ESE CPCC Project Michael Kleber, Clemes Krainer, Andreas Schrcker, - - PowerPoint PPT Presentation

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ESE CPCC Project Michael Kleber, Clemes Krainer, Andreas Schrcker, - - PowerPoint PPT Presentation

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Introduction Implementation Live Demonstration Conclusion ESE CPCC Project Michael Kleber, Clemes Krainer, Andreas Schrcker, Bernhard Zechmeister Department of Computer Sciences University of Salzburg, Austria January 25, 2012 M. Kleber,

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Introduction Implementation Live Demonstration Conclusion

ESE CPCC Project

Michael Kleber, Clemes Krainer, Andreas Schröcker, Bernhard Zechmeister

Department of Computer Sciences University of Salzburg, Austria

January 25, 2012

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 2

Introduction Implementation Live Demonstration Conclusion

Content

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 3

Introduction Implementation Live Demonstration Conclusion Project Description System Overview

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 4

Introduction Implementation Live Demonstration Conclusion Project Description System Overview

Introduction

Task

simulation of physical helicopter swarms simulation of sensors abstraction of virtual vehicles (virtual helicopters) migration of virtual vehicles among flying physical helicopters

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 5

Introduction Implementation Live Demonstration Conclusion Project Description System Overview

Introduction

Project Scope

real vehicles (physical helicopters) follow strict flight plans no network bandwith limits no processing power limits

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 6

Introduction Implementation Live Demonstration Conclusion Project Description System Overview

Introduction

Applied Technologies

HTTP as protocol for sensor abstraction and data exchange Java as programming language software implemented as web applications Apache Tomcat as web server and servlet container

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 7

Introduction Implementation Live Demonstration Conclusion Project Description System Overview

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 8

Introduction Implementation Live Demonstration Conclusion Project Description System Overview

Introduction

System Overview

Real Vehicle X Web Container (Tomcat) Flight Control System Mock- JAviator Sensor Simulation Autopilot (VCL) Virtual Vehicle RTE Sensor Proxy Pilot Web Application Engine Web Application Ground Station Web Container (Tomcat) GM-View Web Application Mapper Web Application Engine Web Application Virtual Vehicle RTE Mapping Algorithm Registry

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 9

Introduction Implementation Live Demonstration Conclusion Project Description System Overview

Introduction

Sensor Simulation

Simulated Real Vehicle XXX.xwd (Image File) Xvfb (Virtual X11 Screen) Thermometer (Random) GPS Receiver Simulator MockJAviator Air Pressure (Random) Position Firefox Web Browser Pilot Web Application xwd (Screen Shot) convert (xwd to png) Pilot Web Application XXX.png (Image File) Engine Web Application GM-View Web Application «same instance» GM-View Belly Mounted Camera Sonar

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 10

Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 11

Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Real Vehicles

Vehicle Configuration

plant.simulated = true plant.type = MockJAviator plant.listener = udp://localhost:9011 plant.location.system.type = gpssim plant.location.system.listener = tcp://localhost:9012 plant.location.system.update.rate = 10 controller.simulated = true controller.type = JControl pilot.type = JPilot pilot.name = Pilot One pilot.controller.connector = udp://localhost:9014

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Real Vehicles

Sensor Configuration

sensor.list = gps, temp, photo sensor.gps.name = GPS receiver sensor.gps.path = position sensor.gps.uri = gps:/// sensor.temp.name = thermometer sensor.temp.path = temperature sensor.temp.uri = rand:///18/22 sensor.photo.name = belly mounted photo camera sensor.photo.path = photo sensor.photo.uri = x11:///:21

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 13

Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Real Vehicles

Vehicle Control Language

## ## @(#) real vehicle set course ## go auto takeoff 1m for 5s fly to (47.82204197, 13.04086670, 20.00)abs precision 1m 2.0mps fly to (47.82206088, 13.04092035, 20.00)abs precision 1m 2.0mps fly to (47.82195102, 13.04488063, 20.00)abs precision 1m 2.0mps hover for 20s land go manual

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 14

Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Vehicle Virtualization

Virtual Vehicle Program

ability to suspend state is serialized information is persisted to file migration can be performed virtual vehicle can resume

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Vehicle Virtualization

Virtual Vehicle Language

list of commands command consists of a point and a list of actions point contains latitude, longitude, altitude specification of tolerance

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Vehicle Virtualization

Virtual Vehicle Sample Program

Point 47.82201946 13.04082647 1.00 tolerance 12.3 Picture Temperature Point 47.82203026 13.04084659 25.00 tolerance 100 Temperature Point 47.82211311 13.04076076 30.00 tolerance 1.2 Picture

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Vehicle Virtualization

Scanner

lookahead of one double and integers keywords and variables easy to add keywords - (prepared for adding if, else, while, for ...)

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 19

Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Vehicle Virtualization

Parser

process symbols of scanner parser handles

command (position, actions) position (point, tolerance) point (lat. long. alt.) actions

error handling

throws parser exception with description stop parsing

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 20

Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Vehicle Virtualization

Saving State

java serialisation used file with state list of commands with actions serialized already collected data in seperate file

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Vehicle Virtualization

Execution of VV

VV are dispatched through execute function read state, execute, store state partial execution of commands supported

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 22

Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 23

Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Mapper

maps virtual vehicles to real vehicles invokes migration two components:

registration service mapper

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Mapper

Registration Service

engine registers itself with registration service service fetches useful information:

sensors waypoints

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Mapper

Mapper

cyclic fetches status of all virtual vehicles

next action point and its actions

status of all real vehicles

current position next position velocity

two algorithms:

random mapping algorithm simple mapping algorithm

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Real Vehicles Vehicle Virtualization Mapping

Mapper

Simple Mapping Algorithm

for all virtual vehicles do if virtual vehicle program is complete then invoke migration to central engine else find fastest real vehicle with at least one needed sensor and distance CN to P < tolerance if found vehicle then invoke migration to it

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 27

Introduction Implementation Live Demonstration Conclusion Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

Live Demonstration

Demo 1: Data Collection

  • ne flying real vehicle
  • ne virtual vehicle that collects data at four locations

no migration

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 29

Introduction Implementation Live Demonstration Conclusion Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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Introduction Implementation Live Demonstration Conclusion Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

Live Demonstration

Demo 2: Virtual Vehicle Migration

two flying real vehicles

  • ne virtual vehicle that collects data at five locations

migration among both real vehicles

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 31

Introduction Implementation Live Demonstration Conclusion Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 32

Introduction Implementation Live Demonstration Conclusion Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

Live Demonstration

Demo 3: Real Vehicles with different Sensors

three flying real vehicles carrying different sensors

  • ne virtual vehicle that collects data at two locations

migration among all real vehicles

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 33

Introduction Implementation Live Demonstration Conclusion Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 34

Introduction Implementation Live Demonstration Conclusion Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

Live Demonstration

Demo 4: Complex Scenario

three flying real vehicles four virtual vehicle that collect data migration among all real vehicles

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 35

Introduction Implementation Live Demonstration Conclusion Future Work Questions and Answers

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 36

Introduction Implementation Live Demonstration Conclusion Future Work Questions and Answers

Future Work

more subtle mapping algorithms network traffic optimizations video sensor support extended geo-location flight plan generation based on virtual vehicle programs

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 37

Introduction Implementation Live Demonstration Conclusion Future Work Questions and Answers

Outline

1

Introduction Project Description System Overview

2

Implementation Real Vehicles Vehicle Virtualization Mapping

3

Live Demonstration Demo 1 - Data Collection Demo 2 - Virtual Vehicle Migration Demo 3 - Real Vehicles with different Sensors Demo 4 - Complex Scenario

4

Conclusion Future Work Questions and Answers

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project

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SLIDE 38

Introduction Implementation Live Demonstration Conclusion Future Work Questions and Answers

Questions & Answers

Q & A

  • M. Kleber, C. Krainer, A. Schröcker, B. Zechmeister

ESE CPCC Project