From simulation to statistical analysis: timeliness assessment of ethernet/IP-based distributed systems

A number of characteristics are boosting the eagerness of extending Ethernet to also cover factory-floor distributed real-time applications. Full-duplex links, non-blocking and priority-based switching, bandwidth availability, just to mention a few, are characteristics upon which that eagerness is building up. But, will Ethernet technologies really manage to replace traditional Fieldbus networks? Ethernet technology, by itself, does not include features above the lower layers of the OSI communication model. In the past few years, it is particularly significant the considerable amount of work that has been devoted to the timing analysis of Ethernet-based technologies. It happens, however, that the majority of those works are restricted to the analysis of sub-sets of the overall computing and communication system, thus without addressing timeliness at a holistic level. To this end, we are addressing a few inter-linked research topics with the purpose of setting a framework for the development of tools suitable to extract temporal properties of Commercial-Off-The-Shelf (COTS) Ethernet-based factory-floor distributed systems. This framework is being applied to a specific COTS technology, Ethernet/IP. In this paper, we reason about the modelling and simulation of Ethernet/IP-based systems, and on the use of statistical analysis techniques to provide usable results. Discrete event simulation models of a distributed system can be a powerful tool for the timeliness evaluation of the overall system, but particular care must be taken with the results provided by traditional statistical analysis techniques.

Timeliness in COTS factory-floor distributed systems: What role for simulation?

In the past few years, a significant amount of work has been devoted to the timing analysis of Ethernet-based technologies. However, none of these address the problem of timeliness evaluation at a holistic level. This paper describes a research framework embracing this objective. It is advocated that, simulation models can be a powerful tool, not only for timeliness evaluation, but also to enable the introduction of less pessimistic assumptions in an analytical response time approach, which, most often, are afflicted with simplifications leading to pessimistic assumptions and, therefore, delusive results. To this end, we address a few inter-linked research topics with the purpose of setting a framework for developing tools suitable to extract temporal properties of commercial-off-the-shelf (COTS) factory-floor communication systems.

Convex optimization framework for intermediate deadline assignment in soft and hard real-time distributed systems

It is generally challenging to determine end-to-end delays of applications for maximizing the aggregate system utility subject to timing constraints. Many practical approaches suggest the use of intermediate deadline of tasks in order to control and upper-bound their end-to-end delays. This paper proposes a unified framework for different time-sensitive, global optimization problems, and solves them in a distributed manner using Lagrangian duality. The framework uses global viewpoints to assign intermediate deadlines, taking resource contention among tasks into consideration. For soft real-time tasks, the proposed framework effectively addresses the deadline assignment problem while maximizing the aggregate quality of service. For hard real-time tasks, we show that existing heuristic solutions to the deadline assignment problem can be incorporated into the proposed framework, enriching their mathematical interpretation.

Replication in distributed systems using IEC 61499 standard

The international Electrotechnical Commission (IEC) 61499 architecture incorporated several function block with which distributed control application may be developed, and how these are interpreted and executed. However, due the distributed nature of the control applications, many issues also need to be taken into account. Most of these are due to the new error model and failure modes of the distributed hardware on which the distributed application is executed and also due the incomplete standards definition of the execution models. IEC 61499 frameworks does not clarify how to handle with replication of software and hardware components. In this paper we propose a replication model for IEC 61499 applications and which mechanisms and protocols may be used for their support.

Middleware for Large-scale Distributed Systems

Nos últimos anos o aumento exponencial da utilização de dispositivos móveis e serviços disponibilizados na “Cloud” levou a que a forma como os sistemas são desenhados e implementados mudasse, numa perspectiva de tentar alcançar requisitos que até então não eram essenciais. Analisando esta evolução, com o enorme aumento dos dispositivos móveis, como os “smartphones” e “tablets” fez com que o desenho e implementação de sistemas distribuidos fossem ainda mais importantes nesta área, na tentativa de promover sistemas e aplicações que fossem mais flexíveis, robutos, escaláveis e acima de tudo interoperáveis. A menor capacidade de processamento ou armazenamento destes dispositivos tornou essencial o aparecimento e crescimento de tecnologias que prometem solucionar muitos dos problemas identificados. O aparecimento do conceito de Middleware visa solucionar estas lacunas nos sistemas distribuidos mais evoluídos, promovendo uma solução a nível de organização e desenho da arquitetura dos sistemas, ao memo tempo que fornece comunicações extremamente rápidas, seguras e de confiança. Uma arquitetura baseada em Middleware visa dotar os sistemas de um canal de comunicação que fornece uma forte interoperabilidade, escalabilidade, e segurança na troca de mensagens, entre outras vantagens. Nesta tese vários tipos e exemplos de sistemas distribuídos e são descritos e analisados, assim como uma descrição em detalhe de três protocolos (XMPP, AMQP e DDS) de comunicação, sendo dois deles (XMPP e AMQP) utilzados em projecto reais que serão descritos ao longo desta tese. O principal objetivo da escrita desta tese é demonstrar o estudo e o levantamento do estado da arte relativamente ao conceito de Middleware aplicado a sistemas distribuídos de larga escala, provando que a utilização de um Middleware pode facilitar e agilizar o desenho e desenvolvimento de um sistema distribuído e traz enormes vantagens num futuro próximo.

INDEPTH: timeliness assessment of ethernet/IP-based systems

The continuous improvement of Ethernet technologies is boosting the eagerness of extending their use to cover factory-floor distributed real time applications. Indeed, it is remarkable the considerable amount of research work that has been devoted to the timing analysis of Ethernet-based technologies in the past few years. It happens, however, that the majority of those works are restricted to the analysis of sub-sets of the overall computing and communication system, thus without addressing timeliness in a holistic fashion. To this end, we address an approach, based on simulation, aiming at extracting temporal properties of commercial-off-the-shelf (COTS) Ethernet-based factory-floor distributed systems. This framework is applied to a specific COTS technology, Ethernet/IP. We reason about the modeling and simulation of Ethernet/IP-based systems, and on the use of statistical analysis techniques to provide useful results on timeliness. The approach is part of a wider framework related to the research project INDEPTH NDustrial-Ethernet ProTocols under Holistic analysis.

Towards a flexible and dynamic replication control for distributed real-time embedded systems with QoS interdependencies

Replication is a proven concept for increasing the availability of distributed systems. However, actively replicating every software component in distributed embedded systems may not be a feasible approach. Not only the available resources are often limited, but also the imposed overhead could significantly degrade the system's performance. The paper proposes heuristics to dynamically determine which components to replicate based on their significance to the system as a whole, its consequent number of passive replicas, and where to place those replicas in the network. The results show that the proposed heuristics achieve a reasonably higher system's availability than static offline decisions when lower replication ratios are imposed due to resource or cost limitations. The paper introduces a novel approach to coordinate the activation of passive replicas in interdependent distributed environments. The proposed distributed coordination model reduces the complexity of the needed interactions among nodes and is faster to converge to a globally acceptable solution than a traditional centralised approach.

Flexible and dynamic replication control for interdependent distributed real-time embedded systems

Replication is a proven concept for increasing the availability of distributed systems. However, actively replicating every software component in distributed embedded systems may not be a feasible approach. Not only the available resources are often limited, but also the imposed overhead could significantly degrade the system’s performance. This paper proposes heuristics to dynamically determine which components to replicate based on their significance to the system as a whole, its consequent number of passive replicas, and where to place those replicas in the network. The activation of passive replicas is coordinated through a fast convergence protocol that reduces the complexity of the needed interactions among nodes until a new collective global service solution is determined.

Task partitioning and priority assignment for distributed hard real-time systems

In this paper, we propose the Distributed using Optimal Priority Assignment (DOPA) heuristic that finds a feasible partitioning and priority assignment for distributed applications based on the linear transactional model. DOPA partitions the tasks and messages in the distributed system, and makes use of the Optimal Priority Assignment (OPA) algorithm known as Audsley’s algorithm, to find the priorities for that partition. The experimental results show how the use of the OPA algorithm increases in average the number of schedulable tasks and messages in a distributed system when compared to the use of Deadline Monotonic (DM) usually favoured in other works. Afterwards, we extend these results to the assignment of Parallel/Distributed applications and present a second heuristic named Parallel-DOPA (P-DOPA). In that case, we show how the partitioning process can be simplified by using the Distributed Stretch Transformation (DST), a parallel transaction transformation algorithm introduced in [1].

Monitorização integrada para sistemas de alimentação distribuídos

Mestrado em Engenharia Electrotécnica e de Computadores

Code offloading on real-time multimedia systems: a framework for handling code mobility and code offloading in a QoS aware environment

Actualmente, os smartphones e outros dispositivos móveis têm vindo a ser dotados com cada vez maior poder computacional, sendo capazes de executar um vasto conjunto de aplicações desde simples programas de para tirar notas até sofisticados programas de navegação. Porém, mesmo com a evolução do seu hardware, os actuais dispositivos móveis ainda não possuem as mesmas capacidades que os computadores de mesa ou portáteis. Uma possível solução para este problema é distribuir a aplicação, executando partes dela no dispositivo local e o resto em outros dispositivos ligados à rede. Adicionalmente, alguns tipos de aplicações como aplicações multimédia, jogos electrónicos ou aplicações de ambiente imersivos possuem requisitos em termos de Qualidade de Serviço, particularmente de tempo real. Ao longo desta tese é proposto um sistema de execução de código remota para sistemas distribuídos com restrições de tempo-real. A arquitectura proposta adapta-se a sistemas que necessitem de executar periodicamente e em paralelo mesmo conjunto de funções com garantias de tempo real, mesmo desconhecendo os tempos de execução das referidas funções. A plataforma proposta foi desenvolvida para sistemas móveis capazes de executar o Sistema Operativo Android.

CIDER - envisaging a COTS communication infrastructure for evolutionary dependable real-time systems

It is foreseen that future dependable real-time systems will also have to meet flexibility, adaptability and reconfigurability requirements. Considering the distributed nature of these computing systems, a communication infrastructure that permits to fulfil all those requirements is thus of major importance. Although Ethernet has been used primarily as an information network, there is a strong belief that some very recent technological advances will enable its use in dependable applications with real-time requirements. Indeed, several recently standardised mechanisms associated with Switched-Ethernet seem to be promising to enable communication infrastructures to support hard real-time, reliability and flexible distributed applications. This paper describes the motivation and the work being developed within the CIDER (Communication Infrastructure for Dependable Evolvable Real-Time Systems) project, which envisages the use of COTS Ethernet as an enabling technology for future dependable real-time systems. It is foreseen that the CIDER approach will constitute a relevant stream of research since it will bring together cutting edge research in the field of real-time and dependable distributed systems and the industrial eagerness to expand Ethernet responsabilities to support dependable real-time applications.

A framework for offloading real-time applications in a distributed environment

This work focuses on highly dynamic distributed systems with Quality of Service (QoS) constraints (most importantly real-time constraints). To that purpose, real-time applications may benefit from code offloading techniques, so that parts of the application can be offloaded and executed, as services, by neighbour nodes, which are willing to cooperate in such computations. These applications explicitly state their QoS requirements, which are translated into resource requirements, in order to evaluate the feasibility of accepting other applications in the system.

Scalable and efficient data processing in networked control systems

Network control systems (NCSs) are spatially distributed systems in which the communication between sensors, actuators and controllers occurs through a shared band-limited digital communication network. However, the use of a shared communication network, in contrast to using several dedicated independent connections, introduces new challenges which are even more acute in large scale and dense networked control systems. In this paper we investigate a recently introduced technique of gathering information from a dense sensor network to be used in networked control applications. Obtaining efficiently an approximate interpolation of the sensed data is exploited as offering a good tradeoff between accuracy in the measurement of the input signals and the delay to the actuation. These are important aspects to take into account for the quality of control. We introduce a variation to the state-of-the-art algorithms which we prove to perform relatively better because it takes into account the changes over time of the input signal within the process of obtaining an approximate interpolation.

Time-bounded distributed QoS-aware service configuration in heterogeneous cooperative environments

The scarcity and diversity of resources among the devices of heterogeneous computing environments may affect their ability to perform services with specific Quality of Service constraints, particularly in dynamic distributed environments where the characteristics of the computational load cannot always be predicted in advance. Our work addresses this problem by allowing resource constrained devices to cooperate with more powerful neighbour nodes, opportunistically taking advantage of global distributed resources and processing power. Rather than assuming that the dynamic configuration of this cooperative service executes until it computes its optimal output, the paper proposes an anytime approach that has the ability to tradeoff deliberation time for the quality of the solution. Extensive simulations demonstrate that the proposed anytime algorithms are able to quickly find a good initial solution and effectively optimise the rate at which the quality of the current solution improves at each iteration, with an overhead that can be considered negligible.