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Xmbots develops UAVs for civilians within a number of markets, including agriculture, environmental, security and energy. The Brazilian-based company must comply with aviation certification standards, like DO-178 when developing UAVs for the Brazilian market. This is why they chose to use SCADE as part of their development process. Their development cycle went from 2 years for an entirely hand-codded application to 6 months with SCADE
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The Use of SCADE for UAV Ground Stations
Paris - France, 2013/10/17
Fábio Henrique de AssisCertification Director
fabio.assis@xmobots.com
SCADE User Group Conference 2013
Sumary
www.xmobots.com
The Company
RPAS Applications
SCADE Usage
Demo Video
3
The Company
Business“Development, manufacturing, training, maintenance and operation of Unmanned Systems”
3
Location: São Carlos – SP - Brazil
Internal Team (18)– ADM, R&D and
Production
External Team – R&D at important Brazilian
universities: IME, UFRN, UFAL, ITA and UNB
www.xmobots.com.br
The CompanyHistory
The CompanyR&D Projects
www.xmobots.com 5Products and R&D Projects: RPAS from 500g to 250kg
The CompanyProducts Overview
RPAS
Services– Aerial Images– Engineering– Maintenance and Training
www.xmobots.com 6
• MTOW: 6.5 kg• Autonomy: 45 min• Range: 10 km
• MTOW: 15 kg• Autonomy: 5 h• Range: 30 km
• MTOW: 32 kg• Autonomy: 8 h• Range: 60 km
Sumary
www.xmobots.com
The Company
RPAS Applications
SCADE Usage
Demo Video
RPAS Applications
www.xmobots.com 8www.xmobots.com.br
Military Main use around the world Military certification standards
Civilian Civilian certification standards Forbidden in several countries
www.xmobots.com.br
RPAS Civilian ApplicationsEnvironmental Market
www.xmobots.com.br
RPAS Civilian ApplicationsBuilding Market
www.xmobots.com.br
RPAS Civilian ApplicationsSecurity
Coastal and Borders Patrol
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Precision Agriculture
RPAS Civilian ApplicationsAgribusiness
Counting of Cattle
www.xmobots.com.br
RPAS Civilian ApplicationsAgribusiness
35 units
www.xmobots.com.br
RPAS Civilian ApplicationsEnergy Market
Power Lines, Oil & Gas Pipelines Inspection, Roads and Railroad monitoring
www.xmobots.com.br 15
Intelligence, Surveillance & Reconnaissance (ISR), Search and Rescue
RPAS Civilian ApplicationsSecurity – EO/IR Stabilized Video
www.xmobots.com 16
RPAS Civilian ApplicationsChallenges
Civilian applications requires certification– Lack of standards for UAS– Keep the Equivalent Level of Safety (ELOS) of manned
aircrafts
Actual possibilities in Brazil for operation:– R&D Applications
• Universities, R&D Institutes
– Segregated airspace with NOTAM– Remote areas with low population density
Full commercial applications expected to 3rd Q. 2014
Environmental and Agribusiness Market
RPAS Civilian ApplicationsMain Challenge
Operation of UAVs over Urban Areas
and in Controlled Airspace
Certification Process compliant with the existent for manned aircrafts:
– SAE ARP 4754 / 4761– RTCA DO 178 / 160
Combined with military UAS Standards
– NATO STANAG 4586
APOENA 1000C
RPAS Civilian ApplicationsMain Challenge
• Verification and Tests in the model
• Qualified codegeneration
• Qualified documentationgeneration
• Reduce the humanresources in the project
• Increase in quality andreliability of the system
Why did we choose SCADE?– To comply with aeronautical standards (DO-178/ARP 4754)
Sumary
www.xmobots.com
The Company
RPAS Applications
SCADE Usage
Demo Video
RPASDefinition
20GROUND CONTROL STATION (GCS)
REMOTELY PILOTED AIRCRAFT (RPA)
GROUND DATA TERMINAL (GDT)
PAYLOAD
Safety CriticalReal Time GUI
Safety CriticalAvionics
GCSOverview
www.xmobots.com
Safety Critical Real Time GUI
1st Stage of Usage
Apoena Series Echar SeriesNauru Series
GCS1st Generation
www.xmobots.com
GCS-S2A
GCS1st Generation
Year of release: 2009Technical characteristics:
– Used in Apoena Series– 100% Hand Code– Java and Photoshop– Not compliant with
aeronautical standarts– Development time: 2 years– Low realibility– Low robustness– Requires a powerful CPU
www.xmobots.com
GCS2nd Generation
GCS2nd Generation
GCS-S19A (Keyboard)
GCS-S10A (Touchscreen)
www.xmobots.com
GCS2nd Generation
First version release: 2013 January.Technical characteristics:
– Experimental software (Nauru and Echar Series)– MDD, C and SCADE Display– Much less manual coding– Compliant with aeronautical standarts (ARP 4102-7/AC
23.1311-1B)– Development time: 6 months– More reliable– More robust– Cheap embedded ARM-based CPU
www.xmobots.com
GCSDevelopment Methodology
Development with:– SCADE Display (Graphics);– A little of SCADE Suite (Behaviors);– Hand Code (low level software).
www.xmobots.com.br
GCS2nd Generation
www.xmobots.com
GCS Comparisons
First Generation (Java)– Telemetry sensors created with manual drawing in
Photoshop and loaded with Java Swing– Complex hand-coded tranformations in images– New sensor limits? New images had to be created– Slow software rendering (High CPU usage)
Second Generation (SCADE Display)– Telemetry sensors created with SCADE Display– Automatic transformations in the sensors (models)– New sensor limits? Change configuration parameters– Fast OpenGL ES rendering (GPU usage)
GCS Comparisons
First Generation– Hard and error prone development (2 years)
Second Generation– Robust and easy to develop (about 6 months!)
www.xmobots.com
GCSPerformance
First Generation (Java)– Hard to meet performance requirements
• Solution? To use a fast CPU (3GHz Core2Duo)
Second Generation (SCADE)– Easy to meet performance requirements with software
tweaking• Use of OpenGL ES 1.1;• Follow SCADE Display design checker design rules (like avoid
stencils);• Lots of profiling of the generated code;
www.xmobots.com
GCSPerformance
Results:– Usage of about 30% of the CPU
• ARM™ Cortex™ A8 @ 1GHz
– 1st generation uses a 3GHz Core2Duo Desktop CPU
So, we have “space” to use other software:– Digital H.264 HD video– Moving Map– Payload tracking algorithms
www.xmobots.com
GCSBenefits of using SCADE
Main benefits:– Management POV:
• Saved money– with development time– with hardware– But, mainly, creating a software with much higher quality
– Engineering POV:• More robust and reliable software• Better development process• Focus on model and not in the code• Ease of change and maintenance tasks
www.xmobots.com
Future Developments
3rd Generation GCS Software:– GUI development with SCADE Display– Compliant with NATO STANAG 4586– One software for all UAVs of XMobots
www.xmobots.com
– SysML with SCADE System
– Implementations with SCADE Suite
– Reqs. Traceability, Tests and Reportswith SCADE Lifecycle
UAV Control Software:
www.xmobots.com
Thank You!
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