QoS-based middleware architecture for distributed control systems

International Symposium on Distributed Computing and Artificial Intelligence 2008 University of Salamanca (Spain)22th-24th October, 2008

QoS-based middleware architecture for distributed control systems

José L. PozaJuan L. PosadasJosé E. SimóInstitute of Industrial Control SystemsPolytechnic University of Valencia

MiddlewareArchitecture

MiddlewareArchitecture

Control

Communications

Quality of Service

Quality of Service

Parameters

TimeMessage flow

QoS Policies

Quality of Service

ServiceOriented

DistributedControl

Architecture

Qo

Policies

StandardsSynergy

Distributed Control

Communications

Architectures

Implementations

Standards?

Paradigms

Standards Qos?

StandardsSynergy

Distributed Control

Communications

SWESWE

SWEControl

System

Real World

Process Method

Process Model

Process Chain

Process Model

Process Model

Process Model

Process Model

Process Chain

Process Method

Process Method

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

DDSQoS

22 QoS PoliciesDeadlineTimeBasedFilterLiveliness…

TransportPriorityDestinationOrder…

FSA-CtrlArchitecture

FrameSensorAdapter

ControlQoS

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

FSA-CtrlArchitecture

LSG

LNT Logical Sensor

LSG

LNT

Input connections

Output connections

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

EntityQoSPolicy*

Frame* 1

FrameEntity

<<interface>>Adapter

* <<interface>>LogicalSensor *

0..1

Logical Data

0..1

QoS

UMLFormal model

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

ImplementationDesign application

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

Conclusions

Hiding detailsSynergy standards

QoS support

System abstractionDistributed control

System evaluationSystem configuration

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