RS JPO INTEROPERABILITY - apps.dtic.mil · 11 August 2011 RS JPO INTEROPERABILITY PROFILES Mark Mazzara, RS JPO Interoperability Lead UNCLASSIFIED: Distribution Statement A. Approved

11 August 2011

RS JPO INTEROPERABILITY PROFILES

Mark Mazzara, RS JPO Interoperability Lead

UNCLASSIFIED: Distribution Statement A. Approved for public release

Jason.Francisco2

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1. REPORT DATE 25 AUG 2011

2. REPORT TYPE Briefing

3. DATES COVERED 25-08-2011 to 25-08-2011

4. TITLE AND SUBTITLE Robotic System Joint Project Office (RSJPO) INTEROPERABILITY PROFILES

5a. CONTRACT NUMBER

5b. GRANT NUMBER

5c. PROGRAM ELEMENT NUMBER

6. AUTHOR(S) Mark Mazzara

5d. PROJECT NUMBER

5e. TASK NUMBER

5f. WORK UNIT NUMBER

7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army TARDEC ,6501 E.11 Mile Rd,Warren,MI,48397-5000

8. PERFORMING ORGANIZATIONREPORT NUMBER #22214

9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) U.S. Army TARDEC, 6501 E.11 Mile Rd, Warren, MI, 48397-5000

10. SPONSOR/MONITOR’S ACRONYM(S)

11. SPONSOR/MONITOR’S REPORT NUMBER(S) #22214

12. DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited

13. SUPPLEMENTARY NOTES

14. ABSTRACT NA

15. SUBJECT TERMS Briefing for Ground Vehicle Systems Engineering and Technology Symposium (GVSET) 2011

16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT Same as

Report (SAR)

18. NUMBEROF PAGES

28

19a. NAME OFRESPONSIBLE PERSON

a. REPORT unclassified

b. ABSTRACT unclassified

c. THIS PAGE unclassified

Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18

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L e a d e r s h i p • S e r v i c e • I n n o v a t i o n

For Official Use Only


Agenda

• Background / Overview Objectives Government / Industry WIPT IOPs

• Recent Activities / Path to V0 Publish• IOP V1 and Beyond

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Interoperability Defined

The ability of software or hardware systems or components to operate together successfully with minimal effort by end user. Further attributed with functional, behavioral, lifecycle, and architectural scopes, and, therefore, can be delineated in terms of control and can be categorized into levels, types, or degrees in application programs. Facilitated by common or standard interfaces.

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Interoperability – The Problem

• Current systems generally not interoperable with each other• Current systems not optimized to share information into other

domains• Payloads, sensors, software & computing devices anticipated

to evolve much faster than base platforms• User requirements calling for interoperable family of UGV

platforms

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“Interoperability is the countermeasure to obsolescence” – LTC Hatfield, ARCIC

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RS JPO Interoperability Effort –Scope & Objectives

• Define interoperability standards for integration across UGVs leveraging other standards work to the greatest extent possible Open Architecture & Interfaces Common Control Standards Communications Data Links Modular Payload Interfaces Conformance & Validation Criteria

• Interoperability Profile Version 0 (IOP V0) will define baseline capabilities Fundamental system capabilities and functionality of fielded systems Standard message sets & requirements for interoperability across platforms

• Successive IOPs (V1, V2, etc.) expand capabilities based on Combat Developer guidance

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Interoperability Capabilities Implementation Thought Process

• If common messages are used by both the sender and receiver of information, then interoperability can be achieved.

• Each element of a system knows what messages to expect.• Each element of a system knows what messages to send.

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Element AIncoming Message Outgoing Message

System element exhibits some behavior when it receives a given message that it recognizes.

Element BIncoming Message Outgoing Message

System element exhibits some behavior when it receives a given message that it recognizes.

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Interoperability Capabilities Implementation Thought Process (cont.)

• We need to specify what the messages are.• Messages themselves become the interfaces.• System / subsystem developers know which messages to

expect coming in.• System / subsystem developers know which messages need to

be sent by their elements.• Processes & algorithms within the “black boxes” use the

messages & remain proprietary and invisible to others

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OCUIncoming Message Outgoing Message

PlatformIncoming Message Outgoing Message

PayloadIncoming Message Outgoing Message

RadioIncoming Message Outgoing Message

OperatorIncoming Message Outgoing Message

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Interoperability Capabilities Implementation Thought Process (cont.)

• Additional things need to be defined to 1) facilitate proper delivery of messages and 2) enable modularity: Physical interfaces (enabling modularity, as well as adequate

throughput of messages & power for messages to flow) Information handling techniques & protocols (enabling reliability of

message delivery, flow control, message routing, etc.) Human understandable messages for interaction between the operator

and the OCU

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IOP Relationship to UGV Programs

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FY11 FY12 FY13 FY14 FY15

Interoperability Integration into Fielded Fleet as Opportunities AllowCurrent Fleet Capabilities

V0 M&S Validation

V1 M&S Validation

Begin IOP V0

Begin IOP V1

Begin IOP V2

V1

V0

IOP Version 0 Test activitiesIOP Version 1 IOP Version 2KEY:

Begin IOP V3

V2

Program APre-Acquisition Activities

CDD Validation

B

Program BPre-Acquisition Activities B

CDD Validation

Program Schedules are

Examples

Future Program XPre-Acquisition Activities B

CDD Validation

V2 M&S Validation

V3

Future Program Conformance to IOPs Enforced in Performance Specs & RFPs

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IOP V0 Capabilities Plan

• V0 Capabilities Plan was developed (March 2011)• Scopes & bounds what IOP V0 will define• Focused on foundational capabilities inherent in currently

fielded systems

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UGV Interoperability WIPT Structure

• Government / Industry WIPT Structure kicked-off Nov, 2010• Industry involvement is voluntary• As of August 2011: 149 industry participants (across ~50 companies) 68 government participants

Overarching JAUS Profiling Payload Comms Control

Industry + Government

134 37 40 54 43

Co-Leads

MarkMazzara(RS JPO)

Bashir Mekari(RS JPO)

BrianGraham(RS JPO)

TomBugg

(RS JPO)

Chris Scott(RS JPO)

PaulBounker

(TARDEC GVR)

MattSkalny

(TARDEC GVR)

JacquelineWalter

(TARDEC GVR)

LeifMagowan

(TARDEC GVR)

Marcus Randolph

(TARDEC GVR)

217 individuals on roster as of

Aug 2011

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Organizations Involved in WIPT

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Government Organizations

Highly Involved

• RS JPO• TARDEC

Participating in WIPTs

• Army Spectrum Management Office (ASMO)

Informed

• TRADOC Architectures Integration Cell• PM SUAS• ARDEC• SPAWAR• NASA• CERDEC• NAVEODTECHDIV• PEO GCS APEO SE• TRADOC ARCIC• MSCOE• PEO U&W (Navy)• TCM UAS• USASOC• AMRDEC• AFRL• JIEDDO• Sandia National Labs• OSD

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Organizations Involved in WIPT

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Industry Organizations

• DCS• DeVivo• iRobot• Freewave• Esterline Control Systems• Real-Time Innovations• SwRI• Global ET• AeroVironment• Neya Systems• Cybernet• Technical Products, Inc.• QinetiQ• Mission Solutions Engineering• Trideum•Pratt & Miller

• Ibis Tek• NIITEK• 5D Robotics• Northrup Grumman – Remotec• L3 Communications• American Reliance• Cobham Surveillance• Silvus Technologies• DRS – SSI• Ultra Electronics Measurement Systems• CyPhy Works• Applied Research Associates• American Android• Schafer• MITRE• Think-A-Move

• General Dynamics Robotics Systems• Recon Robotics• UNEQ Consulting• Harris• Raytheon• SAIC• Elbit Systems of America• Mobile Intelligence Corp• Rajant Corporation• Lockheed Martin• National Instruments Corporation• Global Technology Connection• Applied Systems Intelligence• University of Michigan• HDT Engineering Services• Johns Hopkins Applied Physics Lab

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Interoperability Government/Industry Working Groups (WGs) Established for V0

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Working IPT (WIPT) Working Groups

Overarching • Sys Eng & Architecture• Test & Validation

Communications • Radio Link• Physical/Power Interface• Logical Interface

• RFI Mitigation• Security

• Radio Status Messages (Communications Services)

JAUS Profiling • Platform Manager• Capability Plan Compliance• ID Assignment & Discovery• Autonomy/Behaviors• Access Control

• Digital Video Stream

• Sensors Message Implementation

Payloads • Existing Standards• Logical Interface / Metadata• Physical Interface• Configuration / Taxonomy

Control • OCU• Human / Machine Interface

• Existing Standards

WGs Established March 2011 & Completed V0 Tasks July 2011

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Interoperability IOP Framework

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Payloads IOP

Capabilities Plan

Custom Services,

Messages & Transports

Legend

ProfileSeparately Published

Attachment

Control IOP Comms IOP

SAE JAUSProfiling

Rules

Overarching IOP

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Agenda



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Recent Activities / Upcoming Events

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May June July August Sept Oct Nov

Full IOP V0 Ballot

Working Groups consolidate findings for WIPT Leads

Overarching

Payloads

Control

Communications

JAUS Profiling

WIPTs generate consensus on their specific IOP documents

Full IOP Draft Package Assembled

Disposition of comments

Prep for exec board review

IOP V0 Published

Exec board review & finishing touches

OPSEC review

IOP V0 Socialization

IOP V1 Capability Plan Development

IOP V1 Capability PlanLocked

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Custom JAUS Services Developed for IOP V0

• Leader Management• Leader/Follower Driver• Communicator• Platform Mode• Health Monitor• Health Reporter• Digital Stream Discovery• Preset Pose

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Services being brought to SAE AS-4 (JAUS) Committee

for official adoption

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TARDEC Interoperability Lab

• TARDEC UGV Interoperability Lab being stood up• Interoperability Lab will be utilized to: Assess IOPs’ ability to enable interoperability Assess commercial products’ conformance to IOPs

• Test scenarios have been defined & equipment has been purchased

• Integrations/demonstrations being conducted Sept-Dec 2011

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Agenda



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IOP V1

• Need to develop IOP V1 Capability Plan (1QFY12) Expand the scope of capabilities beyond IOP V0 Keep pace w/ Combat Developer requirements Keep pace w/ technology evolution

• Formal requirements crosswalk/analysis will be performed• Initial (TBD) ideas on what needs to be included: Full set of Autonomous Mobility Applique System (AMAS) related

capabilities Additional payload types

» Ground Penetrating Radars (GPRs)» Multi-Point Range finders (i.e., LIDAR, etc.)» Advanced Manipulators

Mesh Networking Voice Control Common Operating Picture Interface Basic Unmanned Aerial Systems (UAS) Interface

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Beyond IOP V1 (V2+)

• Future Versions of the UGV IOPs will provide interface guidance and requirements for the following: UAS Interoperability

» Shared control» Shared video streams» One System Remote Video Terminal (OSRVT)» Data Archival Repository (DAR) Access» Chat/Text Messaging btwn Controllers» Comms Relays

Interoperability w/ Manned Systems» VICTORY Interfaces

ASA(ALT) Common Operating Environment (COE) Interfaces» Mobile / Hand-Held Interfaces» Connectivity to Overarching Networks

Joint Service / Multi-National Interoperability UGV Radio Waveforms And more….

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Summary

• RS JPO is committed to interoperability• RS JPO values industry participation• Keep your eyes peeled for IOP V0

• Contact: [email protected]

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mailto:[email protected]

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Backup Slides

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IOP V1Brainstorming - Overarching

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IOP V0

IOP V1

Electrical, Mechanical & Power

Basic Platform

Basic Mobility

Advanced Mobility

• Battery Status, Usage, Engine Data• Platform Mode• Position / Attitude• Subsystem Configuration & Health• Pose / Articulation• E-Stop & Heartbeat

• Drive Mode• Gear• Speed / Acceleration• Speed / Acceleration Limits• Steering• Brake

• Drive Sensor Registration & Selection• Drive Timeout• Waypoint List Management• Suspend/Resume Waypoint Follow• Leader Follower Mode & Attributes• Execution Leader/Follower Operation• Following Status• Suspend/Resume Following

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IOP V1Brainstorming - Payloads

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IOP V0

IOP V1

Emitters

Sensors

• Lights• Speakers

• Drive Vision• Motion Imagery• Still Imagery• CBRN• Chemical Explosive Detection• Microphone• Single-Point Range Finder• Thermal Imagery

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Actuators

• General Actuators• Basic Arm• Telescoping (Mast)• Pan/Tilt• End Effectors

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IOP V1Brainstorming - Communications

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IOP V0

IOP V1

Radio Subsystem Interface

Radio Link

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RFI Mitigation

Radio Health Status

Basic Wireless Security

IOP V2+UGV Waveform

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IOP V1Brainstorming - Control

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IOP V0

IOP V1

Mission Planning

Human Machine Interface

• Mission Plan Metadata• Graphics

• Battery Status Display• Radio Setup & Comms Link Monitoring• Robotic Asset Selection, Login & Controls• Common Icons & Graphics• Basic Status Display• Warnings, Cautions & Alerts• State and Mode Selection• Input Device Mapping• Video Window• Image/Video Archive & Browsing

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Documents

RS JPO INTEROPERABILITY - apps.dtic.mil · 11 August 2011 RS JPO INTEROPERABILITY PROFILES Mark Mazzara, RS JPO Interoperability Lead UNCLASSIFIED: Distribution Statement A. Approved