Introduction to the OMG Data Distribution Service and its use for Unmanned Vehicle Interoperability. Salient features of the standard and the protocol specially beneficial to this application domain.

1. OMG DDS and its Relation to
Unmanned Vehicle Interoperability
2010 AUVSI Meeting, San Diego, Oct 2010
Gerardo Pardo-Castellote, Ph.D.
The Global Leader in DDS Co-chair OMG DDS SIG
Chief Technology Officer, Real-Time Innovations, Inc.
© 2010 Real-Time Innovations, Inc.

2. Integration Challenge:
More Providers, More Data, Faster Evolution
TRENDS:
Increased Mix of Components from different providers
Accelerating technology insertion and deployment
Field deployment over disadvantaged links
Growing Information Volume
Next-generation systems needs:
Common Operational Picture
Interoperability between suppliers
Rapid Evolution
Performance & Scalability
Robustness & Availability
Safety-Critical Certification
Security
© 2009 Real-Time Innovations, Inc. 2

3. Solution: Open Architecture & Standards for…
Common Operational Picture Data Model, Protocols, APIs
Open Common Operational Picture
© 2010 Real-Time Innovations, Inc. 3

4. Common Data Model + Interoperable
Protocols
Natural Separation into: Data Model
Data Model as Platform
Independent Model (PIM)
Platform Specific Mapping
(PSM) to standards-
based Middleware
Leverage Existing IT
+
middleware standards Standard Middleware 2
Standard Middleware 1

5. DDS Family of Specifications
2008 2009 2010 2010 2011
UML Profile DDS for DDS DDS-STD-C++ Web-Enabled
for DDS Lw CCM X-Types DDS-JAVA5 DDS
App 2004 App App
DDS Spec
DDS 2006 DDS DDS
Implementation DDS Implementation Implementation
Interoperablity
Network / TCP / UDP / IP
© 2010 Real-Time Innovations, Inc. 5

6. The DDS Standard:
Open Architecture Interoperability & Portability
Components Cross-vendor portability
– Wire protocol for interoperability (RTPS)
– API for portability (C, C++, Java*)
– Integration interface (IDL, XML, WSDL)
IDL
Open XSD
DDS API
– Object Management Group (OMG)
– Publicly available (http://dds.omg.org) DDS Middleware
– At least 10 implementations
Real-Time
Mature Publish-Subscribe
Wire Protocol (RTPS)
– Used in 500+ unique systems
– 300,000+ licensed copies
– Implementations are TRL 9
Cross-vendor interoperability
RTPS also standardized as IEC 61148
*RTI also supports C# (.NET) and Ada
© 2010 Real-Time Innovations, Inc. 6

7. DDS adopted by key programs
DISR
– Mandates DDS for Pub-Sub API
– Mandates DDS-RTPS for Pub-Sub Interoperability
US Navy Open Architecture
– Mandates DDS for Pub-Sub
SPAWAR NESI
– Mandates DDS for Pub-Sub SOA
European Air Traffic Control
– DDS used to interoperate ATC centers
UK Generic Vehicle Architecture
– Mandates DDS for vehicle comm.
– Mandates DDS-RTPS for interoperability
© 2010 Real-Time Innovations, Inc.

8. Key A&D Programs Adopt DDS for Interoperability
Aegis Weapon System ScanEagle UAV
Lockheed Martin Boeing
Radar, weapons, displays, Sensors, ground station
C2
Advanced Cockpit Ground
B-1B Bomber Control Station
Boeing Predator and SkyWarrior UAS
C2, communications, General Atomics
weapons Telemetry data, multiple
workstations
Common Link Integration
Processing (CLIP)
Northrop Grumman RoboScout
Standards-compliant Base10
interface to legacy and
new tactical data links Internal data bus and link to
communications center
Air Force, Navy, B-1B and
B-52
© 2009 Real-Time Innovations, Inc. 8

9. Key A&D Programs Adopt DDS for Interoperability
Ship Self Defense System
Air-Traffic Management
Eurocontrol Reagan Class Aircraft Carrier
UK, Germany, Spain, Combat Management
France, Italy, Switzerland System
Advanced Cockpit Ground Driver safety Volkswagen
Control Station
vision systems, analysis,
Predator and SkyWarrior driver information
UAS systems
General Atomics
Korea FFX Frigate AWACS
Samsung-Thales Radar System
Combat Management
system
© 2010 Real-Time Innovations, Inc. 9

10. Data-Centric Qos-Aware Pub-Sub Model
Virtual, decentralized global data space
Source
Latitude Longitude Altitude
(Key)
UAV1 37.4 -122.0 500.0
UAV2 40.7 -74.0 250.0
UAV3 50.2 -0.7 2000.0
Persistence Recording
CRUD operations Service Service
© 2010 Real-Time Innovations, Inc. 10

11. Example: Modern Data-Centric Design
Start with Data Model / Schemas / Meaning
Data Schema Map this into XML; rows + cols
id : string (key) Express content-based filters
x : float Propagate data efficiently
y : float
Dispose New Update New
Subscribe
Publish
“AA123” “DL987” “AA123” “AA123”
65.4 56.7 45.6
X 32.1 89.0 78.9
© 2010 Real-Time Innovations, Inc. 11

12. Realizing a Data Model using data-centric
middleware technology
Comp Comp Comp Comp
Standard API Data
Model
Standard Mapping(*)
DDS Global Data Space
No custom mappings / code necessary
Direct support for data-centric actions: create, dispose, read/take
© 2010 Real-Time Innovations, Inc. 12

13. Realizing a Data Model using generic
middleware technology
Comp Comp Comp Comp
Custom Data
Integration Model
Custom Mapping
Middleware Artifacts
Akin to implementing an OO design on a Procedural Language:
Requires mapping inheritance, encapsulation, exceptions, …
© 2010 Real-Time Innovations, Inc. 13

14. Data-Centric Model for Interoperability
“Global Data Space” generalizes Subject-Based Addressing
– Data objects addressed by DomainId, Topic and Key
– Domains provide a level of isolation
– Topic groups homogeneous subjects (same data-type & meaning)
– Key is a generalization of subject
• Key can be any set of fields, not limited to a “x.y.z …” formatted string
Data Reader
Data Writer
Data Object
Data Reader
Data Writer
Data Reader
Data Writer
example

15. Data-Centric Model for Interoperability
“Global Data Space” generalizes Subject-Based Addressing
– Data objects addressed by DomainId, Topic and Key
– Domains provide a level of isolation
– Topic groups homogeneous subjects (same data-type & meaning)
– Key is a generalization of subject
• Key can be any set of fields, not limited to a “x.y.z …” formatted string
Data Reader
Data Writer Topic
Data Reader
Data Writer
Data Reader
Data Writer
example

16. Data-Centric Model for Interoperability
“Global Data Space” generalizes Subject-Based Addressing
– Data objects addressed by DomainId, Topic and Key
– Domains provide a level of isolation
– Topic groups homogeneous subjects (same data-type & meaning)
– Key is a generalization of subject
• Key can be any set of fields, not limited to a “x.y.z …” formatted string
Data Reader
Data Writer Key (subject)
Data Reader
Data Writer
Data Reader
Data Writer
example

17. DDS Used for Integration of TDLs into a Common Data
Space
Tactical Data Links
LINK22
LINK11
LINK16 ● Common Link Integration
Processing (CLIP): a key U.S. Air
Force and Navy joint project to
build Tactical Data Link (TDL)
aggregator
TCP/UDP/IP ● RTI Services helped architect,
design, develop, and test software
that ‘mediated’ between platform
Displays systems and CLIP
& other
systems Global Data Space
“Working with RTI has been both effective
and productive.”
– Jim Miller, CLIP Program Manager

18. DDS used for Integration of Multiple CAN busses into a
Common Data Space
• The VW Driver Assistance &
Integrated Safety system
– Provides steering assistance
when swerving to avoid
obstacles
– Detects when the lane narrows
or passing wide loads
– Helps drivers to safely
negotiate bends
DDS middleware integrates multiple
CAN bus

19. DDS QoS Aware communications model
Data Domain Data Domain
New Writer Participant Reader Participant
“Track”
Got new “Track”
subscriber! data
Offered Requested
Listener QoS Listener QoS
Typed, topic-based subscriptions ensure correct,
easy communications
QoS Contracts control information flow
– Reliability, filtering, liveliness, resources
Real-time notification provides deterministic behavior
© 2010 Real-Time Innovations, Inc.

20. ShapesDemo
Demo: Publish-Subscribe
view
© 2010 Real-Time Innovations, Inc. 20

21. Real-Time Quality of Service (QoS)
QoS Policy QoS Policy
DURABILITY USER DATA
User QoS
HISTORY TOPIC DATA
Volatility
READER DATA LIFECYCLE GROUP DATA
WRITER DATA LIFECYCLE PARTITION
Presentation
LIFESPAN PRESENTATION
Infrastructure
ENTITY FACTORY DESTINATION ORDER
RESOURCE LIMITS OWNERSHIP
Redundancy Transport
RELIABILITY OWNERSHIP STRENGTH
Delivery
TIME BASED FILTER LIVELINESS
DEADLINE LATENCY BUDGET
CONTENT FILTERS TRANSPORT PRIORITY
© 2010 Real-Time Innovations, Inc. 21

22. Realizing Performance & Scalability
DDS Approach Others: Broker-based middleware
JMS
AMQP
ESBs
RTPS …
DDS operates peer-to-peer, without brokers
DDS uses RTPS, an Advanced Multi-Session
protocol supporting Reliable Multicast
© 2010 Real-Time Innovations, Inc. 22

23. DDS builds Higher quality, Lower TCO
Systems
Pre-built components address many challenging use-cases
Presence
Comp
Discovery Comp Comp
Content-Based Delivery
Scalable pub-sub (Rel. multicast) DDS
Large Data (Frag & Reassembly) Global
Data Space
Real-Time QoS
Qos Monitoring
Historical Cache
Durable Data Messaging
& Caching
Event
Processing
Database
Bridge SQL
Availability
Persistence Redundancy
Redundancy & Failover
Recording
& Durability & Failover
Security Guard Hooks
© 2010 Real-Time Innovations, Inc. 23

24. DDS builds Higher quality, Lower TCO
Systems
Pre-built components address many challenging use-cases
Presence
Comp
Discovery Comp Comp
Content-Based Delivery
Scalable pub-sub (Rel. multicast) DDS
Large Data (Frag & Reassembly) Global
Data Space
Real-Time QoS
Qos Monitoring
Historical Cache
Durable Data Messaging
& Caching
Event
Processing
Database
Bridge SQL
Availability
Persistence Redundancy
Redundancy & Failover
Recording
& Durability & Failover
Security Guard Hooks
© 2010 Real-Time Innovations, Inc. 24

25. DDS builds Higher quality, Lower TCO
Systems
Pre-built components address many challenging use-cases
Presence
Comp
Discovery Comp Comp
Content-Based Delivery
Scalable pub-sub (Rel. multicast) DDS
Large Data (Frag & Reassembly) Global
Data Space
Real-Time QoS
Qos Monitoring
Historical Cache
Durable Data Messaging
& Caching
Event
Processing
Database
Bridge SQL
Availability
Persistence Redundancy
Redundancy & Failover
Recording
& Durability & Failover
Security Guard Hooks
© 2010 Real-Time Innovations, Inc. 25

26. DDS builds Higher quality, Lower TCO
Systems
Pre-built components address many challenging use-cases
Presence
Comp
Discovery Comp Comp
Content-Based Delivery
Scalable pub-sub (Rel. multicast) DDS
Large Data (Frag & Reassembly) Global
Data Space
Real-Time QoS
Qos Monitoring
Historical Cache
Durable Data Messaging
& Caching
Event
Processing
Database
Bridge SQL
Availability
Persistence Redundancy
Redundancy & Failover
Recording
& Durability & Failover
Security Guard Hooks
© 2010 Real-Time Innovations, Inc. 26

27. Global Scalability: LAN to WAN…
…without sacrificing Performance and Security
Site A DDS DDS
Routing Routing
Site C
Topics: Topics:
Site Status Site Status
Alarms WAN / Proc Sensor Data
Health Logs Result Data
Internet
Sensor Data Alarms
Proc Sensor Data TCP/TLS/SSL
Site B DDS DDS Site D
Routing Routing
Topics: Topics:
Site Status Site Status
Sensor Data Result Data
© 2009 Real-Time Innovations, Inc. COMPANY CONFIDENTIAL 27

28. DDS-RTPS Protocol optimized for
disadvantaged networks
Full peer-to-peer protocol
– No required brokers or servers
Adaptable via Qos
– Reliability, timeouts, message priority
Native multicast support
DDS Interoperability Wire
– Fully uses transport multicast, if available
Protocol adopted in 2007
– Handles reliability, avoids duplicates
Tunable Reliability
– Best Efforts, ACK Based, NACK Based
Supports disconnected media
– Based on UDP robust to disconnects
Efficient data encapsulation
– Binary CDR is 20 X better than XML/SOAP
Built-in availability and durability
– Historical cache, Durable & Persistent data
– Failover support
© 2010 Real-Time Innovations, Inc.

29. Summary
Integration of Unmanned and Manned Systems need
interoperability
Problem can be decomposed into Data-Model PIM and
Platform-Specific Middleware PSM
DDS is a family of OMG specifications that directly
supports data-centric publish-subscribe communications
DDS includes APIs and an Interoperable Wire Protocol
that can handle the real-time and DIL environment
Use of DDS results in open, interoperable systems with
reduced programming, cost, and risk
DDS can provide the right transport for the JAUS and
STANAG 4586 Message Sets
Interoperability and Cost are key drivers
© 2010 Real-Time Innovations, Inc. 29

30. About RTI – Global Leader in DDS
Market Leader
– Over 70% DDS market share1
– Largest embedded middleware vendor of all types1
– 25% growth in 2010, 2009
Standards Leader
– Authors of DDS Standard
– OMG Board of Directors
– Chair DDS committee
Real-Time Pedigree
– Founded by Stanford researchers
– Robotic control and real-time tools history
Maturity
– 12+ years of commercial availability
– Diverse industries: defense, finance, medical, industrial, power generation,
communications
– 400+ commercial customers, 100+ research projects
– 300,000+ licensed copies 1Embedded Market Forecasters (EMF) and
– U.S. DoD Technology Readiness Level (TRL) 9 Venture Development Corporation (VDC)
© 2010 Real-Time Innovations, Inc. 30

31. Thank You
© 2010 Real-Time Innovations, Inc. 31