Designing the Future of Embedded Systems at DARPA IXO Dr. Douglas C. Schmidt [email protected]...

Designing the Designing the Future of Future of

Embedded Systems Embedded Systems at DARPA IXOat DARPA IXO

Dr. Douglas C. Schmidt

[email protected] Manager

Information Exploitation Office

Authorized for Public Release: Distribution Unlimited

DARPA IXO Embedded Systems Programs

System Technology

Design Technology

Small GrainLarge Grain

PCES

SynchronizationPersistence

Fault ToleranceMemory Management

Cross-cutting Concerns

GPS IFF FLIR

Object Request Broker

AirFrame

HUD Nav WTS

Event Channel

ReplicationService

MoBIES

NESTARMS

Technology Transition ProcessInitial DARPA IXO Program

Structure

DARPA/DoD

Funding/Directing/Advising

Tool Vendors

Tool Vendors

Tool Vendors

Tech. transfer toCOTS tools

Technologydomainspanned

OEP-2

OEP-1

Standards &Certification

Bodies

Tech. transfer to standards

Stakeholder Role

DARPA Set direction, supplies funding

End Users Set DoD needs, market potential, stake in progress, augment funding

Open Experimentation Platform (OEP)

Define challenge problems, measure progress, ensure DoD transition

Tool Vendors Follow programs & stimulate commercial transition

Standards & Certification

Involve in adopting & creating standards & certification processes based on emerging architectures & best practices

Technology Developers (Universities, R&D organizations)

GROW A COMMERCIAL MARKET

Open ExperimentalPlatform-2

End User/Tech. Tr. target

Open ExperimentalPlatform-1

End-user/Tech. Tr. target

Tool Vendors

Tool Vendors

Technology Transition ProcessAfter DARPA Exits

Tool Vendors

DARPALeave-Behinds

Technology Developers

DoD Programs

COTS tools

Commercial Applications

Large vendorsSmall companies/StartupsUniversities

• Reference Solutions• Open Tool Integration Framework• Open Code Bases & Repository• Open Tool Repository

NationalExperimentalPlatforms

Stakeholder Role

DoD Services Additional R&D as needed

Defense Industry Market for created COTS

Commercial Industry Incentive to generate COTS

DARPA Leave-behinds Open repositories & reference solutions

DoDAgencies

Non-DefenseIndustry

DefenseIndustry

Standards &Certification

Bodies

SELF-SUSTAINING COMMERCIAL MARKET

ExpandedTechnology

Domain

Dr. Douglas C. SchmidtDARPA IXO

ARMSAdaptive & Reflective Middleware

Systems

RTP

DNS

HTTP

UDP TCP

IP

TELNET

Ethernet ATM FDDI

Fibre Channel

FTP

INTERNETWORKING ARCH

TFTP

20th Century

Win2K Linux LynxOS

Solaris VxWorks

Middleware

MiddlewareServices

MiddlewareApplications

MIDDLEWARE ARCH

21st Century

The objective of ARMS is to create the new generation of middleware technologies for distributed real-time & embedded (DRE) combat systems to enable 1.Simultaneous control of multiple

QoS properties & 2.Composable & customizable DoD

common technology bases

ARMS Technical Focus: Real-time Control of Distributed Resources

Ship-wide QoS Doctrine & Readiness Display

Distributed resource management

• Allocation/reservations, caching, scheduling, monitoring, & load balancing

Distributed security Distributed fault tolerance

Network latency & bandwidth

Workload & Replicas

CPU & memory

Connections & priority bands


Workload & Replicas

CPU & memory


Control Vars.}

Localmiddleware

QoS

QoS

TBMD Application

AAW Application

ControlAlgorithmControlAlgorithm



Requested QoS

Measured QoS

GlobalMiddleware


Workload & Replicas

CPU & memory


Create new generation of middleware to simultaneously control multiple QoS properties

Hardware

Middleware

OS & Protocols

Applications

ARMS Technical Agenda:Adaptive & Reflective Middleware

Endsystem

ApplicationsApplications

Endsystem

MiddlewareMiddleware MiddlewareMiddleware

ApplicationsApplications

Mechanism & PropertyManagers

Sys Cond Sys Cond Sys CondInterceptor Interceptor

LocalResourceManagers

Sys Cond

{}QoS Doctrine QoS Doctrine


Workload & Replicas

CPU & memory



Workload & Replicas

CPU & memory


LocalResourceManagers

Problem• Existing DRE systems are

rigidly designed with fixed QoS parameters that limit their utility for new missions

Research Challenges• Assuring dynamic flexibility and QoS simultaneously• Devise middleware to formally specify QoS-constrained global resource

management plans; model, reason about and refine them; & monitor/enforce these plans automatically at run-time

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System Utilityhi lo

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loSystem Utilityhi lo

Solution Approach• Meta-programming techniques that

• Decouple functional & QoS paths to allow more degrees of freedom

• Specify QoS doctrine declaratively• Support dynamic QoS adaptation &

optimizations• Secure multi-level distributed

resource management

Solution Approach• Meta-programming techniques that

• Decouple functional & QoS paths to allow more degrees of freedom

• Specify QoS doctrine declaratively• Support dynamic QoS adaptation &

optimizations• Secure multi-level distributed

resource management

Applications of ARMS Technology

Target Target Application: Application: Total Ship Total Ship Computing Computing EnvironmentsEnvironments

Key System Functionality•Sensor systems•Command & control systems

•Engagement systems•Weapons control systems•Weapons systems

Navy Benefits• Load-invariant tactical performance• Information access• Dynamic mission flexibility• Continuous availability• Rapid upgrades• Low ownership cost• Reduced manning

ARMS Middleware Technologies• Distributed real-time processing• QoS-enabled open systems• Portability• Scalability• Secure fault tolerance• Shared resource management • Self-adaptive

Program Impact• Important DoD systems will be more assurable, adaptable, & affordable

• e.g., network-centric warfare, total ship computing environments, theater ballistic missile defense• Researchers will have higher-level techniques & tools to enhance future R&D

MoBIESModel-Based Integration of

Embedded Systems

Dr. John S. Bay

DARPA IXO

The objective of MoBIES is to develop technology to flexibly integrate the physics of

the underlying domain with the embedded software design tools in order to custom-tailor

the software process to the application

Analysis Simul. Synth. Analysis

Meta-Prog.Model

Builder

Exec.Frame-work

ModelRep.

Gen.

Gen

Open Tool Integration Framework

Transl. Transl. Transl. Transl.

MetaP-IF Meta-IF

Data/MetaData/Meta

Data/MetaData

Data/MetaData

Data/MetaData

Data/MetaData

Data/MetaData

Data/MetaP-IF Data/MetaP-IF

Data/MetaP-IF

Components

Exec.Frame-work

Customization

Exec.Frame-work

Customization

Exec.Frame-work

Customization

TimingAnalysisHybridSimulationSafety

AnalysisFaultAnalysis

ModelBuilderModel

Builders

ModelRep.Model

Rep.

GeneratorGenerator

MoBIES Technical Agenda

• Models of broad physical processes (HW)• Models of time and concurrency (SW)• Mathematical models for …

– analysis tools

(HW&SW)– scheduling– code generation (generator-generators)

• Framework & toolsuite integrationMODEL-BASED INTEGRATION

DESIGN TOOLS

MoBIES

(Application INdependent)

• Reduced design space• Formal specification languages• Correct-by-construction generators• Tailored models of computation• Reduced V&V complexity• Composable tool market

DESIGN PROCESS

(Application Dependent)DESIGN TOOLSfor

Embedded Systemsfor

MoBIES Technical Focus: Model-Based Integration of Embedded

SoftwareComplex Operational Embedded System

Mathematical Models• Structural analysis• Dynamic equations• CAD modeling and simulation• Part interaction analysis• Sensor and actuator circuits

Complex but Inert Machine

Requirements• Real-time control• Network connectivity• Fault tolerant/fail safe• Harsh environment• Size/weight/power/thermal

constraints

Embedded Software

MoBIES Tools• Intelligent programming tools• Smart process schedulers• Communications configuration• On-line resource allocation• User interfaces• Automatic code generation

if (inactiveInterval != -1) { int thisInterval = (int)(System.currentTimeMillis() - lastAccessed) / 1000;

if (thisInterval > inactiveInterval) { invalidate();

ServerSessionManager ssm = ServerSessionManager.getManager();

ssm.removeSession(this); } } }

private long lastAccessedTime = creationTime;

/** * Return the last time the client sent a request associated with this * session, as the number of milliseconds since midnight, January 1, 1970 * GMT. Actions that your application takes, such as getting or setting * a value associated with the session, do not affect the access time. */ public long getLastAccessedTime() {

return (this.lastAccessedTime);

}

this.lastAccessedTime = time;

/** * Update the accessed time information for this session. This method * should be called by the context when a request comes in for a particular * session, even if the application does not reference it. */ public void access() {

this.lastAccessedTime = this.thisAccessedTime; this.thisAccessedTime = System.currentTimeMillis(); this.isNew=false; }

lastAccessedTime = 0L;

lastAccessedTime = ((Long) stream.readObject()).longValue(); maxInactiveInterval = ((Integer) stream.readObject()).intValue(); isNew = ((Boolean) stream.readObject()).booleanValue();

+ =

MoBIES finds the underlying Application-Specific Mathematical Principles of the Embedded Software, enabling us to …

• Generate complex software automatically; not through laborious manual coding• Guarantee that generated code is correct; do not rely on after-the-fact testing• Provide application engineers programming interfaces using their own terminology• Tailor and specialize programming tools to the systems they are designing

MoBIES finds the underlying Application-Specific Mathematical Principles of the Embedded Software, enabling us to …

• Generate complex software automatically; not through laborious manual coding• Guarantee that generated code is correct; do not rely on after-the-fact testing• Provide application engineers programming interfaces using their own terminology• Tailor and specialize programming tools to the systems they are designing

Over 99% of all microprocessors manufactured today are destined for embedded applications; we need software tools tailored to those special needs.

Over 99% of all microprocessors manufactured today are destined for embedded applications; we need software tools tailored to those special needs.

DEVICE PHYSICS

PERFORMANCE REQUIREMENTS

Potential Applications of MoBIES Technology

MAJOR WEAPONS

PROGRAMS

MAJOR WEAPONS

PROGRAMS

JOINT DARPA/ SERVICE

PROGRAMS

JOINT DARPA/ SERVICE

PROGRAMS

SOFTWARE TOOL VENDORSSOFTWARE TOOL VENDORS

STANDARDS BODIESSTANDARDS BODIES

COMMERCIAL USERS

COMMERCIAL USERS

Dr. Vijay RaghavanDARPA IXO

NESTNetworked Embedded Software

Technology

The objective of NEST is to develop robust coordination & synthesis services to support

networked embedded systems of 100 to 1,000,000 nodes

NEST Technical Focus: Robust Coordination Services

Missions for Coordinated Fleets of

UAV-s

Mathematical Models• Distributed Control Algorithms• Stability, dynamics• Network models• Device models

Distributed Control of Fine-grain Network of MEMS

devices

Requirements• Physical: power, dynamics• Communication quality• Coordination Service

Requirements• Mission modality

Coordination Services

NEST Tools• Micro-protocols for coordination• Time-bounded synthesis

methods• Service package synthesis tools• Reference solutions

+ =

NEST provides the computational foundation for building large-scale distributed control applications by implementing services for coordination such that …

• Control algorithms may assume guarantees for time, consensus, and other requirements

• The service packages are customized to the needs of applications

NEST provides the computational foundation for building large-scale distributed control applications by implementing services for coordination such that …

• Control algorithms may assume guarantees for time, consensus, and other requirements

• The service packages are customized to the needs of applications

Networked embedded systems represent a new wave in technology. NEST provides the groundwork for making new applications feasible.

Networked embedded systems represent a new wave in technology. NEST provides the groundwork for making new applications feasible.

CONTROL+DISTRIBUTED

ALGORITHMS

COORDINATION REQUIREMENTS

COCKPITDISPLAYS

FLIGHT,ELECTRICAL,PROPULSION

STORES

STORES

STORES

AP

AP

AP

RFM

RFM

RFMRFM

RFM

RFM

RFMRFM

ASDN

AP

Integrated EO/IR System

ConvertersSensors

Integrated RF System

IntegratedVehicleManagementSystem(VMS)

Ph

oto

nic

Sw

itch

Fa

bri

c

STORESMGMT.SYSTEM

(SMS)

Ph

oto

nic

Sw

itch

Fa

bri

c

GP SignalProcessor

GP SignalProcessor

GP SignalProcessor

ImageProcessorImage

ProcessorImage

Processor

I/OModulesI/O

ModulesI/O

Modules

MultiportMemory

MultiportMemory

MultiportMemory

DataProcessor

DataProcessor

DataProcessor

GraphicsProcessor

GraphicsProcessorGraphicsProcessor

PhotonicBackplane

SwitchFabric

GP SignalProcessor

GP SignalProcessor

GP SignalProcessor

ImageProcessorImage

ProcessorImage

Processor

I/OModulesI/O

ModulesI/O

Modules

MultiportMemory

MultiportMemory

MultiportMemory

DataProcessor

DataProcessor

DataProcessor

GraphicsProcessor

GraphicsProcessorGraphicsProcessor

Photonic

Switch

Fabric

VMS Bus

PhotonicPort(s)

PhotonicPort(s)

SMS Bus

Avi

onic

s B

us

SuperProcessingCenter

Photonic Port(s)

Scalable Photonic Interconnect Achieves Reduction in Avionics Size,Weight and Power with Increased Performance and Reliability

LocalClock

Reference Clock

Precision

Local clocks are synchronized:• limit the effects of clock drift• sufficient resolution• fault resilience

Time Service

v1vvj = v

vkv

A common v is selected:• uniform agreement • uniform validity (v {vi}) • the protocol terminates

Consensus Service

Networked Processes

v2v

Distributed Network of Sensor Motes

Berkeley OEP

Resource Constraints, non-determinism, dynamism

Determ

inism,

real-time

constraints

Boeing OEP

Extreme Scaling

Active Acoustical/Structural Mode Damping

•••

•••

Sensor(Accelerometer)

Actuator(PZT)

Processor

Nodelet

Control Loop

Adaptive Damage Identification(ADI) and Diagnostics

NEST Technical Agenda

Applications: Acoustic damping, Motes

Tasks: Coordination, Synthesis, Composition

Extreme Scaling

Applications of NEST Technology

Actuators for Vortex Control (10,000 nodes)

Distributed Active Control: Vibration Damping on Delta-4Rocket Payload Fairing (1,000 nodes)An experimental platform in the NEST program

Distributed Network of sensor motes for environmental monitoring,tracking, surveillance (1,000 nodes): An experimental platform in the NEST program

Noiseless sonar onsubmarines to providecamouflage (3,000 nodes)

100 – 1,000,000 node fusion of physicaland information

systems

Smart reconfigurable engines (100 nodes)

Gossamer Space Reflector (1,000,000 nodes) High resolution reconnaissance, GMTI


PCESProgram Composition for

Embedded Systems

The objective of PCES is to create programming language & compiler technology that enables developers to safely &

productively weave cross-cutting aspects with real-time (RT) embedded program functionality

Event Channel

ReplicationService

GPSIFF

FLIR


AirFrame HUD

Nav

WTS

AP


Small changes can break everythingSmall changes can break everything

AirFrame

AP

Nav WTS

GPS IFF

FLIR

Cyclic Exec

First Generation: Free form Spaghetti

Cross-cutting changes can break everythingCross-cutting changes can break everything

Event Channel

ReplicationService

GPS IFF FLIR


AirFrame

AP Nav WTS

Second Generation:Components

Many changes can be done easilyMany changes can be done easily

GPS IFF FLIR


AirFrame

AP Nav WTS

Event Channel

ReplicationService

SynchronizationPersistence Fault Tolerance

Memory ManagementCross-cutting Concerns

Third Generation:Aspects & Components

PCES Technical Focus: Real-time Plug & Play Avionics Systems

Key Cross-cutting Systemic Aspects

• Synchronization• Memory management &

persistence• Fault tolerance & error handling• Real-time deadlines • Bandwidth & CPU management

Key System Functionality• Weapons targeting systems (WTS)• Airframe & navigation (Nav)• Sensor control (GPS, IFF, FLIR)• Heads-up display (HUD)• Auto-pilot (AP)

Radar

Nav Sensors

WeaponManagement

Data Links

MissionComputer

VehicleMgmt

Weapons

PCES provides language & compiler technology to safely & productively program & evolve cross-cutting aspects to support real-time middleware & “plug & play” avionics applications

AirFrame

AP Nav WTSHUD

Avionics Applications


Event Channel

ReplicationService

Real-time Middleware

Ap

plic

atio

ns

of

PC

ES

La

ng

ua

ge

& C

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pile

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no

log

y

PCES Technical Agenda:Systemic Aspects for Real-time

Avionics

Boeing Bold

Stroke OEP

ASPECTANALYZER

PROGRAMANALYZER

Staging Controller• Compile time• Link time• Download time• Run time

Issues• Binding time• Order of specialization• Scope of properties• Conservative analysis

Program/Aspect Representations

WEAVER

e.g., Core Mission Computing Algorithms

Programmed

void HUD_update (int id, Coords coords) { HUDID aHud=null; aHud= hudRepo.getHud(id, coords); theDisplay.print(id, aHud); return true;}

Functional code

Reusable

Aspect Code• Synchronization• Fault Tolerance• Persistence• Error handling

aspect PublicErrorLogging { static Log log = new Log(); pointcut publicEntries (): receptions(public *com.boeing..*.*(..)) after() throwing (Error e): publicEntries() { log.write(e); }}

Loggingaspect

Mission Computer Code• Synchronized• Fault tolerant• Persistent• Robust

void HUD_update (int id, Coords coords) { HUDID aHud=null; try { aHud= hudRepo.getHud(id, coords); } catch (Error e) { log.write (e); } try { theDisplay.print(id, aHud); } catch (Error e) { log.write (e); } return true;}

Auto-tangled code

BBN, & LMCO TCT OEP

C2 assets & strike aircraft share imagery

data in real-time

PC

ES

Arch

itecture

Applications of PCES Technology

Local AreaNetwork

NYSE

NASDAQ

StockTrading

Hot Rolling Mill

Distributed Interactive Simulation

Quality Control

MilitaryCommunications

RadarControlSystems

Unmanned Systems

Tactical Aircraft

Shipboard Computing

•Provide decomposible & easily customizable component interfaces & implementations

Characteristics of Successful DARPA Embedded System Technology

Transitions•Program structure conveys & enforces endstate vision(s)•e.g., OEPs help to guide R&D efforts & build end-user alliances to Services & industry integrators/vendors

•Explicit focus on constraints of transition environment(s)•Performance, footprint, languages, tools, & commercial trends

LATENCY

THROUGHPUT

•Leverage R&D maturation cycles to “cross the chasm” of transition successfully•This generation’s successful transitions are often last generation’s successful R&D projects

Lev

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’96-’01 ’02-’06’90-’95lo

hi ResearchersPractitioners

C/AdaCyclic execsProprietary

C++UNIXCORBA

C++UNIXCORBA

JavaLinuxRT CORBA

JavaLinuxRT CORBA

DRTS JavaRT LinuxDynamic RT CORBA

Designing the Future of Embedded Systems at DARPA IXO Dr. Douglas C. Schmidt [email protected]...

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Transcript of Designing the Future of Embedded Systems at DARPA IXO Dr. Douglas C. Schmidt [email protected]...