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SPaT Challenge Webinar SeriesWebinar #2: Design Considerations, Part 1
2:00 – 3:30 PM (Eastern) | March 20, 2018
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Webinar Logistics
• All lines are muted
• Webinar will be recorded
• Submit questions and comments in chat or Q&A section of webinar window
• Questions will be answered at webinar conclusion
3
Agenda• Welcome and Introduction
• SPaT Messages, Data Assembly, and the Signal Controller Interface Patrick Chan, ConSysTec
• V2I Hub Chris Stanley, Leidos
• Agency experience with deploying on-board units Faisal Saleem, Maricopa County DOT
• Q&A
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SPaT ChallengeTo challenge state and local public sector transportation IOOs to cooperate together to achieve deployment of DSRC infrastructure with SPaT broadcasts in at least one corridor or network (approximately 20 signalized intersections) in each state by January 2020
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First SPaT Challenge WebinarMarch 6, 2018
• Topics included: Introduction to the SPaT Webinar Series and
SPaT Challenge Systems Engineering Approach to the SPaT
Challenge Overview of the Model Concept of Operations
and Requirements documents Costs, Procurement, and Corridor Selection
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SPaT Challenge Resource Pagehttps://transportationops.org/spatchallenge/resources
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SPaT Challenge Resource Pagehttps://transportationops.org/spatchallenge/resources
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SPaT Challenge Resource Pagehttps://transportationops.org/spatchallenge/resources
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Upcoming SPaT Challenge Webinars• Design Considerations, Part 2
April 17, 2018 2:00-3:30pm ET MAP messages, vehicle position correction, and DSRC licensing
• MAP Creator Tool Demonstration April 24, 2018 1:00-2:30pm ET Live technical demonstration and step-by-step training on using the MAP
creator tool
• Design Considerations, Part 3 May 15, 2018 2:00-3:30pm ET Backhaul infrastructure, intersection, and roadside equipment specification,
design and installation
• Deployment & Validation June 12, 2018 2:00-3:30pm ET Procurement, validation, verification, and security of SPaT deployments
Signal Controller Interface for SPaT messagesPatrick Chan, ConSysTec
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Overview of Presentation• Introduction to the SPaT Message• Introduction to NTCIP 1202 v03• SPaT Implementations
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Introduction to the SPaT Message
Connected Devices
Signal ControllerUnit
Traffic ManagementCenter
RoadsideUnit
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Introduction to the SPaT Message
• SAE J2735 – DSRC Message Set Dictionary Current version: SAE J2735_201603 Developed with international community input Signal Phase and Timing Message
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J2735 SPaT Message
Field Object Description Req/Opttimestamp data element
MinuteOfTheYeartimestamp optional
name data element DescriptiveName
Name for the collection of intersections
optional
intersections data frame IntersectionStateList
List of each intersection SPaT data is provided
required
regional data frameRegionalExtension
Regional extensions, if any
optional
Message: MSG_SignalPhaseAndTiming
A single SPaT message can provide signal timing data for up to 32 intersections.
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J2735 SPaT Message
Field Object Description Req/Optid data element
IntersectionReferenceIDUnique regional identifier for the intersection
required
revision data element MsgCount Version of the message* requiredstatus data element
IntersectionStatusObjectGeneral status of the intersection
required
states data frame MovementList The status of each movement at the intersection
required
Data Frame: IntersectionState
* ISO TS 19091 indicates MsgCount should only be incremented when the message content changes.
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J2735 SPaT MessageData Frame: MovementState
• Are we allowed to move?• When will it change?
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J2735 SPaT Message
Field Object Description Req/OptsignalGroup data element
SignalGroupIDIdentifier for an allowed movement. Tied to the MAP message (to a lane or set of lanes)
required
eventState data element MovementPhaseState
Phase state (protected, permissive, yellow, red, etc.)
required
timing data element TimeChangeDetails
Time stamps for an event optional
speeds data frame AdvisorySpeedList
Speed advisories for general or specific vehicles
optional
Data Frame: MovementStateFor each movement:
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J2735 SPaT Message
Field Object Description Req/OptstartTime data element
TimeMarkTime when the event first started optional
minEndTime data element TimeMark
Earliest time the event will end required
maxEndTime data element TimeMark
Latest time the event will end optional
likelyTime data element TimeMark
Most likely time the event will end optional
confidence data element TimeMark
Confidence level of the likely time optional
nextTime data element TimeMark
When the event will occur again optional
Data Frame: TimeChangeDetails
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J2735 SPaT Message
Field Object Description Req/OptenabledLanes dataFrame
EnabledLaneListTied to MAP message, indicates which lanes are currently active.
optional
maneuverAssistList data frame ManueverAssistList
Details about traffic flow for specific lanes and maneuvers (e.g, queue length, potential pedestrian or bicycle conflicts)
optional
Other Optional fields
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J2735 SPaT MessageEnabled Lanes:• Lane 1 = parking lane• Lane 5 = travel lane
Maneuver assist• Left allowed in Lane 23
• To Lane 13 or 14• Queue length• Ped conflict?
1 / 5
2
3
4
11 12 13 14
31 32 33 34
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22
23
24
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J2735 SPaT Message
• Used in conjunction with a MAP message The MAP message defines the lanes and the
possible movements at the intersectionThe MAP message does not change unless the
roadway geometry changes The SPaT message identifies the enabled
lanes and additional dynamic information for a movement signalGroupId – links the SPaT with the MAP
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NTCIP 1202 v03
Connected Devices
Signal ControllerUnit
Traffic ManagementCenter
RoadsideUnit
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NTCIP 1202 v03
• Object Definitions for Actuated Signal Controllers (ASC) Interfaces Version 3 adds systems engineering content,
support for the cabinet environment, managing I/O mapping, exception reporting, and support for connected vehicles Version 3 is currently in ballot.
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NTCIP 1202 v03
• Connected Vehicles Interface Configure the interface between a controller
and a RSU Generate and exchange SPaT data Generate and exchange MAP data Receive Basic Safety Messages and Personal
Safety Messages as detector inputs
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NTCIP 1202 v03
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NTCIP 1202 v03
• Different physical architectures The ASC process is part of the controller unit The CV Roadside processIn the same physical unit as the DSRC radioIn the same physical unit as the controller unitIts own separate physical unit
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NTCIP 1202 v03
• Supports different architectures between the ASC and RSU Who is the manager?Does the ASC “push” SPaT data to the RSU, or
does the RSU “pull” SPaT data from the ASCEach has benefits and issuesMay be determined by the policies of each agencyMust be defined in the specification
• Let the market decide
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NTCIP 1202 v03
• Configure the RSU interface Manage the ports Manage the watchdog
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NTCIP 1202 v03
• Generate and exchange SPaT data Objects were created to address all SPAT-
related mandatory and optional data elements in SAE J2735_201603 except:start time for a movementRegional extensions
Adds performance requirementsHow often is SPaT data providedHow quickly SPaT data is provided after an event
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NTCIP 1202 v03
• Generate and exchange SPaT data Issues:Time reference – The controller may have a
different time source than the RSUController provides timestamps in ticks (1/10th of a
second) elapsed since the top of the hour, and allows the RSU to resolve time
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NTCIP 1202 v03
• Generate and exchange MAP data Objects were created to address all MAP-
related mandatory data elements for intersections in SAE J2735_201603 Necessary to ensure the SPaT data and MAP
data are synchronizedProvides a check that the correct MAP is in effectProvides a check that mutually exclusive enabled
lanes are not in effect
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NTCIP 1202 v03
• Receive Basic and Personal Safety Messages as detector inputs Creates virtual detectors that are tied to the
ASC detector inputsDetector boundaries can be a lane or a geofenceProvide filters such as vehicle type, direction of
travel, speed
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NTCIP 1202 v03
• SignalGroupID = channel output number• Current Status Standard in ballot soon Some vendors have started adopting the
balloted standardSome risk involved
• Changes• Lessons Learned
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SPaT Implementations
• USDOT CV Pilots in New York City and Tampa
• Multi-Modal Intelligent Traffic Signal Systems (MMITSS)
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NYC CV Pilot
• Implementing the balloted version of NTCIP 1202 v03 to provide SPaT data Working with the ASC Working Group on
implementation issues Only sends SPaT data when there’s a change
in movement status (state or timestamps) Sending SPaT data to Amazon Cloud to
support PED applications for the visually impaired
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NYC CV Pilot
• RSU translates the SPaT data and generates the SPaT message SPaT data includes timestamps to insure
RSU can adjust times as necessary• Security design considers the RSU, ASC
and TMC as a whole system• Efficient channel usage allows alternate
media
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Tampa CV Pilot
• Uses Siemen’s SpatMap application Part of Siemen’s core RSU software
• Uses the SPaT message defined by the V2I Hub Interface Control Document (ICD) between the signal controller and RSU Also called the Traffic Signal Controller
Broadcast Message (TSCBM)• Uses other functions provided by MMITSS
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MMITSS
• Current version: Has a MMITSS Roadside Processor between
the signal controller and the RSE RadioUses the Battelle SPaT message (blob) consisting
of NTCIP 1202 v02 objects with extensions, between the Roadside Processor and the signal controller.
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MMITSS
Based on the 2009 version of SAE J2735SPaT data: Sent every 0.1 secondsMovement times are time to change, NOT
timestamps
• Version 2.0 May use the NTCIP 1202 v03 object
definitions
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Summary
• Industry still transitioning to support SPaT May still be changes to SAE J2735
• Current options between the RSU and controller Ballot standard of NTCIP 1202 v03 Interface Control Document defined in the V2I
Hub• Talk with your vendor!
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ResourcesSAE J2735_201603• https://www.sae.org/standards/content/j27
35_201603/NTCIP 1202• https://www.ntcip.org/library/standards/def
ault.asp?documents=yes&qreport=no&standard=1202
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ResourcesConnected Vehicle Pilots• https://www.its.dot.gov/pilots/MMITSS• http://www.cts.virginia.edu/cvpfs_researchISO TS 19091• https://www.iso.org/standard/69897.html
Roadside software to facilitate communication between new connected vehicle hardware and existing traffic control equipment & systems
Federal Highway AdministrationSaxton Transportation Operations Lab
Traffic Signal Controller
Roadside Unit (RSU) GPS
Transportation Management
Center(TMC)
MapSignal Phase and Timing
(SPAT)
Message Storage
V2I Hub
V2I HUB
Presentation Overview
• What is V2I Hub?• Why V2I Hub?• Where can V2I Hub be found?• When will software, documentation, and
additional functionality be available?
Traffic Signal Controller
Roadside Unit (RSU) GPS
Transportation Management
Center(TMC)
MapSignal Phase and Timing
(SPAT)
Message Storage
V2I Hub
What Is V2I Hub?
• Software to simplify integration by translating communication between different standards and protocols
• Modular platform uses software plugins to add functionality and communicate to different hardware and systems
• Software middleware that can run on both Arm and Intel processors running Linux
• V2I Hub can run on a variety of roadside equipment• Roadside Unit (RSU) CV radio• Traffic signal controller coprocessor board• Standalone industrial computer
What Is V2I Hub?
• Plugins can create SAE J2735-2016 compliant messages for broadcast
• BSM – Basic Safety Message• MAP – Intersection Geometry• SPaT – Signal Phase and Timing• TIM – Traveler Information Message• RTCM – Position Correction • Future J2735 messages
What Is V2I Hub?
• Plugins enable communication with different equipment and systems
• Connected Vehicle Radios – Roadside Unit (RSU)
• Traffic Signal Controllers • Transportation Management Centers• Global Positioning System (GPS) Radios• Position Correction Equipment or Data• Dynamic Message Signs• Pedestrian and Vehicle Sensors• Road Weather Sensors• Internet• Specialized Equipment
Dynamic Message
Sign(DMS)
Rail Signal Controller
Transportation Management
Center(TMC)
GPSRoadside Unit (RSU)
Traffic Signal Controller
Internet
What Is V2I Hub?
• Plugins can add functionality and run connected vehicle applications
• Conflict Monitor• MMITSS – Multi-Modal Intelligent Transportation
Signal System• CSW – Curve Speed Warning• HIL – Hardware in the Loop• CAV – Connected and Automated Vehicles
V2I Hub Advantages
• Scalable, efficient, and flexible• Built-in message translation and plugin architecture
reduces integration work and backend software• Plugins reduce effort required to add functionality
or connect to new devices• Secure, remote access for monitoring, configuration,
and software updates to reduce operations and maintenance efforts
• Cross cutting – Provides connections between existing equipment and systems and future connected and automated vehicle technologies
V2I Hub Advantages
• Documentation explaining the design and architecture makes integration, operation, and maintenance easier
• Open-source platform increases flexibility and interoperability that proprietary systems inhibit
• Vendor neutral• Efficient adoption of equipment from different manufacturers• Interface to support custom and future applications and
functionality• Additional functionality can be added in-house or by third
parties• Specify in Procurement to maintain open architecture and future
flexibilityI believe the V2I Hub is an essential ingredient that will facilitate interoperability of the various programs being developed for future connected vehicle applications.
- Jim Rose, Econolite Hardware Engineering Manager
V2I Hub Advantages
• SPaT – Simplifies effort required to broadcast J2735-2016 SPaTMessage
• Utilizes NTCIP 1202 Traffic Signal Controller Broadcast Message (TSCBM) data objects
• Currently supported by Econolite, McCain, and Siemens traffic
V2I Hub Advantages
• MAP – Simplifies effort required to develop intersection geometry and broadcast J2735-2016 MAP Message
• Supports JSON data generated by USDOT’s MAP Message Creation Tool
V2I Hub Adoption and Deployment
• Turner Fairbanks Highway Research Center• NE Michigan Testbed• University of Michigan Transportation Research Institute
(UMTRI)• Florida Traffic Engineering Research Laboratory approval for
research deployment on Florida roadways• Osceola County• Austin, Texas• Tampa CV Pilot City• Siemens Roadside Unit
V2I Hub Adoption and Deployment
• V2I Hub Version 3.0 software has been posted to the Open Source Application Development Portal (OSADP) and is available to download
• Multi-Modal Intelligent Traffic Signal Systems (MMITSS) plugins to be released in June 2018
• Operational Data Environment (ODE) plugin to be released in June 2018
• The final software will be posted to the OSADP in September 2018
V2I Hub Adoption and Deployment
• Support documentation available in the near future:
• V2I Hub Guidebook• V2I Hub Plugins• V2I Hub Deployment Guide• V2I Hub Software Configuration Guide• V2I Hub Administration Portal User Guide• V2I Hub Plugin Programming Guide
• FHWA evaluating additional test plans needed to support procurement of roadside equipment
Certified:TSC RSU GPS TMC M AP SPa T CSW
V2I Hub
Connected Vehicle Support ServicesToll-free # 1-844-DOT-CVCS (1-844-368-2827) https://cvcs.samanage.com/
Business hours: Monday-Friday, 8:00AM - 5:00PM Toll-free #: 1-844-DOT-CVCS (1-844-368-2827)
Deborah CurtisFHWA
Office of Operations Research & Development
Chris StanleyLeidosSaxton Transportation Operations Lab Program [email protected]
On-Board Unit (OBU): Public Agency PerspectiveFaisal Saleem, Maricopa County Department of Transportation
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V2I System and OBU
Vehicle
On Board Unit (OBU) After Market Safety Device (ASD)
+Connected Vehicle
Equipment
Connected Vehicle Infrastructure Equipment
Road Side Equipment (RSE)
CommunicationsDialog
Cooperative Applications
DSRC 5.9 GHz Radio
MAP DataDigital Description of Roadway
(D. Kelley, 2012)
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Definitions• On-Board Unit (OBU) - A vehicle mounted device used
to transmit and receive a variety of message traffic to and from other connected devices. Also referred to as On-Board Equipment (OBE)
• Aftermarket Safety Device (ASD ) - A connected device, not integrated during vehicle manufacture, but added after sale. It is installed in a vehicle, and capable of sending and receiving messages over a DSRC wireless communications link. The device has a driver interface, runs V2V and V2I safety applications, and issues audible or visual warnings and/or alerts to the driver of the vehicle.
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Source: https://www.itsforge.net/index.php/information/glossary-of-terms
Traffic Signal Controller
MAP
SPaT
RSU
DVI showing
Phase state and timing
for the relevant
lane
Positioning
Lane Matching
Phase Timing
OBU
SPaT and MAPover DSRC
Ethernet
Infrastructure side Vehicle side
Role of OBU (in Application)
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RSU and OBU DifferencesFeatures RSU OBURadios 2 2 (early version 1)Specification USDOT DSRC
4.1None/ Does not exist
FCC Licensing Required VendorInstallation Infrastructure VehiclePower PoE DC (~12V) Cost Lower than RSU
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OBU Sub-System
DSRC Radio Units
Laptop/Tablet Interface
Antenna
Data Logging
Interface to CANOperating System
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On-Board Unit/ASD
Other suppliers…..
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Role of OBU in SPaT Challenge• Roadside Unit is broadcasting SPaT and MAP• How do we know – That MAP and SPaT is actually being broadcast? How far from the RSU can it be received? Can RSU receive Basic Safety Message (BSM)? What other applications could be deployed with OBU
and RSU?E.g. EV Priority/Preemption, Transit Priority, Freight Priority,
Performance Observation,…
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Installation Considerations• Where to locate the Antenna? Experience on Buses, Fire Trucks Power? Performance?
Positioning AccuracyDSRC RangeData (BSM)
• What Applications?BSM BroadcastSPaT Receiver/DisplayPriority Request Generator (Signal Request Message)
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Installation ExamplesPermanent? (MCDOT)
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Installation ExamplesAdhoc (MCDOT)
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Installation ExamplesCALTRANS
Arada LocoMate
mini 2
Savari MobileWAVE
S103
Savari MW-1000
Number of Radios 1 2 2Standards 2009 2009 2016DSRC Messages and Channels
Channel 172: BSM, SPaT, and MAP Channel 172: BSM, SPaT, MAP, SRM, and SSM
Channel 182: SRM and SSM
Use of SDK? Yes Yes YesUse of CAN? No No No
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Installation ExamplesCALTRANS
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Installation ExamplesUDOT
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New York: ASD Request• Request for Expression of Interest
for ASD Generate market interest Evaluate vendor readiness Identify vendor commitment Seek vendor insight Review vendor commitment Identify approaches to certification Gain better understanding of
installation requirements, packaging, and options
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http://www.nyc.gov/html/dot/downloads/pdf/nycdot-cvp-rfei-apr2017.pdf
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Installation ExamplesNew York (USDOT CV Pilot)
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Installation ExamplesSPaT Challenge: Simple Installation
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Lessons Learned
• Procurement Considerations• Configuration • Installation• Operations• Performance
Webinar Wrap-Up and Q&A
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Next SPaT Challenge Webinar• Design Considerations, Part 2 April 17, 2018 2:00pm ET Overview of MAP messages Examples of MAP message creation approaches Vehicle position correction needs and solutions DSRC licensing
• Registration:https://transportationops.org/event/webinar-3-spat-challenge-design-considerations-part-2
Q&ASubmit questions and comments in chat or Q&A section of webinar window
Upcoming SPaT Challenge WebinarsDesign Considerations, Part 2 April 17, 2018 2:00-3:30pm ETMAP Creator Tool Demonstration April 24, 2018 1:00-2:30pm ETDesign Considerations, Part 3 May 15, 2018 2:00-3:30pm ETDeployment & Validation June 12, 2018 2:00-3:30pm ET