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Intraship Integration Control Instructor: TV Prabakar. Functional Requirement. 150 sensors are placed on turbine. Sensors read Temperature and Pressure every 50 ms. Monitoring System checks for threshold Bounds. If unusual, gear of the turbine is changed. - PowerPoint PPT Presentation
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Intraship Integration Intraship Integration ControlControl
Instructor: TV PrabakarInstructor: TV Prabakar
Functional RequirementFunctional Requirement
150 sensors are placed on turbine.150 sensors are placed on turbine. Sensors read Temperature and Pressure every Sensors read Temperature and Pressure every
50 ms. 50 ms. Monitoring System checks for threshold Monitoring System checks for threshold
Bounds.Bounds. If unusual, gear of the turbine is changed.If unusual, gear of the turbine is changed. Should respond to External Control signals .Should respond to External Control signals . Should balance load among all four Turbines.Should balance load among all four Turbines.
ConstraintsConstraints
Should not effected by Electro Should not effected by Electro Magnetic Interference.Magnetic Interference.
Components should be ‘MIL’ Components should be ‘MIL’ standard.standard.
Database updates are restricted.Database updates are restricted.
Obvious ArchitectureObvious Architecture
TemperatureSensors
PressureSensors
Turbine Monitor
GearController
Data
Architecture EvaluationArchitecture Evaluation It is Block Diagram, not an It is Block Diagram, not an
Architecture.Architecture. What is Turbine monitor Black box?What is Turbine monitor Black box? Does Turbine Control Component is Does Turbine Control Component is
readily available?readily available? Assumed that no component fails.Assumed that no component fails. Using above diagram, can Using above diagram, can
development be started?development be started? How many Network interfaces Turbine How many Network interfaces Turbine
Monitor should have?Monitor should have?
Improved Block DiagramImproved Block Diagram
Mote 1
Mote 2
Mote 3
Mote 4
Mote 5
Concen-trator
Concen-trator
Turbine Monitor
GearController
Data
Priority of Quality AttributesPriority of Quality Attributes
Availability.Availability. Performance.Performance. Usability.Usability. Testability.Testability. Security.Security. Modifiability.Modifiability.
Quality Attribute Quality Attribute DependencyDependency
Performance ∞ Availability.Performance ∞ Availability. Performance ∞ 1/Security.Performance ∞ 1/Security. Performance ∞ 1/Modifiability.Performance ∞ 1/Modifiability. Performance ∞ 1/Usability.Performance ∞ 1/Usability.
Availability ∞ Security.Availability ∞ Security. Availability ∞ 1/Usability.Availability ∞ 1/Usability.
Availability Driven DesignAvailability Driven Design
Apply Removal from service Tactic to every component.
Sensor Fault recoverySensor Fault recovery
µP µP µP µP
Active redundancyActive redundancyTemperature sensor
PressureSensor
Sensor Fault recoverySensor Fault recovery
µP µP µP
Tactics AppliedTactics Applied
When µP samples sensor, reads incorrectWhen µP samples sensor, reads incorrect
Value or no value.Value or no value.
Fault DetectionFault Detection
Heartbeat.Heartbeat. votingvoting Active RedundancyActive Redundancy SpareSpare Shadow operationShadow operation
µP Fault RecoveryµP Fault Recovery
Tactics AppliedTactics Applied
Redundant µP informs the concentrator.Redundant µP informs the concentrator. Concentrator doesn’t read data from mote.Concentrator doesn’t read data from mote.
Fault DetectionFault Detection
Heartbeat.Heartbeat. votingvoting Exception.Exception. Transaction.Transaction.
Passive Passive Redundancy.Redundancy.
Active Active Redundancy.Redundancy.
Spare.Spare. State resynch.State resynch.
Mote to Conc. Cable Fault Mote to Conc. Cable Fault RecoveryRecovery
Concen-trator
Mote to Conc. Cable Fault Mote to Conc. Cable Fault RecoveryRecovery
Concen-trator
Tactics AppliedTactics Applied
µP senses the channel before sending, µP senses the channel before sending,
if not in operating voltage, chooses spare. if not in operating voltage, chooses spare. Similarly Concentrator does.Similarly Concentrator does.
Fault DetectionFault Detection
Heartbeat.Heartbeat. Spare.Spare. TransactionTransaction
Concentrator Fault Concentrator Fault RecoveryRecovery
Concentrator
Concentrator
Concentrator
Concentrator
Concentrator
Concentrator
Conc. To Monitor Cable Fault Conc. To Monitor Cable Fault RecoveryRecovery
Concentrator
Concentrator
TurbineMonitor
Conc. To Monitor Cable Fault Conc. To Monitor Cable Fault RecoveryRecovery
Concentrator
Concentrator
TurbineMonitor
Open the Turbine Monitor Open the Turbine Monitor Black BoxBlack Box
Slaveprocessor
Shared Memory
Controller
Slaveprocessor
Controller
Turbine Monitor
System Monitor
Heartbeat
Slave Processor Fault Slave Processor Fault Recovery Recovery
Slave1 Slave2
Shared Memory
Controller
Slave2 Slave1
Shared Memory
Controller
Tactics AppliedTactics Applied
After Processing of operations each slave After Processing of operations each slave sets the their flag byte to one.sets the their flag byte to one.
At end of deadline, controller checks the At end of deadline, controller checks the flag byte, if zero, respective slave failed.flag byte, if zero, respective slave failed.
Fault DetectionFault Detection
Heartbeat.Heartbeat. Voting.Voting. Active Active
Redundancy.Redundancy.
SpareSpare Shadow Shadow
operation.operation.
Controller Fault Recovery Controller Fault Recovery
Shared Memory
Controller
Slave
Shared Memory
Controller Controller
Slave
Shared Memory
Controller
Slave
Tactics AppliedTactics Applied
Each controller lives for fixed safe Each controller lives for fixed safe duration and initializes its spare as duration and initializes its spare as controller.controller.
Fault Fault PreventionPrevention
Removal from Removal from service.service.
Passive Redundancy.Passive Redundancy. SpareSpare State State
resynchronization.resynchronization.
Poor Resource utilization…. Poor Resource utilization….
Each processor can act as Controller Each processor can act as Controller and Slave.and Slave.
Each removed Controller becomes Each removed Controller becomes spare of slave, acts as slave till it spare of slave, acts as slave till it dies.dies.
Turbine - Gear Cable Fault Turbine - Gear Cable Fault RecoveryRecovery
GearMonitorTurbine
Monitor
Turbine - Gear Cable Fault Turbine - Gear Cable Fault RecoveryRecovery
GearMonitorTurbine
Monitor
Open the Gear Monitor Black Open the Gear Monitor Black BoxBox
Slaveprocessor
Shared Memory
Controller
Slave Processor Fault Slave Processor Fault Recovery Recovery
Slave1 Slave2
Shared Memory
Controller
Slave2 Slave1
Shared Memory
Controller
Controller Fault Recovery Controller Fault Recovery
Shared Memory
Controller
Slave
Shared Memory
Controller Controller
Slave
Shared Memory
Controller
Slave
Performance Driven DesignPerformance Driven Design
Current ArchitectureCurrent Architecture
µP
µP
µP
Controller Slave
Shared Memory
Controller Slave
Shared Memory
Mote
Concentrator
Turbine Monitor
Gear Monitor
Computefunction
Change gear
Get dataFrom ROM
sense Data send
Data receive
Data send
Boundschecking
GlowLEDS
RaiseAlarm
Checkfailures
Store threshold
Data receive
Data send
Data send
Data receive
sendACK
ReceiveACK
Data send
Data receive Data
receive
Allocation viewAllocation view
sense Boundschecking Data
send
Data receive
Store threshold
Data receive
Checkfailures Raise
Alarm
GlowLEDS
Data send
Data send
Data receive
Data receive
Data send
Data send
Computefunction
Get dataFrom ROM
ReceiveACK
Data receive
Change gear
sendACK
MoteConcentrator
Gear Monitor Turbine Monitor
Simple Range checking Simple Range checking program, choosing high speed program, choosing high speed
hardware will give high hardware will give high performance.performance.
Hardware SpecificationsHardware Specifications 8-bit µP on mote.8-bit µP on mote. 1 KBps cable from mote to concentrator.1 KBps cable from mote to concentrator. 16-bit µP on Concentrator.16-bit µP on Concentrator. 1MBps cable from concentrator to 1MBps cable from concentrator to
Monitor.Monitor. Pentium Processor on Turbine Monitor.Pentium Processor on Turbine Monitor. 1KBps cable from Turbine to Gear Monitor.1KBps cable from Turbine to Gear Monitor. Pentium Processor on Gear Monitor.Pentium Processor on Gear Monitor.
Packet size from mote is 5 bytes.Packet size from mote is 5 bytes.
Delay on mote.Delay on mote. To sense Temperature (ADC) = 1 msTo sense Temperature (ADC) = 1 ms To sense Temp. thru spare (ADC) = 1 To sense Temp. thru spare (ADC) = 1
msms To sense Pressure ( ADC ) = 1 msTo sense Pressure ( ADC ) = 1 ms To sense Pressure thru spare = 1 msTo sense Pressure thru spare = 1 ms To sense channel (ADC) = 1 msTo sense channel (ADC) = 1 ms To sense spare channel (ADC) = 1 msTo sense spare channel (ADC) = 1 ms To send packet on channel (DAC)= 1 msTo send packet on channel (DAC)= 1 ms
Total delay at mote = 7 ms.Total delay at mote = 7 ms.
Mote to Conc. Cable delayMote to Conc. Cable delay
1000 Bytes = 1 sec1000 Bytes = 1 sec
5 Bytes = 5 ms5 Bytes = 5 ms
In µP Active redundancy mode load is 10 In µP Active redundancy mode load is 10 bytesbytes
Total network delay = 10msTotal network delay = 10ms
Concentrator delayConcentrator delay To sense the channel (ADC) = 1 msTo sense the channel (ADC) = 1 ms To sense spare channel (ADC) = 1 msTo sense spare channel (ADC) = 1 ms To read 300 packets (ADC) = 300 msTo read 300 packets (ADC) = 300 ms To process and aggregate data = 2 msTo process and aggregate data = 2 ms To sense other channel (ADC) = 1 msTo sense other channel (ADC) = 1 ms To sense other spare channel = 1 msTo sense other spare channel = 1 ms To send 150 packets (DAC) = 150 To send 150 packets (DAC) = 150
msms
Total delay at concentrator = 456 ms Total delay at concentrator = 456 ms
Conc. To Monitor cable Conc. To Monitor cable delaydelay
To transfer 1500 bytes = 1.5 To transfer 1500 bytes = 1.5
msms
Delay at Turbine MonitorDelay at Turbine Monitor
Total delay = 150 + 25 + 150 Total delay = 150 + 25 + 150 = 325 ms.= 325 ms.
Monitor to Concentrator cable Monitor to Concentrator cable delaydelay
To transfer 1500 bytes = 1.5 To transfer 1500 bytes = 1.5
msms
Delay at ConcentratorDelay at Concentrator Total delay = 456 ms Total delay = 456 ms
Conc. to mote delay Conc. to mote delay Total delay = 10 ms Total delay = 10 ms
Total processing delayTotal processing delay
Total delay = 7 +10 + 456 + 1.5 + 325 Total delay = 7 +10 + 456 + 1.5 + 325
+ 1.5 + 456 + 10+ 1.5 + 456 + 10
= 1256 ms (or 1260 ms approx) = 1256 ms (or 1260 ms approx)
EvaluationEvaluation
Not satisfying functional requirements.Not satisfying functional requirements. Sensitivity points are ADC and DAC.Sensitivity points are ADC and DAC. Packet errors during transmission are not Packet errors during transmission are not
considered, may result in considered, may result in retransmissions.retransmissions.
EMI constraint is not taken considered.EMI constraint is not taken considered.
Possible solutionsPossible solutions
Increase redundancy in ADCs and DACsIncrease redundancy in ADCs and DACs Use checksum for transmission error Use checksum for transmission error
detection.detection.
CommentsCommentsWhat is the redundancy number of ADC andWhat is the redundancy number of ADC and
DAC?DAC?
150 ADCs and 150 DACs may solve the 150 ADCs and 150 DACs may solve the
Problem (infeasible).Problem (infeasible).
ChecksumChecksum
- increases network delay by 1 ms.- increases network delay by 1 ms.
- calculation takes 5 ms ( min. ).- calculation takes 5 ms ( min. ).
- checking takes 5 ms.- checking takes 5 ms.
Retransmissions are not decreased.Retransmissions are not decreased.
Effective solutionEffective solution
Use Fiber optic cable.Use Fiber optic cable.
Data should be sent digitally Data should be sent digitally ( elimination( elimination
of ADC and of ADC and DAC )DAC )
No effect of EMI.No effect of EMI. Retransmission free.Retransmission free.
Poor Resource utilization…. Poor Resource utilization….
For efficient usage of bandwidth, connect For efficient usage of bandwidth, connect all components in bus Architecture.all components in bus Architecture.
µP
Modified Architecture Modified Architecture
µP
µP
µP
Controller Slave
Shared Memory
Turbine Monitor
Controller Slave
Shared Memory
Gear Monitor
Concentrator
mote
Fibre optic cable
Fibre optic cable
Need of ConcentratorNeed of ConcentratorActs as proxyActs as proxy
Delay calculationDelay calculation Total delay = 7 + 0.3 + 2 + 0.015 + Total delay = 7 + 0.3 + 2 + 0.015 +
25 25
+ 0.015 + 2 + 0.03+ 0.015 + 2 + 0.03
= 36.615 ms (or 37 ms = 36.615 ms (or 37 ms approx) approx)
Performance Tactics usedPerformance Tactics used ConcurrencyConcurrency FIFOFIFO Caching.Caching.
Performance Techniques Performance Techniques usedused
using ROM rather than disk to store using ROM rather than disk to store data.data.
No contention of resources.No contention of resources.
For four TurbinesFor four Turbines
TurbineMonitor1
TurbineMonitor2
TurbineMonitor3
TurbineMonitor4
GearMonitor1
GearMonitor2
GearMonitor3
GearMonitor4
Turbine Monitor
Usability TechniquesUsability Techniques
Usability component is connected Usability component is connected externally to Monitoring system.externally to Monitoring system.
Provides different views of logged data Provides different views of logged data (graphs, thermometer reading, (graphs, thermometer reading, numbers ).numbers ).
SecuritySecurity
Security component is connected Security component is connected external to the monitoring system.external to the monitoring system.
Only read operation is provided in Only read operation is provided in menu for user.menu for user.
Level of security is chosen by user.Level of security is chosen by user.
Testability TacticTestability Tactic
Separate interface from implementation.Separate interface from implementation.
Testability TechniqueTestability Technique LED display at concentrator.LED display at concentrator. Different alarms according to level of Different alarms according to level of
urgency.urgency.
Architecture DocumentationArchitecture Documentation
Chosen viewsChosen views
- Class view.- Class view.
- Process view.- Process view.
- Deployment view.- Deployment view.
- Allocation view.- Allocation view.
- Use case view.- Use case view.
Logical viewLogical view
Use case viewUse case view
Sensor failureTurbineMonitor
TurbineMonitor
Network failureTurbineMonitor
TurbineMonitor
Use case viewUse case view
Abnormal ConditionTurbineMonitor
GearMonitor
Needs SpareTurbineMonitor
Technology ArchitectureTechnology Architecture
Atmel ATMega processor on mote and Atmel ATMega processor on mote and concentrator.concentrator.
Pentium processor at Turbine Monitor.Pentium processor at Turbine Monitor. ECos, Real time operating system.ECos, Real time operating system. HP UDO 30GB write-once disk.HP UDO 30GB write-once disk. C language for implementationC language for implementation
Take awayTake away For any problem “Deployment view” For any problem “Deployment view”
is first step (if reference Arch. not is first step (if reference Arch. not available).available).
Attribute Driven Design is tool to Attribute Driven Design is tool to achieve Quality attribute.achieve Quality attribute.
Design – Evaluation iteration results in Design – Evaluation iteration results in good Architecture.good Architecture.
Current Technology (with Current Technology (with specifications) should be known in specifications) should be known in advance to design an Architecture.advance to design an Architecture.