MultiDisciplinary Distributed Simulation for designing IT Devices by integrating Offtheshelf CAX Sys

1
Multi-Disciplinary Distributed Simulation for
designing IT Devices by integrating
Off-the-shelf CAX Systems based on HLA

• Satoshi KANAI , Takeshi KISHINAMI
• Dept. of Systems Information Engineering,
• Hokkaido University, Sapporo, JAPAN
• Kanai_at_ssi.ist.hokudai.ac.jp
• Tatsumi TADA
• Hokkaido Industrial Research Institute
• Sapporo, JAPAN

2
Outline

• Project Overview Background
• Purposes
• Systematic Implementation of HLA functionalities
  on COTS CAX Systems
• A case study of the integration of COTS
  Mechanical CAD with Firmware CAD
• Conclusions

3
IT-Carrozzeria Project

• Applicative Device Development Team
• Mova Comp (movable computers) Devices
• Ubi Comp (ubiquitous computers) Devices
• IT Devices for Disabled Persons

e- Collaboration

Style Design Tool Development Team
Embedded H/W S/W Design Tool Development Team
Usability Design Tool Development Team
4
Team Members
Members
Advisers
Hokkaido Industrial Research Institute
Arm design
5
Background
IT Devices Development Flow
System Spec.
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?????
?????
Mechanical System Design
LSI Device Design
Software System Design
Electrical System Design
Control Software Simulator
Device Simulator




Electrical Circuit Simulator
3D-M-CAD / Mech. Simulator
6
Comparison of Multi-disciplinary Distributed
Simulation Environment for Product Design
Dedicated S/W package
Middleware Approach
Peer to Peer Connection
Closed Package
Sim. 1
Sim. 2
Sim. n

Sim. 1
Sim. 2
Common Simulation Model
Structure
I/F
I/F
I/F
I/F
I/F
Sim. 1
Sim. 2
Middleware
Adams/Control, Matlab/Simlink etc.
MiddlewareCORBA, HLA/RTI Simulator Anylogic
Examples
VPS, Visual Mech, etc.

?
Scalability of Disciplines
?
Effort on developing Comm. Link

?
?
Reusability of Legacy Simulators
?
?

(need for API or add-on Functions)
(need for API or add-on Functions)
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Application of HLA to Distributed Simulation
Framework for Product Design

• HLA (High Level Architecture)
• An IEEE Standard of Distributed Simulation
  Framework
• Features of HLA
• Middleware (RTI Real-time Infrastructure ) for
  providing communication and logical time
  synchronization services among simulators.
• Dynamic Plug-in/out Mechanism during runtime
• Standardization of S/W Interfaces and Exchanged
  Model Information

Control Software/Firmware Simulator
Mechanical System Simulator
Electric/ Electronic Circuit Simulator




Simulator of other Engineering Discipline

Middleware for Communication Synchronization
(RTI Real-time Infrastructure)
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Technical Issues of HLA Application to
Distributed Simulation for Product Design

• Broad range of COTS CAX (Computer-Aided-X) tools
  are used.
• -EX. M-CAD, FEA tools, E-CAD,
  Control-System-Simulator, Hardware-Simulator,
  CASE tools.
• COTS CAX tools does not originally have HLA/RTI
  interfaces.

Mechanical CAD
Electrical CAD

Other CAX tools

HLA/ RTI (Real Time Infrastructure)
HLA/RTI-based Distributed Simulation for Product
Design
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Purposes

• To propose how to efficiently attach HLA
  functionalities to existing COTS Computer-aided
  (CAX) tools for product design using their
  limited software extension mechanisms.
• To propose how to systematically build a
  Federation Object Model (FOM) and user-own coding
  to make COTS CAX tools HLA compliant.
• To apply the proposed methods to a concrete
  collaborative simulation consisting of multiple
  COTS CAX tools for IT device design.

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HLA Functional Overview Federation
Development Process
FOM (Federation Object Model)
Federation
?

• ?FOM Definition
• Spec of Information exchanged among Federates
• ?User-Own Code Implementation
• Fed-Code (RTI to Federate )
• LRC (Federate to RTI)
• ? Execution of
• Collaborative
• Simulation
• RTI Invocation
• Federation Invocation
• Reading FOM by RTI
• Joining Federates in Federation
• Communication of Objects Interactions among
  Federates

Federate 1
Federate 2
Federate n
Simulation Engine
Simulation Engine
Simulation Engine
API
API
API
?
Fed-Code
Fed-Code
Fed-Code
LRC
LRC
LRC
?
Sensor 1

• Voltage
• Distance

RTI (Run-time Infrastructure)
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FOM (Federation Object Model) Design

• FOM (Federation Object Model)
• A model of information exchanged at simulation
  runtime
• Object classes, their attributes, Interaction
  classes and their parameters
• A federate publishes and subscribes instances of
  object classes and interactions

Event Exchange Method
Object Exchange Method
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FOM Design for Event Exchange Method
Event Exchange Method An Event exchanged
asynchronously among federates is expressed as an
Interaction
Control S/W Federate
Mechanical CAD Federate
Motor1
Switch1
Switch1 on
Motor1 on
Motor1 Stopped
Motor1 Rotating
Switch1 off
Motor1off
Event ? Relative Pos. of Parts
Relative Pos. of Parts ? Event
Fed. code
LRC
Fed.code
LRC
InteractionRoot
ltlt interactiongtgt Motor changed
ltlt interactiongtgt Motor changed
motor_no int on/off bool direction bool
motor_no int on/off bool direction bool
ltlt interactiongtgt Motor changed
motor_no int on/off bool direction bool
RTI
UML Class Diagram
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FOM Design for Object Exchange Method
Object Exchange Method Attribute values of an
interface object such as sensors or actuators
exchanged continuously among federates is
expressed as Object Class Instances
Mechanical CAD Federate
Control S/W Federate
Range Sensor1
Loading Motor 1
Loading Motor1 Voltage ? Setting Value
yes
Range Sensor1 Voltage lt Setting Value
no
Target
Relative Pos. of Parts ?Distance
Angular velocity ? Relative Pos. of Parts
Fed. code
Fed. code
LRC
LRC
Distance ? Voltage
Voltage ? Angular velocity
Range sensor 1 Range sensor
Range sensor 1 Range sensor
Loading Motor 1 Loading Motor
Loading Motor 1 Loading Motor
ObjectRoot
angular velocity float
direction bool
angular velocity float
direction bool
distance float
distance float
Loading Motor
angular velocity float
direction bool
Loading Motor 1 Loading Motor
Range sensor 1 Range sensor
angular velocity float
direction bool
distance float
RTI
UML Class Diagram
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Implementation view of User Own-coding for
Federates
Federate 1
Federate 2
Simulation Engine Internal Simulation Model
Simulation Engine Internal Simulation Model
API functions
API functions
Wrapper Codes
Wrapper Codes
.
User Own-Coding Part
Fed-Code
Fed-Code
LRC
LRC
RTI Ambassador
RTI Ambassador
RTI Exec
Fed Exec
LibRTI
LibRTI
Inter-process Communication
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Implementation method of User Own-coding for
Object Exchange Method ( From Federate to RTI)
Class1 Object
Class2 Object
Simulation Engine and Internal Simulation Model
Target
Simulator
API
API 1
API 2
?
User Own-code for Calss 2
User Own-code for Calss 1
Internal Sim. Model ? Class2 Object Attribute
values
Internal Sim. Model ? Class1 Object Attribute
values
User Own-coding Part
Wrapper Code
?
Simulation Time Advancing call
Query call for Class1 Object Attribute values
Update call for Class1 Object Attribute values
Query call for Class2 Object Attribute values
Update call for Class2 Object Attribute values
start
LRC
RTI Service
TimeAdvance Request()
updateAttributeValues()
RTI
Publish Object 1 to the other Federates
Publish Object 2 to the other Federates
Object1Class1
Object2Class2
Object

• Attribute 1
• Attribute 2

• Attribute 3
• Attribute 4

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Implementation method of User Own-coding for
Object Exchange Method ( From RTI to Federate)
Class1 Object
Class2 Object
Simulation Engine and Internal Simulation Model
Simulator
API
API 1
API 2
Class1 Object Attribute values ? Internal
Sim. Model
Class2 Object Attribute values ? Internal
Sim. Model
Wrapper Code
User Own-coding Part
User Own-code for Class 2
User Own-code for Class 1
Identification of Updated Classes Objects
start
Fed. Code
Update call for Class2 Object Attribute values
Update call for Class1 Object Attribute values
?
?
RTI Service
ReflectAttributeValues()
RTI
Update from Other Federate
Object1Class1
Object
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A Case Study of the Collaborative Simulation of
a CD Drive mechanism and the Control Software
CAD Federate for simulating CD Drive Mechanism
Control Federate for simulating FSM-based Control
Software Logic
e-RTI (Mitsubishi Space S/W Engg.)
Solidworks 2004
VisualSpec 2004

• Purpose of the Collaborative Simulation
• to test whether the designed motion sequence of
  the disk tray of the drive are realized
• to observe how the system behaves under the
  various types of incorrect designs and unexpected
  conditions

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FOM and User Own-coding for CD-Drive Control
Simulation
CAD Federate
Control Federate
Fed-Code
3D-CAD Assembly Model
Fed-Code
Control Logic (Finite State Machine)
Base
Loading Motor 1 Loading Motor
Loading Motor 1 Loading Motor
Lack Pinion Gear
Tray-opening
Slit Cam
Object-Exchange Method
3-state switch1 center_to_right
Load/ Unload Button 1 pushed
do/ LodingMotor1.angle \ LoadingMotor1.angle
delta_angle
angle float direction bool
angle float direction bool
Loading Motor1
RTI
LRC
LRC
ltlt interactiongtgt 3-state switch changed
ltlt interactiongtgt 3-state switch changed
Load/ Unload Button 1 pushed
Load/ Unload Button 1 pushed
Tray- opened
Tray-closed
switch_no int center_to_left bool
left_to_center bool center_to_right bool
right_to_center bool
Event-Exchange Method
switch_no int center_to_left bool
left_to_center bool center_to_right bool
right_to_center bool
3-state switch
Closing
right
left
center
Tray-closing
ltlt interactiongtgt Load/Unload Button pushed
ltlt interactiongtgt Load/Unload Button pushed
Event-Exchange Method
3-state switch1 center_to_left
Load/ Unload Button 1 pushed
do/ LodingMotor1.angle \ LoadingMotor1.angle
- delta_angle
Disc Tray
Load/Unload Button
Opening
button_no int
button_no int
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Collaborative Simulation Conditions
HLA
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Collaborative Simulations (Condition 1)
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Collaborative Simulations (Condition 2 3)
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Collaborative Simulations (Condition 4)
Incorrectly located 3-state Switch
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Collaborative Simulations (Condition 5)
3-state switch1 center_to_right
Tray-opening
Load/ Unload Button 1 pushed
do/ LodingMotor1.angle \ LoadingMotor1.angle
delta_angle
The tray
overrun
overrun
Load/ Unload Button 1 pushed
Load/ Unload Button 1 pushed
Tray- opened
Tray-closed
Tray-closing
Load/ Unload Button 1 pushed
do/ LodingMotor1.angle \ LoadingMotor1.angle
- delta_angle
3-state switch1 center_to_left
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Features of HLA-based Collaborative Product
Simulation

• 1. Seamless Simulation Environment
• Enabling to directly use designers familiar CAX
  tools as Federates.
• No need for changing software tools.
• 2. Scalability
• Enabling collaboration consisting of 3 or more
  simulators.
• (Ex. Network-connected consumer electronic
  products)
• 3. More Reality
• Enabling simulation in more realistic product
  operating environments.
• More accurately finding hidden design mistakes
  by connecting different discipline models.
• 4. Reuse of Models as FOM
• Importing the other standard object-oriented
  reference models used in product design or
  software engineering fields to FOM.
• (Ex. STEP(ISO10303) or UML)

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Conclusions

• A concept of HLA-compliant multi-disciplinary
  distributed simulation for IT device design
  consisting of different COTS CAX systems was
  proposed.
• A systematic method of user-own coding
  programming and FOM modeling to bride a gap
  between COTS CAX tools and RTI middleware was
  proposed.
• The system behaviors could be more accurately
  examined by connecting COTS CAX tools for
  mechanical design and control software design
  using HLA.

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Future Works Acknowledgement

• Future Works
• To utilize the time management services of the
  RTI to do a time-critical collaborative
  simulation.
• To develop a computer-aided tool to support the
  system engineers task to logically connect the
  multiple simulation models.
• To apply the methods to large-scale products
• (ex. Networked Consumer Electronics, FA Systems )
• Acknowledgement
• A part of this research was financially
  supported by the national RD project on Sapporo
  IT Carrozzeria.

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Thank you.
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Collaborative Simulation of PDA-Printer
Connection Behavior
Printer Simulation Model
PDA Simulation Model
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HLA-based Collaborative Simulation of PDA-Printer
Connection Behavior consisting of 4 Federates
Physical Path of IR Communication
PDA Federation
Printer Module Federation
Printer CAD Federate
PDA GUI Control Federate
PDA CAD Federate
Printer Control Federate
M1
Switch Signal
Actuator Signal
IR Ray Tracking Module
Display1
Print OK NO
Display2
Sensor Signal
Display3
LCD Signal
API
API
API
M2
API
Solid Modeler
RTI
Logical Path of IR Communication