A safety-oriented engineering process for autonomous robotic systems - - PowerPoint PPT Presentation

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A safety-oriented engineering process for autonomous robotic systems - - PowerPoint PPT Presentation

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Italian Workshop on Embedded Systems Siena, Italy, September 13-14 2018 A safety-oriented engineering process for autonomous robotic systems Fabio Federici, Giulio Mos Mancuso Created at UTRC-ALES UTC PROPRIETARY - This document contains no

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SLIDE 1

A safety-oriented engineering process for autonomous robotic systems

Italian Workshop on Embedded Systems Siena, Italy, September 13-14 2018

Fabio Federici, Giulio Mosé Mancuso

Created at UTRC-ALES UTC PROPRIETARY - This document contains no USA or EU export controlled technical data.

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SLIDE 2

Overview

  • UTC: BU needs and supporting capabilities
  • Certification issues
  • Proposed design flow
  • Technology Evaluation
  • Open points

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 3

UTC and intelligent systems

UTC Business Units

UTC Aerospace Systems

  • Actuation & Propeller Systems
  • Air Management Systems
  • Landing Systems
  • Electric Systems
  • Engine Systems
  • Sensors & Integrated Systems

UTC Climate, Controls and Security

  • Intelligent building Technologies
  • Heating & Cooling
  • Fire Safety & Security
  • Refrigeration

Pratt & Whitney

  • Commercial and Military Aircraft

Engines

  • Auxiliary Power Units
  • Helicopter Engines

OTIS

  • Elevators
  • Escalators
  • Moving Walkways

3D Reconstruction Dense Mapping Visual Inspection Perception Navigation Autonomous Exploration Manipulation Activity Prediction Inspection Assembly Manipulation Grinding Deburring Welding Mapping Autonomous Transportation

Use Cases Capabilities

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 4

Focus area

HW Platform OS / Middleware Application HW Platform Low-level Control Software Robot Frame COTS robotic platform OS / Middleware / Middleware interface Sensors Actuators Sensors Higher-level control platform Personal Computer OS / Middleware User Application User/Base Platform Environment

Example

Ground Control Station High-level Controller Flight Controller/ Quadcopter Frame

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 5

Relevant standards

Safety related certification

  • IEC 61508: Functional safety of Electrical/Electronic/Programmable

Electronic Safety-related Systems

  • SAE ARP 4765A: Guidelines For Development Of Civil Aircraft and Systems
  • RTCA DO 254
  • RTCA DO 178C
  • ISO 10218-1: Safety requirements for industrial robots - Part 1: Robots
  • ISO 10218-2: Safety requirements for industrial robots -- Part 2: Robot

systems and integration

  • ISO 13482: Safety requirements for personal care robots

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 6

CARVE (CONTRACT BASED DESIGN)

Design and verification flow

HW/SW PLATFORM DESIGN FLOW

Feature Requirements System Requirements Development/Modeling Concept Development System Architecture Model Development PLATFORM LEVEL SYSTEM LEVEL MODULE LEVEL

REQUIREMENTS DESIGN CODING DEPLOYEMENT REQUIREMENTS & ARCHITECTURE (MODEL) IMPLEMENTATION (PHYSICAL)

VALIDATION VALIDATION HAZARD ANALYSIS PRELIMINARY SYSTEM SAFETY ASSESSMENT, CCA PRELIMINARY MODULE SAFETY ASSESSMENT, CCA

RobMoSys

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MIL SYSTEM INTEGRATION & TEST ITEM INTEGRATION & TEST FUNCTION INTEGRATION & TEST

LOW-LEVEL TESTING SW-SW INTEGRATION HW-SW INTEGRATION

SIL VPIL

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SLIDE 7

HW/SW Platform Design Flow

Hardware Safety Requirement Specification Software Safety Requirement Specification System Safety Requirements Specification Hardware Architecture Software Architecture System Architecture Specification/Design Module Design Module Development Module Testing Module Integration Testing HW/SW Integration Testing Hardware Design Software Design Integration Testing Validation Testing Re-use Safety Cases (Platform, Kernel, Fault Domains)

UTC PROPRIETARY – This page does not contain any export controlled technical data

Architectural Patterns Fault Hazard Analysis

Functions

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SLIDE 8

Robotics Architecture Design Patterns

MISSION TASK SKILL SERVICE FUNCTION EXECUTION CONTAINER OS/MIDDLEWARE HARDWARE SKILL LAYER SEQUENCING LAYER DELIBERATIVE LAYER

CARVE: use of behavior trees Internal research investigation

UTC PROPRIETARY – This page does not contain any export controlled technical data →

? ?

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SLIDE 9

Development of HW/SW Platform

Hypervisor

RTOS Task/Skill Layer

Robotic Middleware/ Bridge

Health Monitoring Functions General Purpose OS Robotic Middleware Mission Layer Task Layer

Multicore CPU GPU FPGA I/O Interfaces Current collaborations:

UTC PROPRIETARY – This page does not contain any export controlled technical data

RTOS I/O Server

Robotic Middleware/ Bridge

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SLIDE 10

Heterogeneous platforms

Goal: use of COTS heterogeneous devices

  • Low-cost
  • Short time to market

Problems:

  • Sophisticated (obfuscated) components
  • Greater complexity
  • Resource sharing potentially jeopardizing safety

NVIDIA Jetson TX2 System-on-Module

  • Quad-core ARM Cortex A-57
  • Dual-core NVidia Denver 2
  • NVidia Pascal GPU w. 256 CUDA cores

Zynq UltraScale+ MPSoC

  • Quad-core ARM Cortex A-53
  • Dual-core ARM Cortex-R5
  • ARM Mali 400 MP2 GPU
  • 16 nm FinFET+ Programmable Logic

TARGET PLATFORMS

Multicore CPU GPU FPGA I/O Interfaces

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 11

Need for efficient middlewares

Open-source, meta-operating system for robots Hardware abstraction,

  • Low-level device control,
  • Commonly-used functionality,
  • Message-passing between processes,
  • Package management.

Pros:

  • Widely adopted
  • Large community
  • Out of the box support for devices
  • Algorithms & Libraries

Cons:

  • Lack of determinism
  • Not well fit for safety critical systems

Pros:

  • Real-time, deterministic
  • Support for multiple communication

middlewares

  • Compatibility with ROS

Cons:

  • Maturity level
  • Adoption

Fork

  • f

ROS based

  • n

the Data Distribution Service (DDS).

  • DDS is suitable for real-time distributed

embedded systems due to its various transport configurations (e.g., deadline and fault-tolerance) and scalability.

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 12

Jailhouse partitioning hypervisor

Pros:

  • Native support for the Linux kernel
  • Low latencies, good performance
  • Open Source (GPL v2)
  • Ported on several embedded platforms (Xilinx Zynq, Nvidia

Jetson TX1/TX2) Limitations:

  • System boot depends on the Linux Kernel
  • No partition scheduling, only static resource assignment
  • Limited maturity

CPU CPU CPU CPU Linux Kernel CPU CPU CPU CPU Jailhouse Linux Kernel Jailhouse Linux Kernel CPU CPU CPU CPU Jailhouse Linux Kernel CPU CPU CPU CPU RTOS Root Cell Root Cell Init

Jailhouse:

  • Partitioning Hypervisor based on Linux.
  • Able

to run bare-metal applications

  • r

(adapted)

  • perating systems.
  • Originally developed by Siemens
  • Released as Free Software (GPLv2) since November 2013

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 13

Ongoing activity on demo Platform

Jailhouse ARM Cortex-A57 ROS ARM Cortex-A57 Nvidia Denver 2 ARM Cortex-A57 ARM Cortex-A57 Nvidia Denver 2 Pascal GPU Linux NVIDIA Jetson TX2 RT-Linux IO Management/ Control app ICP

  • Root cell running ROS executed on the

Denver Cluster

  • GPU accelerated ICP:
  • KinectFusion algorithm
  • Around 108 Hz execution speed

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 14

Summary and Open Points

Activities

  • Definition of a safety oriented flow for robotics systems
  • Analysis and design of a robotic hardware/software architecture
  • Assessment of open-source technologies

TODOs & Open points

  • Consolidation of MBD flow
  • Bringing in RobMoSys approach
  • Additional isolation mechanism to be introduced in Jailhouse
  • Long-term need: mature, certifiable hypervisor
  • Verification

UTC PROPRIETARY – This page does not contain any export controlled technical data

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SLIDE 15

Questions?

UTC PROPRIETARY – This page does not contain any export controlled technical data