QoS-based middleware architecture for distributed control systems
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International Symposium on Distributed Computing and Artificial Intelligence 2008 University of Salamanca (Spain)22th-24th October, 2008
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QoS-based middleware architecture for distributed control systems
José L. PozaJuan L. PosadasJosé E. SimóInstitute of Industrial Control SystemsPolytechnic University of Valencia
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MiddlewareArchitecture
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MiddlewareArchitecture
Control
Communications
Quality of Service
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Quality of Service
Parameters
TimeMessage flow
QoS Policies
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Quality of Service
ServiceOriented
DistributedControl
Architecture
Qo
Policies
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StandardsSynergy
Distributed Control
Communications
Architectures
Implementations
Standards?
Paradigms
Standards Qos?
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StandardsSynergy
Distributed Control
Communications
SWESWE
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SWEControl
System
Real World
Process Method
Process Model
Process Chain
Process Model
Process Model
Process Model
Process Model
Process Chain
Process Method
Process Method
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DDSCommunications
Do
mai
n P
arti
cip
ant
write read, takeon_data_available
Producer Consumer
Data Writer
Data Writer
Pub
lishe
r
Data Reader
Listener
Sub
scrib
er
Topic
Data Writer
Data Reader
Sub
scrib
er
Pub
lishe
r
Data Reader
Topic
Topic
Do
mai
n P
arti
cip
ant
Do
mai
n P
arti
cip
ant
read, take write
ConsumerProducer & Consumer
Consumer
read, take
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DDSQoS
22 QoS PoliciesDeadlineTimeBasedFilterLiveliness…
TransportPriorityDestinationOrder…
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FSA-CtrlArchitecture
FrameSensorAdapter
ControlQoS
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LNT
Adapter
W R L
Adapter
R
LNT
W
LSG LSG
CO
NT
RO
L C
OM
MU
NIC
AT
ION
SQ
oS
Sensor
QoS Policies
Logical Data
Caption
Internal Connection
External Connection
COMMUNICATIONS CHANNELS
USER / APPLICATION LAYER
FS
A-C
trl M
iddl
ew
are
Arc
hite
ctu
re
Adapter
FSA-CtrlArchitecture
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FSA-CtrlArchitecture
LSG
LNT Logical Sensor
LSG
LNT
Input connections
Output connections
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FSA-CtrlArchitecture
LNT
Reader Listener
Adapter
Com
mun
icat
ions
C
hann
el
Writer
Control Sensor
LSG
Control Sensor
Control Sensor
Control Sensor
DDS-based systemSWE-based system
QoSCommunications Control
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EntityQoSPolicy*
Frame* 1
FrameEntity
<<interface>>Adapter
* <<interface>>LogicalSensor *
0..1
Logical Data
0..1
QoS
UMLFormal model
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UMLFormal model
QoSEntityQoSPolicy
*
Frame* 1
FrameEntity
<<interface>>Adapter
*
<<interface>>LogicalSensor
*
0..1Logical Data
0..1
Publisher SubscriberData
WriterData
ReaderListener
SensorComm
SensorControl
0..1 1
FSA-Ctrl
Control component
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ImplementationDesign application
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ImplementationArchitecture example
Dat
a ac
quis
ition
Con
trol
si
gnal
sR
eact
ive
leve
lD
elib
erat
ive
leve
lPath planning
Obstacleavoidance
Trajectories tracking
Features recognition & map building
Obstacle follow-up
...
...
Communications
...
Co
ntr
ol
...
QoS
Mission planning...
Control
RL R... W W
Comparator
Speed decreased
Locical Sensor
Multi comparator
Path merging
Planning
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Conclusions
Hiding detailsSynergy standards
QoS support
System abstractionDistributed control
System evaluationSystem configuration
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International Symposium on Distributed Computing and Artificial Intelligence 2008 University of Salamanca (Spain)22th-24th October, 2008
QoS-based middleware architecture for distributed control systemsJosé L. PozaJuan L. PosadasJosé E. Simó