Final Internship Final Internship PresentationPresentation

“How to demonstrate the relevance of hard real-time criteria?” Developing a demonstrator with hardware-in-the-loop for the

hard-real time simulation framework EuroSim

February 6th – July 31st

Aubin REBILLATEPITA GISTR 2012

Introduction Presentation of Dutch Space The SEDSID project Performed Activities Returns of the internship Conclusion

SummarySummary

IntroductionIntroductionThe city of the internshipSubject of the internshipLife in a Dutch company

The internship was performed in Leiden in South-Holland

Famous to be the place of birth of Rembrandt

The city of the internshipThe city of the internship

The subject for the internship was

“The trainee would have to answer the question: "How to demonstrate the relevance of hard real-

time criteria?" by developing a demonstrator with hardware-in-the-loop for the hard-real time

simulation framework EuroSim. The objective of this demonstrator is to demonstrate the

importance of hard real-time support by showing the simulation failing from a human point of view

if real-time criteria are not respected.”

Subject of the internshipSubject of the internship

The general environment in a Dutch company is a bit different from a French company.

Day schedule : Breaks are rare and do not exceed 5 minutes The lunch time is reduced to the minimum Because of the small amount of breaks and the small time

for lunch the day ends usually earlier

People interactions : Nearly every Dutch person is speaking English. The interactions are minimal. The lunch time is a decompression time where work is

usually not discussed

Life in a Dutch companyLife in a Dutch company

The Dutch Space companyThe Dutch Space companyHistory of the companyActivities of the companyThe EuroSim product

Created in the late 60’s as Fokker Space & Systems

Originally, a subsidiary of Fokker Aircraft Corporation

In the beginning of the 90’s Fokker Aircraft went bankrupt

In, 2002 the company is renamed Dutch Space

In 2006, the company is acquired by EADS Astrium

History of Dutch SpaceHistory of Dutch Space

Dutch is the leader in the Space domain in the Netherlands

Today Dutch Space activities include: Control systems and engineering

Advanced robotics and instruments

Software and simulation

Testing and integration

Structures and mechanisms

 Its main customers are ESTEC, ESA, EADS subsidiaries, …

Activities of the companyActivities of the company

It is a hard real-time simulation framework It is intended for the aerospace industry The design concept is based on the principle that

every simulator can easily be broken down into An invariant tool part

A part that is specific to the subject being simulated

One simulator throughout the project life-cycle

Used in : The ATV test platforms, ESA Astronaut training, ...

The EuroSim productThe EuroSim product

The SEDSID projectThe SEDSID projectDescriptionObjectivesRequirements

SEDSID : Space Equipment Development Support Infrastructure Demonstrator

It is part of the EuroSim developments This demonstrator is intended to be a sale

support tool Its final objectives are

Show how EuroSim can provide help during a space equipment development process

Demonstrate the hard real-time capabilities of EuroSim

DescriptionDescription

Build a space like system Specification of the hard real-time system including a

microcontroller, an actuator and a sensor

Development of this system

Validation of this system

Build the EuroSim models Used to simulate the system using EuroSim

Represents the system and the environment

Composed of an on-board software, an actuator and a sensor

ObjectivesObjectives

The system has to be relevant to EuroSim customers The demonstration scenario

1/ Simulation of the system with EuroSim2/ Externalisation of the on-board software3/ Hardware-in-the-loop simulation with the microcontroller4/ Demonstration of the complete stand-alone system with

EuroSim as a monitor The demonstration infrastructure to respect

RequirementsRequirements

Performed activitiesPerformed activitiesSpecification of the systemCAN developmentsDevelopment of the systemDevelopment of the models

First part and most important part of the internship

The objective was to define the system to build according to its objectives

The company already defined requirements The demonstration scenario

The demonstration infrastructure

Project requirements (Costs, technologies, …)

Specification of the systemSpecification of the system

The first thing to do was to find an idea Orientation control

Trajectory control

Collision detection and avoidance

Then, to find a way of showing the real-time capabilities of EuroSim using the system

Hard problem to solve because in most of these systems, errors are not humanly visible

Finally, a FDIR system was added to the system

FDIR: Failure-Detection-Isolation-and-recovery

Specification of the systemSpecification of the system

Specification of the systemSpecification of the system

It was the first development of the internship The goal was to develop a driver

Supporting as many devices as possible

Compatible with EuroSim

And to develop a library Compatible with EuroSim

Providing functions to control a CAN or CANopen network

Compatible with EuroSim means Accessible directly through memory mapping

Compatible with the specific EuroSim interruption management

Utilisation of the EuroSim API instead of the Linux API

CAN developmentsCAN developments

Reuse of an existing driver Driver from PEAK selected:

Driver for the interface bought for the project Nice architecture which supports different kind of interfaces Easy to adapt for EuroSim

Development of the library Based on the SJA1000 documentation and the CANOpen specification

Implementation of SJA1000 utility functions Open / close a device, access the registers, write / read a frame, wait an

interrupt, ...

Implementation of CANOpen functions Network management, Service dictionary objects, Process Dictionary objects

Addition of a new device : the pseudo device Simulate a SJA1000 controller through a shared memory area with the library

CAN developmentsCAN developments

Development of the systemDevelopment of the system Part the most long of the internship The goal was to set up a stand alone system

with the following : micro-controller : TS-7553

ARM9 (CNS-2132) single board computer

Shipped with a Debian distribution (Lenny)

CAN interface, USB, Ethernet, FPGA

sensor and actuator : Mdrive

Stepper motor : both actuator and sensor

Built-in driver and CANOpen interface

RTOS : Xenomai

Development of the systemDevelopment of the system The activities for this part included: Port of Xenomai on the board

Development of the i-pipe patch

Configuration of Xenomai for the board

System test

Adaptation of the board-support package Boot-process, root file-system and drivers

Resolution of multiple issues : Absence of a useable console interface, user-space

drivers, Floating-point and compilation tool-chain

Development of the modelsDevelopment of the models These models are used to simulate the system with

EuroSim A EuroSim simulation is composed of

C source code files which represent the simulated components of the simulation

A Schedule for the task defined in the source code

A simulation interface to view or interact with the simulation

For the demonstration the following models have been developed:

Stepper motor : physics, driver and CANOpen interface

CAN interface : Simulate the communication

On-board software : As close as possible to the real one

Critic of the interneshipCritic of the interneshipReturns for the companyReturns for the internFuture

Returns for the companyReturns for the company Demonstrator for EuroSim

For client meetings, salons, …

For training courses

CAN Driver and library to integrate in EuroSim

New feature that expand the product possibilities

New expertise in ARM

Xenomai

CAN and CANOpen

Returns for the internReturns for the intern Direct application of the studies

Subject extremely relevant to the studies

Improvement of the engineering skills

Improvement of the technical skills

Experience in an aerospace company Discover of the space industry

Discover of the goals and the challenges

Experience in an international context Improvement in English speaking

Discover of a new culture and a new way of working

FutureFuture Some enhancements have been suggested

Follow a light source using a webcam or even real solar panels instead of receiving commands

Thermal control system defined in the EuroSim courses

Because of the computer multiple applications can be developed

Implementation of new communication interfaces using the FPGA

Implementation of new on-board software interfaced with EuroSim to show any specific feature

ConclusionConclusion

Great professional experience before entering the job market

Helped defined my professional expectations Preference for a future job in the aerospace industry

Orientation toward the development of embedded and real-time systems

Great human experience