Cycle time properties of the PROFIBUS timed-token protocol

A recent trend in distributed computer-controlled systems (DCCS) is to interconnect the distributed computing elements by means of multi-point broadcast networks. Since the network medium is shared between a number of network nodes, access contention exists and must be solved by a medium access control (MAC) protocol. Usually, DCCS impose real-time constraints. In essence, by real-time constraints we mean that traffic must be sent and received within a bounded interval, otherwise a timing fault is said to occur. This motivates the use of communication networks with a MAC protocol that guarantees bounded access and response times to message requests. PROFIBUS is a communication network in which the MAC protocol is based on a simplified version of the timed-token protocol. In this paper we address the cycle time properties of the PROFIBUS MAC protocol, since the knowledge of these properties is of paramount importance for guaranteeing the real-time behaviour of a distributed computer-controlled system which is supported by this type of network.

Supporting real-time distributed computer-controlled systems with multi-hop P-NET networks

Fieldbus communication networks aim to interconnect sensors, actuators and controllers within process control applications. Therefore, they constitute the foundation upon which real-time distributed computer-controlled systems can be implemented. P-NET is a fieldbus communication standard, which uses a virtual token-passing medium-access-control mechanism. In this paper pre-run-time schedulability conditions for supporting real-time traffic with P-NET networks are established. Essentially, formulae to evaluate the upper bound of the end-to-end communication delay in P-NET messages are provided. Using this upper bound, a feasibility test is then provided to check the timing requirements for accessing remote process variables. This paper also shows how P-NET network segmentation can significantly reduce the end-to-end communication delays for messages with stringent timing requirements.

Avaliação em tempo real de forças em cabos

Dissertação elaborada para a obtenção do grau de Mestre em Engenharia Civil na Área de Especialização de Estruturas

Reliable real-time communication in CAN networks

Controller area network (CAN) is a fieldbus network suitable for small-scale distributed computer controlled systems (DCCS), being appropriate for sending and receiving short real-time messages at speeds up to 1 Mbit/sec. Several studies are available on how to guarantee the real-time requirements of CAN messages, providing preruntime schedulability conditions to guarantee the real-time communication requirements of DCCS traffic. Usually, it is considered that CAN guarantees atomic multicast properties by means of its extensive error detection/signaling mechanisms. However, there are some error situations where messages can be delivered in duplicate or delivered only by a subset of the receivers, leading to inconsistencies in the supported applications. In order to prevent such inconsistencies, a middleware for reliable communication in CAN is proposed, taking advantage of CAN synchronous properties to minimize the runtime overhead. Such middleware comprises a set of atomic multicast and consolidation protocols, upon which the reliable communication properties are guaranteed. The related timing analysis demonstrates that, in spite of the extra stack of protocols, the real-time properties of CAN are preserved since the predictability of message transfer is guaranteed.

Real-time communications over hybrid wired/wireless PROFIBUS-based networks

PROFIBUS is an international standard (IEC 61158) for factory-floor communications, with some hundreds of thousands of world-wide installations. However, it does not include any wireless capabilities. In this paper we propose a hybrid wired/wireless PROFIBUS solution where most of the design options are made in order to guarantee the proper real-time behaviour of the overall network. We address the timing unpredictability problems placed by the co-existence of heterogeneous transmission media in the same network. Moreover, we propose a novel solution to provide inter-cell mobility to PROFIBUS wireless nodes.

Laxity dynamics and LLF schedulability analysis on multiprocessor platforms

LLF (Least Laxity First) scheduling, which assigns a higher priority to a task with a smaller laxity, has been known as an optimal preemptive scheduling algorithm on a single processor platform. However, little work has been made to illuminate its characteristics upon multiprocessor platforms. In this paper, we identify the dynamics of laxity from the system’s viewpoint and translate the dynamics into LLF multiprocessor schedulability analysis. More specifically, we first characterize laxity properties under LLF scheduling, focusing on laxity dynamics associated with a deadline miss. These laxity dynamics describe a lower bound, which leads to the deadline miss, on the number of tasks of certain laxity values at certain time instants. This lower bound is significant because it represents invariants for highly dynamic system parameters (laxity values). Since the laxity of a task is dependent of the amount of interference of higher-priority tasks, we can then derive a set of conditions to check whether a given task system can go into the laxity dynamics towards a deadline miss. This way, to the author’s best knowledge, we propose the first LLF multiprocessor schedulability test based on its own laxity properties. We also develop an improved schedulability test that exploits slack values. We mathematically prove that the proposed LLF tests dominate the state-of-the-art EDZL tests. We also present simulation results to evaluate schedulability performance of both the original and improved LLF tests in a quantitative manner.

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.

Distributed computing for the factory-floor: a real-time approach using WorldFIP networks

Field communication systems (fieldbuses) are widely used as the communication support for distributed computer-controlled systems (DCCS) within all sort of process control and manufacturing applications. There are several advantages in the use of fieldbuses as a replacement for the traditional point-to-point links between sensors/actuators and computer-based control systems, within which the most relevant is the decentralisation and distribution of the processing power over the field. A widely used fieldbus is the WorldFIP, which is normalised as European standard EN 50170. Using WorldFIP to support DCCS, an important issue is “how to guarantee the timing requirements of the real-time traffic?” WorldFIP has very interesting mechanisms to schedule data transfers, since it explicitly distinguishes periodic and aperiodic traffic. In this paper, we describe how WorldFIP handles these two types of traffic, and more importantly, we provide a comprehensive analysis on how to guarantee the timing requirements of the real-time traffic.

Using WorldFIP networks to support periodic and sporadic real-time traffic

In this paper we address the ability of WorldFIP to cope with the real-time requirements of distributed computer-controlled systems (DCCS). Typical DCCS include process variables that must be transferred between network devices both in a periodic and sporadic (aperiodic) basis. The WorldFIP protocol is designed to support both types of traffic. WorldFIP can easily guarantee the timing requirements for the periodic traffic. However, for the aperiodic traffic more complex analysis must be made in order to guarantee its timing requirements. This paper describes work that is being carried out to extend previous relevant work, in order to include the actual schedule for the periodic traffic in the worst-case response time analysis of sporadic traffic in WorldFIP networks

Replica management in real-time Ada 95 applications

In this paper, we present some of the fault tolerance management mechanisms being implemented in the Multi-μ architecture, namely its support for replica non-determinism. In this architecture, fault tolerance is achieved by node active replication, with software based replica management and fault tolerance transparent algorithms. A software layer implemented between the application and the real-time kernel, the Fault Tolerance Manager (FTManager), is the responsible for the transparent incorporation of the fault tolerance mechanisms The active replication model can be implemented either imposing replica determinism or keeping replica consistency at critical points, by means of interactive agreement mechanisms. One of the Multi-μ architecture goals is to identify such critical points, relieving the underlying system from performing the interactive agreement in every Ada dispatching point.

Real-time fieldbus communications using Profibus networks

This paper provides a comprehensive study on how to use Profibus fieldbus networks to support real-time industrial communications, that is, on how to ensure the transmission of real-time messages within a maximum bound time. Profibus is base on a simplified timed token (TT) protocol, which is a well-proved solution for real-time communication systems. However, Profibus differs with respect to the TT protocol, thus preventing the application of the usual TT protocol real-time analysis. In fact, real-time solutions for networks based on the TT protocol rely on the possibility of allocating specific bandwidth for the real-time traffic. This means that a minimum amount of time is always available, at each token visit, to transmit real-time messages, transversely, with the Profibus protocol, in the worst case, only one real-time message is processed per token visit. The authors propose two approaches to guarantee the real-time behavior of the Profibus protocol: (1) an unconstrained low-priority traffic profile; and (2) a constrained low-priority traffic profile. The proposed analysis shows that the first profile is a suitable approach for more responsive systems (tighter deadlines), while the second allows for increased nonreal-time traffic throughput

Multi-μ: an Ada 95 based architecture for fault tolerance support of real-time systems

This paper presents an architecture (Multi-μ) being implemented to study and develop software based fault tolerant mechanisms for Real-Time Systems, using the Ada language (Ada 95) and Commercial Off-The-Shelf (COTS) components. Several issues regarding fault tolerance are presented and mechanisms to achieve fault tolerance by software active replication in Ada 95 are discussed. The Multi-μ architecture, based on a specifically proposed Fault Tolerance Manager (FTManager), is then described. Finally, some considerations are made about the work being done and essential future developments.

Evaluation of a real time DGPS data server

The goal of the this paper is to show that the DGPS data Internet service we designed and developed provides campus-wide real time access to Differential GPS (DGPS) data and, thus, supports precise outdoor navigation. First we describe the developed distributed system in terms of architecture (a three tier client/server application), services provided (real time DGPS data transportation from remote DGPS sources and campus wide data dissemination) and transmission modes implemented (raw and frame mode over TCP and UDP). Then we present and discuss the results obtained and, finally, we draw some conclusions.

Scheduling real-time communications with P-NET

In this paper we address the P-NET Medium Access Control (MAC) ability to schedule traffic according to its real-time requirements, in order to support real-time distributed applications. We provide a schedulability analysis based on the P-NET standard, and propose mechanisms to overcome priority inversion problems resulting from the use of FIFO outgoing buffers

Guaranteeing real-time message deadlines in PROFIBUS networks

The paper provides a comprehensive study on how to use Profibus networks to support real time communications, that is, ensuring the transmission of the real time messages before their deadlines. Profibus is based on a simplified Timed Token (TT) protocol, which is a well proved solution for real time communication systems. However, Profibus differences from the TT protocol prevent the application of the usual TT analysis. The main reason is that, conversely to the TT protocol, in the worst case, only one high priority message is processed per token visit. The major contribution of the paper is to prove that, despite this shortcoming, it is possible to guarantee communication real time behaviour with the Profibus protocol