Simulink

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The benefits of Model-Based Systems Engineering (MBSE) and SysML are well established. As a result, users want to apply MBSE to larger and more complex Industrial IoT applications.

Industrial IoT applications can be very challenging: They are distributed. They deploy components across nodes spanning from small Devices to Edge computers to the Cloud. They often need mathematically-complex software. Moreover, they have strict requirements in terms of performance, robustness, and security.

SysML can model requirements, system components, behavior, interactions, and more. However, SysML does not provide a robust way to connect components running across different computers, especially when the security and quality of service of individual data-flows matter. SysML also does not provide all the tools needed to model and generate the (mathematical) code for complex dynamic systems.

A new “DDS + Simulink” MagicDraw SysML plugin has been developed to addresses these needs. It brings to MagicDraw users the capabilities of Connext DDS from RTI and Simulink from Mathworks:
The OMG Data-Distribution Service (DDS) is a secure and Qos-aware connectivity “databus”. DDS is considered the core connectivity framework for Software Integration and Autonomy by the Industrial Internet Consortium. Connext DDS is the leading implementation of the DDS standard, proven in 1000s of critical deployments.
Simulink is a tool for modeling and implementing the code needed for complex dynamic systems. It is widely deployed in many application domains including Automotive, Robotics, and Control Systems.

The new MagicDraw plugin defines a “DDS profile” for SysML that can model a distributed application connected using the DDS databus. The plugin can also generate the artifacts that configure the DDS databus (Topics, Data Types, Qos, etc.) and the adapters to Simulink and native code (e.g. C++ or Java).

By integrating three best-of class technologies: SysML, DDS and Simulink it is now possible to do MBSE for a wide range of Industrial IoT applications.

Published in: Software

Applying MBSE to the Industrial IoT: Using SysML with Connext DDS and Simulink

  1. 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. 2. ©2018 Real-Time Innovations, Inc. Confidential. Design Develop Deploy
  3. 3. Distributed Systems Deployment ©2018 Real-Time Innovations, Inc. Confidential.
  4. 4. ©2017 Real-Time Innovations, Inc. Confidential. DECENTRALIZED PEER TO PEER SYSTEMS
  5. 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. 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. 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
  8. 8. 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
  9. 9. 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
  10. 10. 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
  11. 11. 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
  12. 12. Connext DDS Applications
  13. 13. Energy ©2017 Real-Time Innovations, Inc. Grand Coulee Dam
  14. 14. Defense ©2017 Real-Time Innovations, Inc.
  15. 15. Healthcare ©2017 Real-Time Innovations, Inc.
  16. 16. Transportation ©2017 Real-Time Innovations, Inc.
  17. 17. 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
  18. 18. 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
  19. 19. 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.
  20. 20. 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
  21. 21. 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.
  22. 22. 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
  23. 23. 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.
  24. 24. 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?
  25. 25. DDS Concepts
  26. 26. 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
  27. 27. 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
  28. 28. 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
  29. 29. 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
  30. 30. 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
  31. 31. 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
  32. 32. Robotic Operating System Component Model INSIDE
  33. 33. MBSE with MagicDraw, DDS, and Simulink ©2017 Real-Time Innovations, Inc
  34. 34. 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.
  35. 35. Code-driven DDS deployment ©2017 Real-Time Innovations, Inc
  36. 36. 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(); };
  37. 37. DDS-XML: Qos Definitions © 2012 RTI • COMPANY CONFIDENTIAL
  38. 38. DDS-XML: Application Definition Define Types, Topics, Writers, Readers, Applications
  39. 39. 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
  40. 40. SysML profile for DDS ©2017 Real-Time Innovations, Inc
  41. 41. 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.
  42. 42. Design Interfaces (Topics and Types) ©2017 Real-Time Innovations, Inc. Confidential. Custom types DDS-XTYPES Complex types DDS Topics
  43. 43. Designing Applications (Domains and Participants) ©2017 Real-Time Innovations, Inc. Confidential.
  44. 44. 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
  45. 45. 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
  46. 46. Screenshots
  47. 47. Screenshots
  48. 48. Screenshots
  49. 49. http://demo.rti.com/system-designer Screenshots
  50. 50. http://demo.rti.com/system-designer Screenshots
  51. 51. 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.
  52. 52. 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
  53. 53. Thank You!

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