Unmanned Systems Ux S Control Segment UCS Architecture

Unmanned Systems (Ux. S) Control Segment (UCS) Architecture Overview DRAFT March 10, 2019 Note: only slides posted on the SAE AS-4 UCS public site are endorsed by SAE AS-4 UCS 1

SAE UCS Architecture SAE Aerospace Standard 6512 Emerging as Do. D information architecture for controlling Robotic and Autonomous Systems (RAS) in all domains § Initiated by OUSD(AT&L) Acquisition Decision Memorandum (ADM) in February 2009 calling for common control segment architecture for Do. D Unmanned Aircraft Systems (UAS) Groups 2 -5. § OUSD(AT&L) funded development for UAS Control Segment (UCS) Architecture undertaken by OSD UCS Working Group (85, 000 hr. thru March 2015). § Vehicle and Robotic Alliance (VRA) funding via National Advanced Mobility Consortium (NAMC) to extend UCS for multi-domain RAS. Multiple programs. § Since April 2015, the UCS Architecture has been managed by SAE AS-4 (Unmanned Systems), a voluntary consensus standards organization per the National Technology Transfer and Advancement Act (NTTAA) and OMB Circular A-119. § In April 2016, the name was changed to the Unmanned Systems (Ux. S) Control Segment (UCS) Architecture to reflect its multi-domain applicability.

UCS Architecture Scope A Service Oriented Architecture (SOA) and Information Model for the Ux. S Control Segment Unmanned fixed-wing air systems Unmanned marine systems Growth Data Model Unmanned rotary-wing air systems Real-world entities and their properties Unmanned ground systems Growth includes External network environment and message protocols Information Model defines message types for Man-portable Mobile/transportable Fixed facilities Services Model Interfaces to access control segment capabilities to achieve real-world effects Control Segment

Example UAS Programs UCS Architecture is being incorporated into multiple Do. D programs for control of UAS Groups 2 thru 5. Navy § Common Control Station (CCS) – PMA-281 Army § Universal Ground Control Station (UGCS) – PM-UAS § Bi-directional Remote Video Terminal (BDRVT) – PM-UAS

Technology Demonstrations Recent/ongoing Do. D-funded technology demonstrations show feasibility and utility of providing multi-domain capabilities in air, maritime, and ground. § LCS Mine Counter Measures (MCM) Mission Package – extends UCS for multi-domain maritime applications § § TACEVAC - extends UCS for Tactical Evacuation § § Mission Package Common Software Architecture (CSA) – PMA-420/SPAWAR Unmanned Maritime System Reference Architecture (UMS RA) – PEO LCS/NUWC Single Sortie Detect to Engage (SS-DTE) – ONR/NSWC Army Tactical Advanced Telemedicine Research Center (TATRC) NAMC Common Controller Architecture (CCA) – extends UCS for dismounted control of heterogeneous RAS § UCS-conformant Multiple Operator Control Unit (MOCU) 4

Why is UCS different? Conceptual Interoperability - how things relate UCS provides a comprehensive Conceptual Data Model (CDM) of the resources in the RAS domain: vehicles, payloads, control stations, communications – and their objectives, missions/tasks, data products, and environment. All information architectures must interact with the same real-world objects. This is how So. S integration becomes possible. Primary Mission Control Pragmatic Interoperability – accessing capabilities UCS defines a Service Oriented Architecture (SOA), which allows the capabilities offered by an RAS to be accessed via message exchanges. Exchanged messages project to the CDM and therefore are conceptually related. The SOA ties these messages to real-world effects/actions Semantic Interoperability - messages/data UCS provides an extensive Logical Data Model (LDM), which defines how the state values in message exchanges (e. g. vehicle position) are to be interpreted within a particular system. The LDM provides a machine-readable definition of state information and any required conversions between systems. Mission Planning Dynamic Airspace Info Model System Support External Messaging & Comms Sensor Product PED

UCS in Model Based Engineering (MBE) UCS can be implemented in multiple component architectures, software-platform technologies Example component architecture – Platform Independent Model (PIM) User Requirement Model Satisfied by UCS Architectural Model Satisfied by Realized by Auto-generate Normative UCS Specification Interface Code Library Supports Software Component Model API Model Described by UCS Product Description Infrastructure Services provided by user e. g. FACE®, CCA, JAUS, NIEM are supported Binding Software Component Code Binding Platform Code Libraries Example component architecture - Platform Specific Implementation (PSI)

UCS Services vs. UCS Products Documented in AS 6513 (Architecture Conformance Specification) UCS Product Description Described by Required elements to be UCS-conformant Product Identification/Metadata Required APIs Architecture Description UCS Product system or unit of deployable software Note: for example, a UCS product could be a FACE Unit of Portability (Uo. P), a NAMC CCA PLA Software Product, or NIEM-conformant system (see later) The UCS Architecture is not: • Application software component architecture • Application platform The UCS Architecture is a SOA Service – A resource that enables access to one or more capabilities, where a capability is the ability to act and produce an outcome that achieves a result (Soa. ML) Product Test Results Service Description Service Reachability Description Service Interface Description Service Package Extensions Service oriented architecture (SOA) – An architectural paradigm for defining how people, organizations, and systems provide and use services to achieve results (Soa. ML) Extension Rules defined in AS 6513 Implemented UCS Service Package Defined by UCS Architecture Service Participant Role Service Ports Domain Participant Model (Soa. ML) Defines message types for Information Model (UML) Message Types UCS Architectural Model (Normative Elements)

UCS Service Description Based on OASIS SOA-RAF Service Description Conceptual Model UCS unit of conformance is service description of UCS product (software component or complete system) Service Description UCS unit of conformance Service Interface Description Service Policies Service Metrics Specific to Context Behavior Model Information Model Semantics Structure Service description element defined by UCS Architecture Service description element defined by UCS Product Service description element defined by third-party standards Per UCS Product Description Template Service description can be filed in registry/repository Service Functionality Service Reachability Specific to Context Functions Protocols Service Level Real World Effects Endpoint Technical Assumptions Service Presence Options include: - FACE TSS - CCA DDS - NIEM XML - Etc.

UCS Data Model Layers Ground RAS Domain Marine RAS Domain Medical Domain … shared data models/schemas Interoperability Layer Common Domains … Entity Basis Types supporting data types Conceptual Types Simple and complex data types Logical Types Association Basis Types UML profile Conceptual (CDM) Logical (LDM) Data Dictionary Foundation classes Architecture framework core models/schemas Technical Governance – Rules of Construction, Best Practices, Training Air RAS Domain Enterprise Architect (EA) Commercial UML-based tool Domain-specific Layer SME System model domain-specific data models/schemas

UCS Information Model Concept Logical Data Model Based on logical data types - measurements Aircraft System Domain Model UCS message type Used in service message exchanges Air Vehicle Aircraft Status Message Type Fuel Amount Attribute Name Data Element Speed Has Relationship Speed Projection Attribute Name Data Element Engine 1 Thrust Refined by Mass lb. Measurement Vehicle-carried NED Velocity m/s Earth-fixed ENU Velocity kn. Mass Flow Rate kg/s Mass Flow Rate lb. /min Body Force - N ENU Force – ft. lb/s Observable Refined by Speed Observable 1. . * Measurement Refined by Entity Type Fuel Rate Attribute Name Thrust Conceptual Data Model Mass kg Mass Engine Data Element Use in external messages Used in UCS Entity Type Fuel Amount List of logical data types - measurements Attribute Name Measurement Mass Flow Rate Measurement Observable Force Observable Refined by Measurement Based on conceptual data types - observables Data Dictionary – AIR 6523 Core model for building up domain models Objective Entity Type Mission Association Type Resource Entity Type Coordinate Reference Systems Basic quantities Measurement units UML profile Mission Action Production Association Type Action Data Product Entity Type Coordinate Systems Coordinate datums

SAE UCS Committee (AS-4 UCS) SAE International SAE Technical Standards Board Voluntary Consensus Standards Organization as defined in Public Law 104 -113 and OMB Circular A-119. SAE Aerospace Council SAE Avionics Systems Group SAE AS-4 Unmanned Systems Performance Measures SAE AS-4 UCS Unmanned Systems (Ux. S) Control Segment Executive Board (EB) SAE AS-4 JAUS Change Control Board (CCB) Government Stakeholder Advisory Board (GSAB) Task /User Groups Joint Architecture for Unmanned Systems Participation in standards development is open and free of charge (no consortium fees). Published documents are for sale individually or through digital library subscriptions. Multi-user pricing options available. Unmanned Systems Steering Committee SAE AS-4 ALFUS SAE is the world’s largest aerospace organization, with a library of nearly 7, 000 technical aerospace documents. AS-4 UCS-1 UCS Architecture Use Group AS-4 UCS-3 Data Dictionary User Group All three SAE AS-4 technical committees were incubated in the US Government. • AS-4 JAUS began under the RS-JPO as the JAUS Working Group • AS-4 ALFUS began under NIST as the Autonomy Levels For Unmanned Systems Working Group • AS-4 UCS began under OSD as the UAS Control Segment (UCS) Working Group

AS 4 -JAUS Published SAE Unmanned Systems Digital Library AS 4 -UCS Published AS 4 -JAUS Published 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Unmanned Systems Terminology Based on the ARP 6128 ALFUS Framework AS 6091 JAUS Unmanned Ground Vehicle Service Set AIR 5665 B Architecture Framework for Unmanned Systems JAUS Messaging over the OMG Data Distribution ARP 6227 Service (DDS) AS 5669 A JAUS/SDP Transport Specification AS 5710 A JAUS Core Service Set AS 6040 JAUS HMI Service Set AS 6060 JAUS Environment Sensing Service Set AS 5684 B JAUS Service Interface Definition Language AS 6009 A JAUS Mobility Service Set AS 6057 A JAUS Manipulator Service Set AS 6062 A JAUS Mission Spooling Service Set AIR 5645 A JAUS Transport Considerations AIR 5664 A JAUS History and Domain Model ARP 6012 A JAUS Compliance and Interoperability Policy 1 2 3 4 5 6 7 8 9 10 11 AS 4 -JAUS Work in Progress, 2019 1 2 AS 6111 AS 8024 12 13 JAUS Unmanned Maritime Vehicle Service Set JAUS Autonomous Behaviors Service Set Ux. S Control Segment (UCS) Architecture: Interface Control Document (ICD) Unmanned Systems (Ux. S) Control Segment (UCS) AIR 6515 Architecture: EA Version of UCS ICD Model Unmanned Systems (Ux. S) Control Segment (UCS) AIR 6516 Architecture: RSA Version of UCS ICD Model Unmanned Systems (Ux. S) Control Segment (UCS) AIR 6517 Architecture: Rhapsody Version of UCS ICD Model AIR 6519 Ux. S Control Segment (UCS) Architecture: UCTRACE Unmanned Systems (Ux. S) Control Segment (UCS) AIR 6520 Architecture: Version Description Document Unmanned Systems (Ux. S) Control Segment (UCS) AIR 6521 Architecture: Data Distribution Service (DDS) Unmanned Systems (Ux. S) Control Segment (UCS) AS 6512 Architecture: Architecture Description Unmanned Systems (Ux. S) Control Segment (UCS) AS 6513 Architecture: Conformance Specification Unmanned Systems (Ux. S) Control Segment (UCS) AS 6518 Architecture: UCS Architecture Model Unmanned Systems (Ux. S) Control Segment (UCS) AS 6522 Architecture: Architecture Technical Governance Data Dictionary for Quantities Used in Cyber Physical AS 6969 Systems Data Dictionary for Quantities Used in Cyber Physical AS 6969_DA Systems (Enhanced License) AIR 6514 AS 4 -UCS Work in Progress, 2019 1 AS 6512 A 2 AS 6518 A 3 AS 6522 A 4 AS 6969 A Unmanned Systems (Ux. S) Control Segment (UCS) Architecture: Architecture Description Unmanned Systems (Ux. S) Control Segment (UCS) Architecture: UCS Architecture Model Unmanned Systems (Ux. S) Control Segment (UCS) Architecture: Architecture Technical Governance Data Dictionary for Quantities Used in Cyber Physical Systems

Architecture Governance Mature processes developed and proven under OUSD(AT&L) Architecture Governance and Management Execution Government Stakeholder Advisory Board Task Groups Stakeholders Advises CCB Exec. Board Reviews Reported issues AS 4 -UCS Charter, Governance Policies CCB Governance Policies AS 4 -UCS Program of Work JIRA Issue Tracking Database Work in Progress (WIP) Version Description Document (VDD) Backlog of CCB-approved issues EB Manages EB-approved work packages Assigned to Catalogued in CCB closed-out issues CCB Review Quality Management Tools WIP Draft Documents 28 day ballot Closed-out as Published Documents Technical Governance Policies Publish Aerospace Council Ballot Results 28 day ballot SAE Formatted Document SAE-managed activities Committee Ballot Results

External Alignments § SAE AS-4 JAUS § § Extend UCS Architecture with JAUS ground, maritime, and general unmanned systems services NIEM § § Planned under RASII JCTD Export UCS message types as NIEM XML

Contact Us SAE Representative Dorothy Lloyd (dlloyd@sae. org) SAE AS-4 Chair Mark Hinton (mark. hinton@jhuapl. edu) SAE AS-4 UCS Chair Douglas Gregory (dougg@neyasystems. com) SAE AS-4 UCS Task Groups UCS-1 (Architecture User Group) Jim Albers (jalbers@fastpilot. com) UCS-3 (Data Dictionary) Doug Gregory (dougg@neyasystems. com)