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JAUS Messaging over the OMG Data Distribution Service (DDS)

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • ARP6227
  • Current
Published 2018-08-23 by SAE International in United States
This document defines a standard representation of JAUS AS5684A message data in DDS IDL defined by the Object Management Group (OMG) CORBA 3.2 specification. This document does NOT address how JAUS transport considerations or JAUS service protocols are implemented on OMG DDS platforms.
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Architecture Framework for Unmanned Systems

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AIR5665B
  • Current
Published 2018-08-23 by SAE International in United States
This SAE Aerospace Information Report (AIR) describes the Architecture Framework for Unmanned Systems (AFUS). AFUS comprises a Conceptual View, a Capabilities View, and an Interoperability View. The Conceptual View provides definitions and background for key terms and concepts used in the unmanned systems domain. The Capabilities View uses terms and concepts from the Conceptual View to describe capabilities of unmanned systems and of other entities in the unmanned systems domain. The Interoperability View provides guidance on how to design and develop systems in a way that supports interoperability.
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JAUS Mission Spooling Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6062A
  • Current
Published 2018-08-16 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Mission Spooling Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Mission Spooling Services represent the physical platform-independent capabilities commonly found across all domains and types of unmanned systems. At present, one service is defined in this document (more services are planned for future versions of this document): Mission Spooler: Stores, manages, and executes lists of tasks The Mission Spooler service is described by a JAUS Service Definition (JSD) which specifies the message set and message protocol required for compliance. The JSD is fully compliant with the JAUS Service Interface Definition Language (JSIDL).
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JAUS Mobility Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6009A
  • Current
Published 2017-11-09 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Mobility Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Mobility Services represent the vehicle platform-independent capabilities commonly found across all domains and types of unmanned systems (referred to as UxVs). At present, over 15 services are defined in this document many of which were updated in this revision to support Unmanned Underwater Vehicles (UUVs). Some examples include: Pose Sensors: Determine the instantaneous position and orientation of a platform in global or local coordinates Velocity State Sensor: Determines the instantaneous velocity of a platform Acceleration State Sensor: Determines the instantaneous acceleration of a platform Primitive Driver: Performs basic mobility for a platform based on force/torque efforts Vector Drivers: Perform closed loop mobility for straight line travel Velocity State Driver: Similar to vector drivers, but with additional degrees of freedom Waypoint Drivers: Perform closed loop mobility to a location specified Waypoint List Drivers: Performs closed loop mobility using…
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JAUS Service Interface Definition Language

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS5684B
  • Current
Published 2015-08-21 by SAE International in United States
The SAE Aerospace Information Report AIR5315 – Generic Open Architecture (GOA) defines “a framework to identify interface classes for applying open systems to the design of a specific hardware/software system.” [sae] JAUS Service (Interface) Definition Language defines an XML schema for the interface definition of services at the Class 4L, or Application Layer, and Class 3L, or System Services Layer, of the Generic Open Architecture stack (see Figure 1). The specification of JAUS services shall be defined according to the JAUS Service (Interface) Definition Language document.
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JAUS Environment Sensing Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6060
  • Current
Published 2015-04-24 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Environment Sensing Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Environment Sensing Services represent typical environment sensing capabilities commonly found across all domains and types of unmanned systems in a platform-independent manner. At present, five services are defined in this document: Range Sensor: Determine the proximity of objects in the platform’s environment Visual Sensor: Provides common configuration and setup for different types of imaging systems Digital Video: A type of Visual Sensor that manages digital video Analog Video: A type of Visual Sensor that manages analog video Still Image: A type of Visual Sensor that manages and encodes individual digital images Each service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Language [AS5684].
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JAUS Mission Spooling Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6062
  • Historical
Published 2015-04-24 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Mission Spooling Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Mission Spooling Services represent the platform-independent capabilities commonly found across all domains and types of unmanned systems. At present, 1 service is defined in this document (more services are planned for future versions of this document): Mission Spooler: Stores mission plans, coordinates mission plans, and parcels out elements of the mission plan for execution The Mission Spooler service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. The JSD is fully compliant with the JAUS Service Interface Definition Language [JSIDL].
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JAUS Core Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS5710A
  • Current
Published 2015-04-24 by SAE International in United States
This document defines a set of standard application layer1 interfaces called JAUS Core Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Core Services represent the infrastructure commonly found across all domains and types of unmanned systems. At present, eight services are defined in this document: Transport Service: Abstracts the functionality of the underlying communication transport layer Events Service: Establishes a publish/subscribe mechanism for automatic messaging Access Control: Manages preemptable exclusive control for safety critical operations Management: Defines component life-cycle management Time: Allows clients to query and set the system time for the component Liveness: Provides a means to maintain connection liveness between communicating components Discovery: Governs automatic discovery of remote entities and their capabilities List Manager: Encompasses behavior common to doubly linked lists Each service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Language [JSIDL].
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JAUS HMI Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6040
  • Current
Published 2015-04-24 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS HMI Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The HMI Services represent the platform-independent Human Machine Interface (HMI) capabilities commonly found across all domains and types of unmanned systems. Five services are defined in this document: Drawing Pointing Device Keyboard Digital Control Analog Control Each service is described by a JAUS Service Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Language (JSIDL) [AS5684].
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JAUS Compliance and Interoperability Policy

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • ARP6012A
  • Current
Published 2014-09-05 by SAE International in United States
This document, the JAUS Compliance and Interoperability Policy (ARP6012), recommends an approach to documenting the complete interface of an unmanned system or component in regard to the application of the standard set. While non-SAE AS-4 JAUS documents are referenced in this ARP they are not within the scope of this document and should be viewed as examples only.
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