Final Internship Final Internship Presentation Presentation “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 6 th – July 31 st Aubin REBILLAT EPITA GISTR 2012
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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