Intraship Integration Intraship Integration ControlControl

Instructor: TV PrabakarInstructor: TV Prabakar

Functional RequirementFunctional Requirement

150 sensors are placed on turbine.150 sensors are placed on turbine. Sensors read Temperature and Pressure every Sensors read Temperature and Pressure every

50 ms. 50 ms. Monitoring System checks for threshold Monitoring System checks for threshold

Bounds.Bounds. If unusual, gear of the turbine is changed.If unusual, gear of the turbine is changed. Should respond to External Control signals .Should respond to External Control signals . Should balance load among all four Turbines.Should balance load among all four Turbines.

ConstraintsConstraints

Should not effected by Electro Should not effected by Electro Magnetic Interference.Magnetic Interference.

Components should be ‘MIL’ Components should be ‘MIL’ standard.standard.

Database updates are restricted.Database updates are restricted.

Obvious ArchitectureObvious Architecture

TemperatureSensors

PressureSensors

Turbine Monitor

GearController

Data

Architecture EvaluationArchitecture Evaluation It is Block Diagram, not an It is Block Diagram, not an

Architecture.Architecture. What is Turbine monitor Black box?What is Turbine monitor Black box? Does Turbine Control Component is Does Turbine Control Component is

readily available?readily available? Assumed that no component fails.Assumed that no component fails. Using above diagram, can Using above diagram, can

development be started?development be started? How many Network interfaces Turbine How many Network interfaces Turbine

Monitor should have?Monitor should have?

Improved Block DiagramImproved Block Diagram

Mote 1

Mote 2

Mote 3

Mote 4

Mote 5

Concen-trator

Concen-trator

Turbine Monitor

GearController

Data

Priority of Quality AttributesPriority of Quality Attributes

Availability.Availability. Performance.Performance. Usability.Usability. Testability.Testability. Security.Security. Modifiability.Modifiability.

Quality Attribute Quality Attribute DependencyDependency

Performance ∞ Availability.Performance ∞ Availability. Performance ∞ 1/Security.Performance ∞ 1/Security. Performance ∞ 1/Modifiability.Performance ∞ 1/Modifiability. Performance ∞ 1/Usability.Performance ∞ 1/Usability.

Availability ∞ Security.Availability ∞ Security. Availability ∞ 1/Usability.Availability ∞ 1/Usability.

Availability Driven DesignAvailability Driven Design

Apply Removal from service Tactic to every component.

Sensor Fault recoverySensor Fault recovery

µP µP µP µP

Active redundancyActive redundancyTemperature sensor

PressureSensor

Sensor Fault recoverySensor Fault recovery

µP µP µP

Tactics AppliedTactics Applied

When µP samples sensor, reads incorrectWhen µP samples sensor, reads incorrect

Value or no value.Value or no value.

Fault DetectionFault Detection

Heartbeat.Heartbeat. votingvoting Active RedundancyActive Redundancy SpareSpare Shadow operationShadow operation

µP Fault RecoveryµP Fault Recovery

Tactics AppliedTactics Applied

Redundant µP informs the concentrator.Redundant µP informs the concentrator. Concentrator doesn’t read data from mote.Concentrator doesn’t read data from mote.

Fault DetectionFault Detection

Heartbeat.Heartbeat. votingvoting Exception.Exception. Transaction.Transaction.

Passive Passive Redundancy.Redundancy.

Active Active Redundancy.Redundancy.

Spare.Spare. State resynch.State resynch.

Mote to Conc. Cable Fault Mote to Conc. Cable Fault RecoveryRecovery

Concen-trator

Mote to Conc. Cable Fault Mote to Conc. Cable Fault RecoveryRecovery

Concen-trator

Tactics AppliedTactics Applied

µP senses the channel before sending, µP senses the channel before sending,

if not in operating voltage, chooses spare. if not in operating voltage, chooses spare. Similarly Concentrator does.Similarly Concentrator does.

Fault DetectionFault Detection

Heartbeat.Heartbeat. Spare.Spare. TransactionTransaction

Concentrator Fault Concentrator Fault RecoveryRecovery

Concentrator

Concentrator

Concentrator

Concentrator

Concentrator

Concentrator

Conc. To Monitor Cable Fault Conc. To Monitor Cable Fault RecoveryRecovery

Concentrator

Concentrator

TurbineMonitor

Conc. To Monitor Cable Fault Conc. To Monitor Cable Fault RecoveryRecovery

Concentrator

Concentrator

TurbineMonitor

Open the Turbine Monitor Open the Turbine Monitor Black BoxBlack Box

Slaveprocessor

Shared Memory

Controller

Slaveprocessor

Controller

Turbine Monitor

System Monitor

Heartbeat

Slave Processor Fault Slave Processor Fault Recovery Recovery

Slave1 Slave2

Shared Memory

Controller

Slave2 Slave1

Shared Memory

Controller

Tactics AppliedTactics Applied

After Processing of operations each slave After Processing of operations each slave sets the their flag byte to one.sets the their flag byte to one.

At end of deadline, controller checks the At end of deadline, controller checks the flag byte, if zero, respective slave failed.flag byte, if zero, respective slave failed.

Fault DetectionFault Detection

Heartbeat.Heartbeat. Voting.Voting. Active Active

Redundancy.Redundancy.

SpareSpare Shadow Shadow

operation.operation.

Controller Fault Recovery Controller Fault Recovery

Shared Memory

Controller

Slave

Shared Memory

Controller Controller

Slave

Shared Memory

Controller

Slave

Tactics AppliedTactics Applied

Each controller lives for fixed safe Each controller lives for fixed safe duration and initializes its spare as duration and initializes its spare as controller.controller.

Fault Fault PreventionPrevention

Removal from Removal from service.service.

Passive Redundancy.Passive Redundancy. SpareSpare State State

resynchronization.resynchronization.

Poor Resource utilization…. Poor Resource utilization….

Each processor can act as Controller Each processor can act as Controller and Slave.and Slave.

Each removed Controller becomes Each removed Controller becomes spare of slave, acts as slave till it spare of slave, acts as slave till it dies.dies.

Turbine - Gear Cable Fault Turbine - Gear Cable Fault RecoveryRecovery

GearMonitorTurbine

Monitor

Turbine - Gear Cable Fault Turbine - Gear Cable Fault RecoveryRecovery

GearMonitorTurbine

Monitor

Open the Gear Monitor Black Open the Gear Monitor Black BoxBox

Slaveprocessor

Shared Memory

Controller

Slave Processor Fault Slave Processor Fault Recovery Recovery

Slave1 Slave2

Shared Memory

Controller

Slave2 Slave1

Shared Memory

Controller

Controller Fault Recovery Controller Fault Recovery

Shared Memory

Controller

Slave

Shared Memory

Controller Controller

Slave

Shared Memory

Controller

Slave

Performance Driven DesignPerformance Driven Design

Current ArchitectureCurrent Architecture

µP

µP

µP

Controller Slave

Shared Memory

Controller Slave

Shared Memory

Mote

Concentrator

Turbine Monitor

Gear Monitor

Computefunction

Change gear

Get dataFrom ROM

sense Data send

Data receive

Data send

Boundschecking

GlowLEDS

RaiseAlarm

Checkfailures

Store threshold

Data receive

Data send

Data send

Data receive

sendACK

ReceiveACK

Data send

Data receive Data

receive

Allocation viewAllocation view

sense Boundschecking Data

send

Data receive

Store threshold

Data receive

Checkfailures Raise

Alarm

GlowLEDS

Data send

Data send

Data receive

Data receive

Data send

Data send

Computefunction

Get dataFrom ROM

ReceiveACK

Data receive

Change gear

sendACK

MoteConcentrator

Gear Monitor Turbine Monitor

Simple Range checking Simple Range checking program, choosing high speed program, choosing high speed

hardware will give high hardware will give high performance.performance.

Hardware SpecificationsHardware Specifications 8-bit µP on mote.8-bit µP on mote. 1 KBps cable from mote to concentrator.1 KBps cable from mote to concentrator. 16-bit µP on Concentrator.16-bit µP on Concentrator. 1MBps cable from concentrator to 1MBps cable from concentrator to

Monitor.Monitor. Pentium Processor on Turbine Monitor.Pentium Processor on Turbine Monitor. 1KBps cable from Turbine to Gear Monitor.1KBps cable from Turbine to Gear Monitor. Pentium Processor on Gear Monitor.Pentium Processor on Gear Monitor.

Packet size from mote is 5 bytes.Packet size from mote is 5 bytes.

Delay on mote.Delay on mote. To sense Temperature (ADC) = 1 msTo sense Temperature (ADC) = 1 ms To sense Temp. thru spare (ADC) = 1 To sense Temp. thru spare (ADC) = 1

msms To sense Pressure ( ADC ) = 1 msTo sense Pressure ( ADC ) = 1 ms To sense Pressure thru spare = 1 msTo sense Pressure thru spare = 1 ms To sense channel (ADC) = 1 msTo sense channel (ADC) = 1 ms To sense spare channel (ADC) = 1 msTo sense spare channel (ADC) = 1 ms To send packet on channel (DAC)= 1 msTo send packet on channel (DAC)= 1 ms

Total delay at mote = 7 ms.Total delay at mote = 7 ms.

Mote to Conc. Cable delayMote to Conc. Cable delay

1000 Bytes = 1 sec1000 Bytes = 1 sec

5 Bytes = 5 ms5 Bytes = 5 ms

In µP Active redundancy mode load is 10 In µP Active redundancy mode load is 10 bytesbytes

Total network delay = 10msTotal network delay = 10ms

Concentrator delayConcentrator delay To sense the channel (ADC) = 1 msTo sense the channel (ADC) = 1 ms To sense spare channel (ADC) = 1 msTo sense spare channel (ADC) = 1 ms To read 300 packets (ADC) = 300 msTo read 300 packets (ADC) = 300 ms To process and aggregate data = 2 msTo process and aggregate data = 2 ms To sense other channel (ADC) = 1 msTo sense other channel (ADC) = 1 ms To sense other spare channel = 1 msTo sense other spare channel = 1 ms To send 150 packets (DAC) = 150 To send 150 packets (DAC) = 150

msms

Total delay at concentrator = 456 ms Total delay at concentrator = 456 ms

Conc. To Monitor cable Conc. To Monitor cable delaydelay

To transfer 1500 bytes = 1.5 To transfer 1500 bytes = 1.5

msms

Delay at Turbine MonitorDelay at Turbine Monitor

Total delay = 150 + 25 + 150 Total delay = 150 + 25 + 150 = 325 ms.= 325 ms.

Monitor to Concentrator cable Monitor to Concentrator cable delaydelay

To transfer 1500 bytes = 1.5 To transfer 1500 bytes = 1.5

msms

Delay at ConcentratorDelay at Concentrator Total delay = 456 ms Total delay = 456 ms

Conc. to mote delay Conc. to mote delay Total delay = 10 ms Total delay = 10 ms

Total processing delayTotal processing delay

Total delay = 7 +10 + 456 + 1.5 + 325 Total delay = 7 +10 + 456 + 1.5 + 325

+ 1.5 + 456 + 10+ 1.5 + 456 + 10

= 1256 ms (or 1260 ms approx) = 1256 ms (or 1260 ms approx)

EvaluationEvaluation

Not satisfying functional requirements.Not satisfying functional requirements. Sensitivity points are ADC and DAC.Sensitivity points are ADC and DAC. Packet errors during transmission are not Packet errors during transmission are not

considered, may result in considered, may result in retransmissions.retransmissions.

EMI constraint is not taken considered.EMI constraint is not taken considered.

Possible solutionsPossible solutions

Increase redundancy in ADCs and DACsIncrease redundancy in ADCs and DACs Use checksum for transmission error Use checksum for transmission error

detection.detection.

CommentsCommentsWhat is the redundancy number of ADC andWhat is the redundancy number of ADC and

DAC?DAC?

150 ADCs and 150 DACs may solve the 150 ADCs and 150 DACs may solve the

Problem (infeasible).Problem (infeasible).

ChecksumChecksum

- increases network delay by 1 ms.- increases network delay by 1 ms.

- calculation takes 5 ms ( min. ).- calculation takes 5 ms ( min. ).

- checking takes 5 ms.- checking takes 5 ms.

Retransmissions are not decreased.Retransmissions are not decreased.

Effective solutionEffective solution

Use Fiber optic cable.Use Fiber optic cable.

Data should be sent digitally Data should be sent digitally ( elimination( elimination

of ADC and of ADC and DAC )DAC )

No effect of EMI.No effect of EMI. Retransmission free.Retransmission free.

Poor Resource utilization…. Poor Resource utilization….

For efficient usage of bandwidth, connect For efficient usage of bandwidth, connect all components in bus Architecture.all components in bus Architecture.

µP

Modified Architecture Modified Architecture

µP

µP

µP

Controller Slave

Shared Memory

Turbine Monitor

Controller Slave

Shared Memory

Gear Monitor

Concentrator

mote

Fibre optic cable

Fibre optic cable

Need of ConcentratorNeed of ConcentratorActs as proxyActs as proxy

Delay calculationDelay calculation Total delay = 7 + 0.3 + 2 + 0.015 + Total delay = 7 + 0.3 + 2 + 0.015 +

25 25

+ 0.015 + 2 + 0.03+ 0.015 + 2 + 0.03

= 36.615 ms (or 37 ms = 36.615 ms (or 37 ms approx) approx)

Performance Tactics usedPerformance Tactics used ConcurrencyConcurrency FIFOFIFO Caching.Caching.

Performance Techniques Performance Techniques usedused

using ROM rather than disk to store using ROM rather than disk to store data.data.

No contention of resources.No contention of resources.

For four TurbinesFor four Turbines

TurbineMonitor1

TurbineMonitor2

TurbineMonitor3

TurbineMonitor4

GearMonitor1

GearMonitor2

GearMonitor3

GearMonitor4

Turbine Monitor

Usability TechniquesUsability Techniques

Usability component is connected Usability component is connected externally to Monitoring system.externally to Monitoring system.

Provides different views of logged data Provides different views of logged data (graphs, thermometer reading, (graphs, thermometer reading, numbers ).numbers ).

SecuritySecurity

Security component is connected Security component is connected external to the monitoring system.external to the monitoring system.

Only read operation is provided in Only read operation is provided in menu for user.menu for user.

Level of security is chosen by user.Level of security is chosen by user.

Testability TacticTestability Tactic

Separate interface from implementation.Separate interface from implementation.

Testability TechniqueTestability Technique LED display at concentrator.LED display at concentrator. Different alarms according to level of Different alarms according to level of

urgency.urgency.

Architecture DocumentationArchitecture Documentation

Chosen viewsChosen views

- Class view.- Class view.

- Process view.- Process view.

- Deployment view.- Deployment view.

- Allocation view.- Allocation view.

- Use case view.- Use case view.

Logical viewLogical view

Use case viewUse case view

Sensor failureTurbineMonitor

TurbineMonitor

Network failureTurbineMonitor

TurbineMonitor

Use case viewUse case view

Abnormal ConditionTurbineMonitor

GearMonitor

Needs SpareTurbineMonitor

Technology ArchitectureTechnology Architecture

Atmel ATMega processor on mote and Atmel ATMega processor on mote and concentrator.concentrator.

Pentium processor at Turbine Monitor.Pentium processor at Turbine Monitor. ECos, Real time operating system.ECos, Real time operating system. HP UDO 30GB write-once disk.HP UDO 30GB write-once disk. C language for implementationC language for implementation

Take awayTake away For any problem “Deployment view” For any problem “Deployment view”

is first step (if reference Arch. not is first step (if reference Arch. not available).available).

Attribute Driven Design is tool to Attribute Driven Design is tool to achieve Quality attribute.achieve Quality attribute.

Design – Evaluation iteration results in Design – Evaluation iteration results in good Architecture.good Architecture.

Current Technology (with Current Technology (with specifications) should be known in specifications) should be known in advance to design an Architecture.advance to design an Architecture.