AUTONOMOUS CONTROL PLATFORM
Smart farming has introduced a high level of automation and saved millions of tons of pesticides. The missing link for optimizing farming is heading in the direction of autonomous operations in order to optimize resources, increase the level of efficiency and reduce costs. The aim is to transfer technologies from the automotive domain and adapt them to the agriculture sector as much as possible, adding additional features, such as the introduction of new type of sensors, platforms and/or communication networks. The developed V&V tools and demonstrators will improve the testing workflow for autonomous farming systems.
CO-SIMULATION OF AUTONOMOUS FARMING SYSTEMS FOR IMPROVED VERIFICATION AND VALIDATION: This demonstrator provides system developers improved testing scenarios for autonomous farming systems. The systems under test are composed of a combine harvester and a drone demonstrating an autonomous harvesting scenario. The drone has a sensor for creating synthetic hyperspectral camera images and the combine harvester has a sensor for radar simulation. Test scripts allow repeatable and variable test cases and data collection for automated verification and validation. The demonstrator, combined with dynamic features and testing tools, will be a valuable addition for improved verification and validation of the future of autonomous farming, reducing efforts, time and costs.
MODELLING TOOL FOR FLEXIBLE SIMULATION AND TESTING OF FARMING ENVIRONMENTS: The art2kitekt (a2k) demonstrator shows a new web-based toolchain that allows the engineer to perform model-based analysis and simulations. Taking advantage of the flexibility of a2k, a specific scenario of an autonomous farming platform has been modelled acting as a System under Test (SUT). In the demonstrator, both the environment with its static elements and the main agents, the harvester and the drone, have been modelled. The main agents can be decomposed into vehicle dynamics, control, guidance and planner systems. All these components are configurable and interchangeable, and can be individually tested using the provided checkers. It is also possible to execute the simulation in “live” or “fast” mode to reduce the verification time. Inspired by the standard FMI, a2k allows the flexible simulation of different components, its interconnections, checking the outputs and visualizing the results via viewers, tables, etc. Additionally, the a2k framework, through its Quality Management component, allows the engineer to easily generate test plans and test cases.
They can be executed in “live” or “fast” mode and then show the results. This is the first web-based tool chain that allows the simulation and testing of farming environments.
RUNTIME VERIFICATION AND AUTOMATED TESTING OF IN-VEHICLE COMMUNICATION: The farming machines in the Automated Farming Use Case are envisioned to use Deterministic Ethernet (IEEE 802.1 TSN or TTEthernet) for in-vehicle communication, to be able to integrate high-bandwidth data from the sensors, other vehicles (including drones) and infrastructure. The demonstrator will showcase:
- the TTEthernet Automatic Test Framework from TTTech which runs applications and generates, monitors and analyzes TTEther-net traffic over the network,
- the TTCONTROLonf tool from TECHNICAL UNIVERSITY OF DENMARK which provides a timing analysis to test the timing properties of the applications and
- the RMTLD3Synth online tool that is responsible for generating correct-by-construction runtime monitor code for observing real-time traces and reason about the correctness of duration properties of events within those traces.
Automatic testing of Deterministic Ethernet communication, (2) Network Calculus-based timing analysis that can support both TSN and TTEthernet and (3) generation of runtime monitors from formal specifications, in a correct-by-construction manner and that are able to identify real-time properties that consider the duration of events.