How to Develop True Distributed Real Time Simulations? Mixing IEEE HLA and OMG DDS standards

How to Develop True Distributed Real Time Simulations?
Mixing IEEE HLA and OMG DDS standards

Jose M. Lopez-Rodriguez, Rodolfo Martin
Nextel Aerospace, Defence and Security S.L. (NADS)
Avda. Manoteras 18 – 4º
Madrid, E-28050 (Spain)
(+34) 91 803 38 02
jmlrodriguez@nexteleng.es
rmartin@nexteleng.es

Patricio Jimenez
Defence Technical Institute "La Marañosa", Spanish MoD
Ctra. San Martín de la Vega Km. 10,500
San Martín de la Vega, Madrid 28330 (Spain)
+34 91 174 20 22
pjimlop@oc.mde.es

Keywords:
Real Time Simulation Middleware, Open Architectures, OMG DDS, ,IEEE HLA, QoS, Interoperability, Network
Centric systems

ABSTRACT: HLA has been a great success to interoperate simulators but its use as the internal architecture of a
real time simulator has been very limited. This paper describes the use in Simulation of other publish-subscribe
international standard for real-time purpose: OMG DDS (Data Distribution Service). The DDS standard is
specifically designed for its application in large critical distributed systems and federation of systems. Some of the
most prestigious administrations around the world have recommended or even mandated its use. As some examples,
US Navy has mandated the use of DDS as a key building block for any architecture that whishes to comply with the
Open Architecture Computing Environment (OACE) directives; DISA has recommended the use of DDS as the
publish/subscribe technology for distributing tactical data for supporting Network-Centric capabilities;
EUROCONTROL has mandated DDS as the technology for distributing flight data plans among European air-traffic
control centers; or QinetiQ, an UK company, has recommended DDS as the information backbone for the electronic
architecture of next generation Vetronic Systems. This paper will introduce basic concepts of DDS then will explain
how these features have been successfully applied to real time virtual and engineering simulators, enabling key trends
like interoperability with Network Centric “clouds”, open architectures or M&S development based in repositories.
The critical issue of interoperability between these DDS based simulation systems and HLA-compliant systems is also
analyzed and we propose a solution to this problem.

1. Introduction real time simulation. The DDS standard is specifically
designed for its application in large critical
In previous papers and conferences ([1], [2]) we distributed systems and federation of systems. Some
pointed the fact that whilst HLA 1516 – 2000 give a of the most prestigious administrations around the
way to do distributed simulations and execute virtual world have recommended or even mandated its use
exercises between simulation systems of different DDS is the middleware for some of the most
countries and manufacturers, it has not achieved a demanding applications now in use, like Combat
greater challenge: to open the internal software Management Systems ([5],[6]), Air Traffic Control
architecture of the simulation systems, in order to Centers ([7], [8]), Communications and interoperability
achieve reusability of simulations models and between tactical Command and Control (C2) systems
simulator subsystems between different simulators. or Unmanned Systems. We do believe that the right
mix of DDS and HLA standards is the best way to
In this paper we propose another publish-subscribe develop simulators with open architectures and
standard, OMG DDS (Data Distribution Services) ([3] fully interoperable with other systems in Network-
[4]), as the ideal companion of the HLA standard in Centric environments.

proposed in the technical literature in last years
2. Why is it needed new technologies for the [11],[12],[13]). Our proposal is based in the next main
simulation systems? features:

Data centric design based on open
From our point of view, the simulation
middlewares (HLA & DDS)
market is evolving, driven by the latest technological
Use of DDS for simulation
trends imposed on CIS (Communications and
Information) systems in mil&aero markets. Concepts DDS as a common messaging technology
and new paradigms like Network Centric Warfare ([9], Model Driven and Rapid Developments
[10]), Services Oriented Architectures, or Cloud Cohabitation of HLA and DDS with other
Computing have driven new trends and requirements in mil standards, like MIP (Stanag 5525).
simulation1, such as:
3. Why HLA and DDS cohabitation in
Simulators as network assets in Net-Centric simulation systems?
federations of Systems.
Reusing of existing simulation assets With HLA 1516-2000 [15], bottlenecks and technical
Reducing costs of training by increasing issues arise whenever interoperability and
operation time of the simulators and reusability are required to combine various
interconnecting geographically distributed simulation systems of different providers:
distributed simulators through conventional Different RTI software are not compatible each
and cost-effective IP WANs other,
Extending the training systems availability A complete simulator can be HLA compliant
beyond the classroom, thanks to Internet and but not its subsystems, therefore you only can
new and fast data encryption technologies reuse them at system level, and
Demand for rapid deployment of training Simulators should interoperate not only with
solutions based on COTS and GOTS. another similar ones but also with C2 and other
More interoperability between simulators live and real Systems in order to be able to
and real systems. rehearse complex missions.
Open Architectures and modular design for
Simulators, looking for more reusability, The recent introduction of HLA 1516-2010 (HLA
scalability and maintainability. Evolved [16]) adds several improvements to the
Improve capabilities for battlespace M&S. standard, addressing some but not all of the former
problems:
According to our research, former trends and user Evolved Dynamic Link Compatibility
requirements will drive new technical requirements for (EDLC) now guarantees that a federate built on
M&S technology: one RTI can be used in runtime with another
RTI.
Plug&play simulation Architectures The new Fault Tolerance and Smart Update
Distributed architectures with QoS (Quality Rate Reduction capabilities are in fact Quality
of Services) of Service (QoS) features, improving
Interoperate with NEC “clouds” performance and facing the fact that simulation
Development based on existing repositories systems are nowadays far more dynamic and
Interoperability between live, virtual and aggregated than years ago. In such environment
constructive simulations different subsystems have different needs or
capabilities to process or generate updates, and
As we will explain in the rest of this paper, the use of also are very more likely that some elements
an open architecture based on DDS and HLA could fail and these failures must be handled as
standards covers all the former requirements (indeed gracefully as possible.
the use of DDS for simulation have been already Web Services (WSDL API) lets the integration
with real WS compliant systems
1
For example the Spanish MoD R&D organization Does HLA Evolved eliminate the need of DDS?
(DGAM) has included some of these items and many Yes, DDS is still needed as it adds a lot of value over
others in its SP MoD 2010 Strategy for Technology HLA Evolved.The main reasons are:
and Innovation (ETID), [14]

HLA Evolved still lacks of a wire protocol
that would provide real interoperability between The OMG DDS standards family is today composed, as
RTI of different providers, opening the in Figure 1, by the DDS v1.2 API [3] and the DDS
architecture of the simulators. Interoperability Wire Protocol (DDS-RTPS v2.1)
[18]. The DDS API standard guarantees source code
QoS in DDS are far more richer and fine portability across different vendor implementations,
grained than HLA’s. while the DDS-RTPS Standard ensures on the wire
interoperability across DDS implementations from
Web Services are not the best way of different vendors. The DDS API standard defines
integrating with real-time critical systems, several different profiles (see Figure 1) that enhance
especially those that follow by nature and realtime pub/sub with content filtering, persistence,
implementation a publish-subscribe paradigm, automatic fail-over, and transparent integration
like DDS. into object-oriented languages.

Also there are performance considerations:

o A middleware for the internal
messaging of a simulator must be
able to work at frequencies of
100Hz or more in any situation.
o If we want to integrate external
components as subsystems of a
simulator or if we want to integrate
the simulator in Net-Centric
federations of systems the
middleware must me able to manage
a large throughput over
heterogeneous networks.
o When we think in rehearsing of
complex mission or the integration of
Simulators in Net-Centric
Figure 1 –OMG DDS Standard
federations, scalability is essential.

About the former parameters: latency, throughput The DDS standard was formally adopted by the OMG
and scalability DDS is more capable than HLA, due to in 2004. Since then, it has become the established
target real time systems in critical environments. While Pub/Sub technology for distributing high volumes
most performing HLA RTIs can provide 50,000, of data, dependably and with predictable low latencies
sometimes more than 100,000 updates of 100 bytes per in applications such as, Radar Processors, Flying and
second between two hosts on a LAN and latencies Land Drones, Combat Management Systems, Air
about 130microseconds (based on publicly available Traffic Control and Management, High Performance
figures from COTS RTI vendors [17]) DDS Telemetry, Large Scale Supervisory Systems, and
implementations can deliver around 750 - 1000K Automated Stocks and Options Trading.
100byte messages per second in similar conditions
and latencies of less than 60microseconds. Along with wide commercial adoption, the DDS
Scalability is also guaranteed: for 2Kbytes messages standard has been recommended and mandated as
throughput is more than 60,000 messages per second the technology for real-time data distribution by
and latency is about less than 130 microseconds. several key administrations worldwide. As some
Latency in DDS is well bound and has little examples, US Navy has mandated the use of DDS as a
dependency on message size, also some key building block for any architecture that whishes to
implementations provide mechanism to keep it bound comply with the Open Architecture Computing
independently from system and network load. Environment (OACE) directives ([19]); DISA has
recommended the use of DDS as the publish/subscribe
technology for distributing tactical data for supporting
Network-Centric capabilities; EUROCONTROL has
4. The DDS standard in a nutshell. mandated DDS as the technology for distributing flight
data plans among European air-traffic control centers;

or QinetiQ, an UK company, has recommended DDS Scalability is increased thanks to the multiple
as the information backbone for the electronic independent data channels identified by “keys”. This
architecture of next generation Vetronic Systems. allows nodes to subscribe to many (maybe thousands)
of similar data streams with a single subscription.
When the data arrives, the middleware can sort it by
the key and deliver it for efficient processing.

DDS has also a state-propagation built-in model, so
when treating data structures with values which only
change occasionally, they will be transmitted only once
for every update, so the network overload will be very
low.

Figure 2 – DDS versus other messaging technologies 2 The standard defines two levels of interfaces. At a
lower level, it defines a Data Centric Publish
This OMG standard is a pub/sub data distribution Subscribe (DCPS) whose goal is to provide an
architecture which allows to connect asynchronously efficient, scalable, predictable, and resource aware data
and anonymously very large sets of distributed nodes distribution mechanism. Then, on top of the DCPS, it
of a communications mesh (domain participants). A defines the Data Local Reconstruction Layer
domain participant may simultaneously publish and (DLRL), an optional interface which automates the
subscribe to typed data-streams identified by some reconstruction of data, locally, from updates received,
names called “topics”. and allows the application to access data as if it was
local.
The importance of DDS relies in its reliable design.
DDS QoS parameters specify the degree of coupling DDS is fundamentally designed to work over
between participants, properties of the overall model unreliable transports such as UDP or wireless
and of the topics themselves. So, DDS defines a networks.
communications relationship between publishers and
subscribers which is: Besides, central servers or special nodes are not
required, so all the communication is direct between
Decoupled in space (nodes can be anywhere)
the nodes, also known as Peer-to-Peer or P2P.
Decoupled in time (delivery of data may be
immediately after publication or later) DDS scheme supports both unicast and multicasting IP
networks, so latency of data between nodes will be
Decoupled in flow (delivery may be reliable insignificant.
and can be done in a fully controlled
bandwidth) One very important point in DDS is that the wire-
protocol is also standardized; the DDS
Interoperable Wire Protocol (DDS-RTPS) [18] is a
fundamental component of the standard. This OMG
specification defines an interoperability protocol for
DDS. Its purpose and scope is to ensure that
applications based on different vendors’
implementations of DDS can interoperate. This is a key
difference versus HLA standard.

5. Mixing HLA and DDS standards in an
open Simulation architecture.
Figure 3- DDS performs the network tasks for the application
Traditionally, a real time simulator, used in training
as a virtual simulator or in use in a testbed as an
engineering simulator, has some kind of evolution of
2
Adapted from NSWC-DD Open Architecture client-server architecture, with proprietary
Documentation messaging between the different simulator
components, as showed in next figure

external federates as simulator assets (i.e. CGF3 or an
IOS 4 in a distributed tactical simulation federation).

Figure 4 – Traditional software architecture for a virtual simulator

In this architecture, HLA compliance use to be
obtained by having a special component or node, called
gateway, that “translates” internal proprietary Figure 5 – An Open Distributed Simulation software architecture
messages into HLA compliant simulation data:
simulation objects and interactions. In this way, With the right cohabitation of HLA and DDS
openness and interoperability as defined by the features in SimWare we have achieved a much
HLA standard are only achieved in the system level, decoupled architecture with the next main
but its subsystems remained proprietary. Reusability advantages:
and interoperability collected in this way are very Make easy the System level Design. A data
limited. Maintainability of simulators designed in centric design is a very powerful way of doing
this way is also complicated and costly, due to the the system engineering of a simulator. The
high degree of coupling between components of the specification and system design is based on the
simulator. development of the Simulator Object Model
(the equivalent to the HLA FOM) and its assets
NADS R&D ([1], [2], [20],[21],[22]) in last years has models (like the SOM).
been focused on migrate this architecture to a new one,
named SimWare®, based on the use of a simulation Rapid design and development based on
middleware (NCWare Sim) as the backbone of the repositories and COTS. The openness of the
simulator. In this new architecture, each software architecture and the data based interfaces make
component (i.e. simulation models, image generator, easy the use of assets already develop in-house
IOS, etc.) is a Simulation Asset and the simulator or the integration of customized COTS with
itself is a federation of these assets. Hence, we are HLA or DDS interfaces. Indeed FEDEP process
applying the concept of HLA Federation to the could be used as a complete framework for the
internal architecture of the simulator. In this simulator development.
architecture, each simulator asset is considered as a Less risky and more cost-effective integration
“federate”. To have real time performance and high and testing. In our experience, using standard
rate messaging in any situation, we use DDS interfaces and data-centric design facilitates the
standard as default for messaging, while the integration of components and their
middleware object model is based on HLA corresponding tests.
metadata. The Middleware is also compliant with the
most common HLA’s RTI, making easy the In summary, in our experience, above advantages
interoperability with other HLA systems and avoiding can save costs and speed up time to market up to
gateways. The mix of HLA and DDS features in this 50%.
middleware is a very powerful and magical recipe:
HLA metadata and architecture applied over a real time
pub-sub data bus, as it is DDS. In this context, usually
DDS is used for high rate and deterministic messaging
between internal assets or to interoperate with external 3
Computer Generated Forces
DDS critical systems and HLA is used to interoperate 4
with external simulators components or to integrate Instructor Operator Station

6. Interoperating with other DDS critical Interoperability with other DDS systems can be also
systems or other HLA simulations. achieved for legacy HLA federates, that are not using
SimWare as their internal software architecture.
6.1. Interoperating with HLA simulations and Imagine that you are the system integrator of a DDS
based system and that you would like to reuse some
federations.
HLA code that have been developed in the simulation
The interoperability with other HLA compliance department of your organization. You could use
systems is very easy because of: NCWare Sim and the Data Modeller tool for doing a
gateway between the HLA code and the DDS system,
as showed in next figure
Middleware API and its object model are
based on HLA API and metadata
(simulation objects and interactions). OMT
templates are also used to design the object
models.
NCWare Sim middleware can use any RTI
for messaging between internal assets or with
any external HLA federation.
A special tool, NCWare Data Modeller, is
provided to map in a visual way the
Simulation Object Model with any other
HLA FOM. In this way you could design Figure 6– Reusing HLA legacy code in DDS systems
without any coding a “virtual gateway” to any
HLA federation.
Versus other design alternatives for this integration, the
In this context, HLA interoperability could be used main advantage of this approach is that no change it
not only for doing the traditional “gateways” with HLA would be required in the source code of any system.
federations, but also for a much more powerful feature:
to integrate as simulator assets external federates or SimWare DDS compliance could be also applied for
even small specialized federations (for example to integrating DDS services as special assets of the
provide synthetic forces, or specialized simulation Simulator. As an example, NADS has been working
models). The integration of HLA federates as simulator with the Spanish Army since 2008 in the adaption of
assets allows you to move the concepts of Cloud DDS for its use as the data interface between C2
computing or Saas (Software as a Service) to the real systems in tactical environments. As a result of these
time simulation. works, DDS have been introduced in the new C4I
reference architecture of the Spanish Army (named
6.2. Interoperating with DDS critical systems. ARET). In the next future every C2 systems in the SP
Army will provide a DDS interface to external systems.
Due to the rise and expansion of the DDS standard as This interface will provide special services like FFT
the base technology for many critical distributed (Friendly Force Tracking) information in DDS format.
systems, the interoperability with other DDS systems This kind of services could be integrated in the
is also a very powerful tool. Open new uses for the simulator for providing other entities information,
real simulators systems, like decision support tools in a LVC (Live-Virtual-Constructive) federation.
for tactical C2, embedded training in avionics or
Vetronic systems or other similar applications. 7. Example of Use of SimWare: M&S Development
Environment.
With SimWare architecture, every object model and
its attributes and interaction and its parameters are In 2010, the Spanish MoD R&D organization (DGAM)
translated to DDS topics with QoS. Standard DDS has selected SimWare framework as the core
wire protocol, DDS-RTPS is used to transport technology for the implementation of a M&S
messages in any network. Due to this design feature, Development Environment. The scope of the project
the interoperability with any other DDS compliant is to provide to the MoD with a simulation
system is very easy. The Data Modeller tool could be infrastructure that allows the design, development,
also use to map visually the DDS data model of the deployment and maintenance of Simulation Assets
external app and the Simulation Object Model. that could be provided to MoD simulator’s integrators
or to integrate directly in HLA or DDS federations.

Subsystem interoperability: using DDS, where
real time performance is critical and rates
beyond 100 HZ are needed and critical for
simulation.

Some conclusions apart from the experiment have been
extracted:

Models can be easily evolved and reused
Figure 7– M&S Development Environment for SP MoD with no overall impact in the development
process. The introduction of new parameters
and constraints can be made an almost real
SimWare features are ideally fitted to the requirements time process.
of this project: High reusability, the models built can be
Design and Development of simulation used to develop future improvements as static
assets with an open architecture, with and dynamic behavior using engineering
independence of simulation runtime language. Models contain all the details
infrastructure. needed to execute it, and transformations can
Easy maintenance and configuration be made to run it in different platforms.
management of Simulation Assets in M&S Deployment of the models in an execution
Repositories. environment is a short operation.
Deployment of Simulation Assets in Models can be executed in a state of the art
different platforms, using HLA and DDS desktop PC at rates higher than 100 Hz with
features as main connectors. no performance penalty.
In a first stage of the project, this environment has been
tested conducting a proof of the concept
experimentation based in a test bed for missile decoy
strategies. Based in the concept of system/subsystem
6. References
[1] Jose M. López-Rodriguez, Ignacio Seisdedos,
specification, different models for IR and Radar
Pedro del Barrio. Using Open software
missiles, chaff and flares, EW equipment, atmosphere
architectures for developing simulation systems : a
and different targets have been built. The objective is
Way to the interoperability of simulations at
to create simulations to be used in ship defense
subsystem level. ADD - SOUTH-KOREA - 12TH
strategies scenarios, in operational research conducted
C4ISR SEMINAR. September 2008
by Spanish navy. The models have been designed with
three mayor constraints: generic design and reusability, [2] Jose M. Lopez-Rodriguez. Building Simulation
clear system/subsystem specification and platform and Training Systems with COTS. Ibersim 2010,
independence. October 2010.
[3] OMG Data Distribution Service Portal.
The missile simulation model has been divided in
http://portals.omg.org/dds/
several components: aerodynamic, atmospheric,
detection, movement, guidance, mass and propulsion. [4] OMG. Data Distribution Service for Real-time
The components were designed to be generic enough to Systems Specification (DDS) v1.2, January 2007.
be reused but they fitted the missile simulation. Models http://www.omg.org/spec/DDS/1.2/
have some assumptions and simplifications because the
unclassified rated. Some of the components are generic [5] TACTICOS Combat Management System:
and parameterized but other used data extracted from Exploiting the Full DDS Potential.
publications representing unclassified data. http://www.omgwiki.org/dds/content/document/tac
ticos-combat-management-system-exploiting-full-
The simulation is being made at two different levels: dds-potential
Model (system) interoperability: using HLA [6] Ronald Townsen. Ship Self Defence System Mk 2
and RPR-FOM, where interoperability and Data Distribution Standard (DDS). September
between missiles, targets, and EW systems 2006.
can be used by existing standard data models
and can be interconnected with third party
simulations.

[7] Dario Di Crescenzo. Swim Suit, the Architecture [22] Carlos Rodriguez, Ignacio Seisdedos. MSOE:
(and FDD). SWIM-SUIT Open Day. Eurocontrol, Basics for development of Mission and Simulation
Brussels. April 2010. Support Software. 06E-SIW-22
[8] Angelo Corsaro. The use of DDS for Air-Traffic
Management: The COFLIGHT project. July 2007. Author Biographies
http://www.omgwiki.org/dds/content/document/us
e-dds-air-traffic-management-coflight-project JOSE M LÓPEZ-RODRIGUEZ has a MSc in
[9] Alberts, Gartska, Stein: “Network Centric Industrial Engineering (specialized in robotics and
Warfare” CCRP, 1999. electronics) by the Polytechnic University of Madrid,
Spain. He is the Business Development and Sales
[10] Dr. Barry Sowerbutts: “Network Enabled Director for the Defence & Aerospace Division of
Capability: Delivering Network Enabled Nextel Engineering Systems. Until 2006 he was
Capability Now”, Roke Manor Research managing the development of the division’s R&D
www.roke.co.uk. projects, mainly related to the development of
[11] Rajive Joshi, Ph.D. Gerardo-Pardo Castellote, simulation middlewares and framework compliant with
Ph.D. A Comparison and Mapping of Data HLA and DDS. He has about 15 years of experience in
Distribution Service and High-Level Architecture. Simulation, C2 and Virtual Reality projects, as
www.rti.com principal engineer, project manager and business
development manager. He has more than 10 papers in
[12] Gerardo Pardo-Castellote, Ph.D. and Brett international congresses, mainly related to Simulation
Murphy: “New Networking Standard from OMG and Virtual Reality issues.
Will Simplify Distributed Simulation
Development”. RODOLFO MARTIN has a MSc in
[13] Akram HAKIRI et al. Architecture de Telecommunications Engineering (specialized in
Communication pour l’interconnexion temps reel telematics) by the Polytechnic University of Madrid,
de simulateurs distribuee (In French) Spain. He is the SimWare & NCWare Product
Manager of Nextel Engineering Systems. He has more
[14] Spanish MoD. ETID 2010. Estrategia de than 10 years of experience developing distributed
Tecnología e Innovación para la Defensa (In systems, with DDS, CORBA, Web Services and HLA.
Spanish).http://www.mde.es/en/areasTematicas/in
vestigacionDesarrollo/planNacional/index.html?__ PATRICIO JIMENEZ is a Technology Consultant,
locale=en expert in simulation systems, assigned to the
[15] IEEE Standard for Modeling and Simulation Simulation Unit at the La Marañosa Institute of
(M&S) High Level Architecture (HLA)--- Technology in the Spanish Ministry of Defence. He has
Framework and Rules, IEEE Std 1516-2000. a Msc. in Computer Engineering, University of
Zaragoza, and has extensive experience in national and
[16] IEEE Standard for Modeling and Simulation international projects related to simulation, simulation
(M&S) High Level Architecture (HLA)-- interoperability and mission planning systems. His
Framework and Rules, IEEE Std 1516-2010 areas of expertise include simulation systems,
[17] Björn Möller et al. HLA Evolved – A Summary of middlewares, software architectures and software
Major Technical Improvements. 08F-SIW-064 development processes and methodologies.

[18] DDS Interoperability Protocol (DDS-RTPS) v2.1.
January 2009. http://www.omg.org/spec/DDS-
RTPS/2.1/
[19] Us Navy Open Architecture. https://acc.dau.mil/oa
[20] Bruno Calvo, Ignacio Seisdedos. SimWare-Kernel.
Real Time Communication System for Simulation.
RTESS 2006. OMG.
[21] Fernando Cartechini, SIMDEVELOPER: An M&S
development tool to boost interoperability and
reusability. 06E-SIW-20

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