Reusing Vehicle Simulation Software Mission Impossible? Mr. Gary GreenInstitute for Simulation and Training,University of Central Florida

The CastTank-Automotive Research, Development & Engineering Center (TARDEC) Vetronics Technology

Researching vehicle workload issues using man-in-the-loop simulation technology that could be embedded into close combat vehicles

Developed the Vetronics Technology Testbed (VTT) embedded simulation system (ESS) for vehicle crewstations that simulates sensors, weapons and robotic vehicles, provides interface for the soldier to interact with these simulated systems

Currently working Crew integration and Automation Testbed (CAT) Advanced Technology Demonstration (ATD) to demonstrate a multi-mission capable two-man crewstation platform concept in a C-130-transportable chassis supporting the Army's objective force

The Cast (Cont)US Army Research Development and Engineering Command (RDECOM) Simulation Technology Center (STC)

In parallel with TARDEC, STC is researching man-in-the-loop simulation technology that could be embedded into close combat vehicles for training and mission rehearsal

Currently working Embedded Combined Arms Team Training and Mission Rehearsal (ECATT/MR) Science and Technology Objective (STO) to pursue embedded simulation technologies for training and mission rehearsal for FCS platforms

STO developed Embedded Training/Mission Rehearsal (ET/MR) Testbed to integrate and demonstrate STO technologies

The Cast (Cont)Institute for Simulation and Training (IST), University of Central Florida (UCF)

Under contract to STC for STO research, IST tasked to:Build ET/MR Testbed Adapt TARDECs VTT ESS for Testbed useIntegrate STO technologies into TestbedTrack CAT ATD changes to ESS and adapt new functionality for Testbed use as appropriate

Testbed patterned after the CAT ATD crewstations

Less fidelity & capability as it serves a different purpose and is not intended for an actual vehicle

Consists of two, low cost, reconfigurable, man-in-the-loop crewstation simulators representing crew positions in FCS platforms.

The Cast (Cont) Vetronics Technology Testbed (VTT) Embedded Simulation System (ESS)LegendB-Kit Embedded Simulation SystemA-Kit Vehicle SystemsDIS Distributed Interactive SimulationPDU Protocol Data UnitICD Interface Control Document

ISTs MissionWith a staff of one full-time and one part-time programmer, adapt ~140,000 lines of vehicle simulation code to a significantly different environment in about 8 months

If unsuccessful in accomplishing this mission, the command will . well, you know the rest of that story

The Plot (Adapting VTT to Testbed Use) First Task - Understand VTT software and internal dependenciesStructured into components, but not object orientedPIU is heart of VTT everything goes through PIUUsed minimal version of PIU (PIUMinimal) to learn operation of systemExpanded to full system and examined functionalityRan simple experiments such as Ownship Mobility to verify understanding of the codeUpdated VTT to newest Linux (Red Hat 7.3), modified libraries and API calls as required

The Plot (Cont) (Adapting VTT to Testbed Use) Next Task - Identify VTT functionality needed to meet ET/MR Testbed objectives, implement scaled down VTT

Goal - Establish basic capability to move Ownship, use weapons systems and destroy DIS-generated entities

Prioritized functionality, focused on priority packages until each function worked as expectedStarted with Mobility and WorldNext, added AKitInterface, put DIS packets on the network via NIUEstablished vehicle simulationDemonstrated a working simulator

C2 and Simcontrol Manager were not implemented in Testbed because of resource constraints, Vulnerability not used because of OpenGVS licensing issue

The Plot (Cont) (Adapting VTT to Testbed Use)Vehicle vs. No VehicleVTT designed to operate on vehicle - Testbed vehicle had to be simulated

TARDEC provided TestGUI to simulate vehicle output and an ICD detailing messages between VTT ESS and vehicle

IST used TestGUI and ICD to develop a simulated Testbed vehiclePorted TestGUI from SGI to Linux, converted from licensed widget set to open sourceImplemented off-the-shelf yoke and pedals for Testbed crewstation controlAdapted simulation data to represent graphic display of tachometer, speedometer, GPS location, etc., added fuel level, target lists, selections for transmission, ammo

The Plot (Cont) (Adapting VTT to Testbed Use)VTT software drop did not contain vehicle-resident code, requiring IST to fill in the gaps for Testbed

Key software such as Map Server and Graphic User Interface (GUI) are vehicle resident, not part of VTT, run on VXWORKS Map Server provides 2D terrain visualization to crewstations for mission planning and situational awarenessGUI used by TARDECs Soldier Machine Interface (SMI) for crew interaction with the simulation

For Testbed simulated vehicleUsed Plan View Display from OneSAF Testbed as 2D map representationBuilt a Testbed SMI for touchscreen display interaction with simulated vehicle using CAT SMI design as model and ICD messages

Tactical Situation Display

Sub-Plots (Cont) (Extensions to the VTT Code)Unmanned VehiclesTestbed required interface for robotic control but VTT had none Added by CAT ATD but was closely coupled with vehicleTestbed using robotic Operator Control Unit (OCU) from STCs Advanced Robotic Simulation STO Also needed a crewstation display for robotic vehicle statusDeveloped scaled down version of CAT UVStatus robotic control SMI to provide current status of Ownship unmanned vehiclesPermits visualization of sensor imagery, switching between deployed asset views, zoom, daylight or IR viewsRobotics was first completely new integration with PIU as no component could be leveraged

Sub-Plots (Extensions to the VTT Code)Audio SystemTestbed required spatial sound VTT ESS had some high-level audio code but it was not fully implementedMost event data and positional data already available from VTTIST completed VTT audio system for Testbed Added an entity class to track entity location relative to listener, and hierarchy of sound sources (instantaneous, continuous)Created an algorithm to determine which entity sounds to render if number of sounds exceeds audio card capabilityPriority to Ownship sounds, closest live entitiesAdded OpenAL audio and CCTT sound librariesProvided audio system back to TARDEC

Sub-Plots (Extensions to the VTT Code)Testbed desired better visual performance than basic VTT offeredVTT controlled Image Generator (IG) indirectly via DIS

IST reworked World component so that IG could be controlled directly by host processes and moved drawing process to separate host

Provided dramatic improvement in frame rate performance, decreased display latencySingle host frame rate ~ 25fpsMulti-host frame rate ~ 40 fps

Lessons LearnedLicensed products increase difficulty of reuseLicensed widget sets and graphics tools both caused considerable effort to migrate to open source toolsSingle-host architecture is not always betterMoving to multi-host provided much better graphic performanceAlso provided room for future growthPIU is difficult to maintain, not conducive to reuseDependencies among components make changes difficultNew function requires 11 steps to implementEach new PIU message type requires 16 steps

The EndTo answer basic question, No, it is not mission impossible to reuse vehicle simulation softwareEmbedded simulation system built from VTT code is functional and running in crewstations of ET/MR TestbedBut the task was not easyAdapting a large, complex software package to a different task is meticulous, time consuming and labor intensiveHowever, it can also be a very cost effective use of resources when the new purpose is close to the original oneET/MR Testbed functionality is much greater having used VTT than it would have been if developed from scratch with the same resources

The Sequel STC is leveraging CAT developments for ECATT/MR STONew vehicle and weapons models and RSTA components are of interestPlanning experiments for STO products on CAT vehicleTARDEC has expressed interest in ECATT/MR STO research products for CAT ATDIntegration of situational awareness between dismounted infantry and their Infantry Carrier VehicleIntelligent tutoring for robotic control operatorsAdapting Force XXI Battle Command Brigade and Below (FBCB2) to control SAF Bottom Line Sharing research products is good business and is continuing

CREDITSRDECOM PI Henry MarshallTARDEC PI Paul BounkerIST PI Gary GreenLead Engineer Mike DolezalSoftware Engineer Dean ReedHardware Engineer Eugenio DiazGraduate Research Associate Andrew HouchinVTT ESS Self