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Distribution of control using active storage

control ENGINEERING PRACTICE 2000年第6期8卷 681-687页

作者： Andler, SF Eriksson, J Lundin, M Univ Skovde Dept Comp Sci Distributed Real Time Res Grp SE-54128 Skovde Sweden Volvo Car Corp Dept 98830 SE-40531 Gothenburg Sweden

Real-time control systems are often distributed, with complex data-sharing requirements. A method is proposed for the distribution of functions in such a control system using a distributed real-time database as storage, extended with an active mechanism based on event-condition-action rules that react to changes in the system. This database is fully replicated and nodes communicate using only the database distribution facilities. Critical temporal constraints at individual nodes may be met at the expense of introducing temporary inconsistencies in the database. This paper investigates the effects of using the active mechanism and the replicated storage as a distribution mechanism for certain classes of real-time systems. Particular attention is paid to the requirement of applications to tolerate temporary inconsistencies, assuming that eventual consistency is ensured. (C) 2000 Published by Elsevier Science Ltd. All rights reserved.

关键词： real-time systems distributed databases distributed computer control systems control system design database systems data replication consistency distribution control active database real-time database

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Overcoming Communication Delay in Vehicle Teleoperation

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IFAC Proceedings Volumes 2000年第25期33卷 131-136页

作者： J.M. Gómez-de-Gabriel A. Ollero Dept. Ingenieria de Sistemas y Automatica. E.T.S.I. Industriales University of Malága Plaza de El Ejido s/n 29013 Malaga SPAIN

This paper presents a methodfor avoiding the effects ofcommunication delays in the teleoperated guidance of a mobile robot. The method is based on a mixed telerobotic architecture and the Hteleoperated task" concept. In this architecture the task controller coordinates a set of behaviors such as collision avoidance, sensorial navigation schemes, and automatic camera orientation. The high level telerobotic control system makes use ofthe local sensorial andprocesing capabilities ofthe robot. The paper includes a set ofexperiments and a comparative analysis to test the performance ofthe proposed system. The results show a significant improving ofdirect teleoperation, with higher task success rate and a task completion time similar to the one obtained when delays are not present

关键词： Automotive control Behaviour Command and control systems distributed computer control systems Interactive vehicle control Mobile robots Telecontrol Telerobotics Time delay

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Communications Structure for Sensor Fusion in distributed Real Time systems

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IFAC Proceedings Volumes 2000年第6期33卷 151-156页

作者： J.L. Posadas P. Pérez J.E. Simó G. Benet F. Blanes Departamento de Informática de Sistemas y Computadores (D.I.S.C.A.) Universidad Politécnica de Valencia Spain

This paper describes a communication system called SC (Sistema de Comunicaciones) that is suitable for real-time systems with distributed sensory architecture. This system has been implemented in the YAIR robot, an autonomous robot with intelligent sensors that produces different measurements about the environment and its position within it. To guarantee good response times, the sensory modules are connected using the CAN bus. The robot's main controller executes a control algorithm that can be decomposed into smaller parts using a communications server. Thus, the execution can be shared between different processors connected through an Ethernet network.

关键词： Mobile robots distributed computer control systems Intelligent instrumentation Sensor fusion Fieldbus

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Real Time Scheduling Methods Requirements in distributed control systems

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IFAC Proceedings Volumes 2000年第7期33卷 95-102页

作者： Pau Martí Ricard Villà Josep M. Fuertes Gerhard Fohler Dep. of Automatic Control Universitat Politècnica de Catalunya Pau Gargallo 5 08028 Barcelona SPAIN Ph.: 34-3-4016971 Fax: 34-3-4017045 Dep. of Computer Engineering Mälardalen Högskola PO Box 883 SE-721 23 Västerås SWEDEN

distributed control systems involve three main disciplines: control systems, real time systems, and communication systems. control systems, due their stringent timing constraints, demand real time computing technology. distributed control systems need communication systems when distributing sensors, actuators, the control procedures and data messaging. In general, demands of distributed control systems and properties of real time scheduling algorithms differ, for example, for activation patterns of tasks. The aim of this paper is to provide a set of requirements to overcome current limitations of real time scheduling methods to their increase applicability for distributed control systems

关键词： Real-time systems Real-time tasks Scheduling algorithms distributed computer control systems control applications Timing analysis

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Design and Programming of Peripheral Interfaces for Embedded Real-Time control systems

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IFAC Proceedings Volumes 2000年第7期33卷 29-34页

作者： Matjaž Colnarič Domen Verber University of Maribor Faculty of Electrical Engineering and Computer Science Maribor Slovenia

The present state of practical implementations of embedded control systems does not in all aspects match the guidelines set by academic real-time systems research. With an implementation of peripheral units and interfaces it is exemplified how improvements can be achieved employing standard means and off-the-shelf components. To replace the usual memory mapped passive peripherals, a more appropriate concept is elaborated, which is based on autonomous, intelligent, distributed devices, and allows for better functionality, proper timing behaviour, utilisation of inherent parallelism, and more straightforward implementation of control systems. At the same time, the concept provides higher degrees of safety, fault tolerance and verifiability. The prototype of an embedded control system is outlined, and guidelines for the design of peripheral interfaces are presented together with some implementation details. Finally, object oriented high level programming language support is suggested.

关键词： Real-time systems embedded systems distributed computer control systems (peripheral) interfaces robustness safety-critical fault tolerance object oriented programming

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MATLAB-Based Real-time Framework for distributed control systems

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IFAC Proceedings Volumes 2000年第6期33卷 199-204页

作者： Marga M. Marcos J. Portillo J.M. Bass Escuela Superior de Ingenieros de Bilbao (University of the Basque Country) Alameda Urquijo s/n 48013 Bilbao-SPAIN School of Informatics University of Wales Bangor

Embedded systems are computer-based systems that often must have deterministic temporal behaviour. The application software must ensure overall system performance in terms of hard real-time constraints, reliability and safety requirements. Often application constraints include distribution of input/output. In some other cases, distribution is needed to achieve demanding performance or dependability requirements. This paper presents the design and implementation of the so-called Real Time Framework (RTF) that consists of a general environment for the easy generation of distributed control software. RTF covers from the specification of the distributed system to automatic code generation. The design is based on the integration of well-known commercial software for control systems into a framework that extends its use to distributed systems using a fieldbus as communication system. The internal design includes a model of the system in each design phase and information consistency is assured through an internal database.

关键词： distributed computer control systems real-time systems fieldbus

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On the Use of a Railroad Model for Real-Time systems Teaching and Experimenting

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IFAC Proceedings Volumes 2000年第7期33卷 197-202页

作者： Alejandro Alonso Ramón F. Alfonso José F. Ruíz Marisol García-Valls Depto. Ingenieria de Sistemas Telemáticos Universidad Politécnica de Madrid Ciudad Universitaria s.n. E-28040 Madrid Spain

The availability of a physical system, suitable for being controlled by computers and where time requirements can be naturally defined, provides a very useftil basis for teaching and checking practically research results or new technologies, in the field of realtime systems. With this goal in mind, a railroad model has been developed and used in a Real-Time Laboratory Course. In the context of this laboratory, an application to control the train has been implemented. This work was based on the spiral model, UML for supporting the architectural and detailed design and Ada. The course was taken in conjunction with a Software Engineering Laboratory Course, where aspects such as team management, version control, and architectural design were dealt with in more depth. The results were very positive. The students finished their assignments on time. The use of the mentioned basic techniques help on reducing the development time.

关键词： Real-Time systems distributed computer control systems Software Engineering Ada

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FTT-CAN: A Network-Centric Approach for CAN-Based distributed systems

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IFAC Proceedings Volumes 2000年第25期33卷 233-238页

作者： Luís Almeida José A. Fonseca Departamento de Electrónica e Telecomunicações Universidade de Aveiro P-3810-193 Aveiro Portugal

The requirement for flexible operation is becoming increasingly important in many distributed computer control systems. This paper briefly presents the FTT-CAN protocol (Flexible Time-Triggered communication on controller Area Network) which allows for flexible operation, i.e. dynamic communication requirements, under timeliness guarantees. Then, the paper discusses a particular approach to the global management of such distributed systems named network-centric. This is based on the synchronisation of the distributed tasks in remote nodes with the network traffic. Thus, on-line changes in the rates and/or relative phasing of the network traffic can be automatically applied to the tasks that use it, in all the remote nodes in the distributed system. This approach is fully supported by the FTT-CAN protocol.

关键词： Real-time communication Real-time systems Communication protocols distributed computer control systems Fieldbus

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Improving the Responsiveness of the Synchronous Messaging System in FTT-CAN

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IFAC Proceedings Volumes 2000年第30期33卷 95-100页

作者： Paulo Pedreiras Luís Almeida José A. Fonseca DET-IEETA Universidade de Aveiro P-3810-193 Aveiro Portugal

A flexible distributed real-time communication system must support modifications to the message set which it conveys. These changes can require a degree of responsiveness ranging from a few milliseconds to some seconds. In FTT-CAN protocol, the responsiveness of the synchronous communication system depends on the plan duration, which, in general cannot be set arbitrarily short. This paper presents a method that uses the asynchronous messaging system to temporarily convey the synchronous messages until the synchronous messaging system can handle them. Furthermore, methods to evaluate offline if a set of requests for modifications can be timely handled are presented.

关键词： Real-time communication Real-time systems Communication protocols distributed computer control systems Fieldbus

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Basic Environment for Real Time systems Analysis Using CAN Bus

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IFAC Proceedings Volumes 2000年第7期33卷 163-168页

作者： Marga Marcos Javier Portillo Escuela Superior de Ingenieros de Bilbao (University of the Basque Country) Alameda de Urquijo s/n 48013 Bilbao (Spain)

The design of hard real time systems involves complex issues because requirements of time, performance and security must be met. Many authors have developed methods in order to assure delays are bounded in the system, but there is not so much work that assures bounding delays in distributed real time systems over industrial fieldbuses. This work tries to apply well-known theories and previous work in the field of real-time distributed systems using fieldbuses. In particular, the target fieldbus is CAN, although other fieldbuses are currently being studied. The first step was to get together previous studies. After that, we focused in defining a formal specification of a distributed system that included all the information relevant for the analysis of the temporal behaviour. A tool called BERTA (Basic Environment for Real Time Analysis) has been designed. BERTA processes the temporal model of the system, embodies deduced algorithms for schedulability analysis and performs simulation of the distributed system. BERTA is presented here in its very first version.

关键词： distributed computer control systems Real-Time systems Simulation

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