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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