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Approaches to Designing Complex Dependable systems

IFAC Proceedings Volumes 1998年第32期31卷 69-76页

作者： Andrea Clematis Vittoria Gianuzzi Alexander Romanovsky Andy M. Tyrrell Walter Cazzola IMA - CNR Via De Marini 6 - 16149 Genova Italy DISI Università Via Dodecaneso 35 - 16146 Genova Italy Dept. of Computing Science - University Newcastle upon Tyne NE1 7RU UK Dept. of Electronics - University Heslington York Y01 5DD UK DSI Università di Milano Via Comelico 39/41 20135 Milano Italy

The problem of designing complex dependable systems is addressed in this paper. Due to some peculiarities of their application and behavior these are often referred to as reactive systems. Two main paradigms for their design have recently been proposed; we name these paradigms living processes and hidden concurrency, depending on their approach to concurrency handling. The analysis of application requirements and constraints is proposed as a methodology for selecting the most suitable implementation paradigm for a given application. Finally, it is shown that in some cases an intermediate paradigm may provide a suitable solution.

关键词： Fault-tolerant software distributed computer control systems Programming approaches

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Advanced control of an Industrial Closed-Loop Grinding Circuit

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IFAC Proceedings Volumes 1998年第23期31卷 7-11页

作者： Richard Lestage André Pomerleau Gaétan J. Lavoie Groupe de Recherche sur l’Application de l’Informatique à l’Industrie Minérale Département de génie électrique et de génie informatique Université Laval Sainte-Foy Québec Canada G1K 7P4 Pellet Plant Quebec-Cartier Mining Company Port-Cartier Québec Canada G5B 2H3

This paper gives an industrial application of advanced control strategies using basic functions available in distributed control systems (DCS). The process under study is an industrial full-scale closed-loop grinding circuit where pulp solid mass fraction is to be controlled at the mill and at the cyclones. An algebraic implementation of a Kalman filter is used to evaluate the unmeasured pulp solid mass fraction at the mill discharge using mass balance relations. A static decoupler is used to eliminate the interaction between the two controlled variables. Open-loop adaptation is used to take into account the non-linearity of the process in conjunction with an internal model controller.

关键词： Observers Kalman filters control loops distributed computer control systems

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Effect of Timing Jitter on distributed computer control System Performance

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IFAC Proceedings Volumes 1998年第32期31卷 25-29页

作者： A. Stothert I.M. MacLeod Department of Electrical Engineering University of the Witwatersrand WITS 2050 South Africa fox: +27 11 403 1929

Feedback control loops implemented via a distributed computer control system are susceptible to timingjitter during both sampling and signal reconstruction. The effect of jitter can be quantified in the frequency domain as a filter which shapes the loop response. A control loop is examined under both read-in and read-out jitter for two types of jitter distribution. Simulation results confirm the effect of jitter as predicted by the jitter filter. For the control loop discussed, both read-in and read-out jitter degrade performance (phase margin is reduced), while read-out jitter improves the controller stability (gain margin is increased).

关键词： distributed computer control systems read-in jitter read-out jitter closed-loop performance

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A Framework for Integrating the Software Components of a Robotic Vehicle *

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IFAC Proceedings Volumes 1998年第2期31卷 419-423页

作者： Juan-Antonio Fernandez Javier Gonzalez Departamento de Ingenieria de Sistemas y Automatica (ISA) E.T.S.I. Informatica Universidad de Malaga Campus Teatinos - 29080 Malaga (Spain) http://www.isa.uma.es

In this paper we present NEXUS, an extension of an operating system designed for integrating the software elements of a mobile robot. It facilitates the integration of programs developed by different people, reducing the cost and complexity of the whole application. It is based on a subscription/production design, and on modular and object-oriented programming techniques. This makes the software implemented on it less sensitive to changes than typical monolithic architectures. NEXUS provides the facilities required in most robot vehicles software architectures, such as inter-process communications, error recovery system, graphical user interfaces, etc. Other important features are its distributed nature , its hierarchical error recovery system, and the real-time capabilities that it inherits from the underlying operating system. NEXUS has been developed for mobile robots, but its design has been made generic enough for programming other robotic system, such as manipulators, teleoperation systems, etc Firstly, we comment some reasons that justify the development of this type of framework, then we describe the internal structure and the most important features of NEXUS, and finally we outline some implementation issues and how a set of modules designed for our mobile robot RAM-2 have been integrated using NEXUS

关键词： Robotics Architectures distributed computer control systems Interconnected systems Robustness

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Hardware support for distributed real-time operating systems

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control ENGINEERING PRACTICE 1997年第10期5卷 1435-1442页

作者： Pontremoli, MMB Pereira, CE Department of Electrical Engineering Federal University of Rio Grande do sul UFRGS Porto Alegre RS Brazil

This paper presents a hardware architecture for supporting distributed real-time operating systems. It proposes the use of dedicated hardware units for running task scheduling and communication, in order to alleviate the load on the processor responsible for running the application tasks. These hardware units also compute the execution time of application tasks, and other statistics that can be taken into account by more sophisticated scheduling algorithms. The proposal enhances the overall system predictability. Since it is based on low-cost microcontrollers, it represents a cost-effective alternative for developing low-cost distributed real-time systems. Copyright (C) 1997 Elsevier Science Ltd.

关键词： hardware architectures multiprocessors real-time systems distributed computer control systems low-cost automation

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Hardware support for distributed real-time operating systems

Hardware support for distributed real-time operating systems

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4th IFAC Workshop on Algorithms and Architectures for Real-Time control (AARTC 97)

作者： Pontremoli, MMB Pereira, CE Univ Fed Rio Grande Sul Dept Elect Engn Porto Alegre RS Brazil

ISBN: (纸本)0080429300

This paper presents a hardware architecture for supporting distributed realtime operating systems. It proposes the use of dedicated hardware units for running task scheduling and communication, in order to alleviate the load of the processor responsible for running the application tasks. These hardware units also compute the execution time of application tasks and other statistics that can be taken into account by more elaborated scheduling algorithms. The proposal enhances the overall system predictability. Since the proposal is based on low-cost microcontrollers, it represents a cost-effective proposal for developing low-cost distributed real-rime systems.

关键词： hardware architectures multiprocessors real-time systems distributed computer control systems low-cost automation

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Evaluation of Network Protocol for Automotive Data Communication

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IFAC Proceedings Volumes 1997年第15期30卷 73-78页

作者： Jung-A Yun Sang-Woon Nam Suk Lee Graduate School Pusan National University School of Mechanical Engineering Pusan National University

The growing number of electronic components used in automobiles has given rise to problems concerning the increasing number, size and weight of the wiring harnesses. As one approach to resolve these problems, multiplexed wiring systems using automotive communication protocol such as controller Area Network(CAN), Advanced PALMNET and J1850 have been developed by many automobile companies. In order to compare these protocols quantitatively, this paper presents the performance evaluation of CAN and Advanced PALMNET via discrete event simulation. Through numerous simulation experiments, several important quantitative performance factors such as the probability of a transmission failure, average system delay(data latency), and throughput have been evaluated.

关键词： automotive control communication protocol discrete-event systems distributed computer control systems network performance evaluation simulation language time delay

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A Fault-Tolerant Architecture for Large-Scale distributed control systems

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IFAC Proceedings Volumes 1997年第15期30卷 39-44页

作者： Holger Hilmer Hans-Dieter Kochs Ewald Dittmar Department of Computer Science University of Duisburg/Germany ABB Netzleittechnik GmbH Network Control and Protection Ladenburg/Germany

This article introduces a DCCS architecture and protocol mechanisms designed for application areas for which the major attributes are high reliability and hard real-time operation. The application domains addressed are characterized by a large number of network nodes and a considerable amount of sporadically occurring data. Design rules are derived from the fundamentals of distributed real-time computing and the requirements of the target application domains leading to an advantageous system concept. This concept provides an active error detection and notification mechanism, as opposed to the fail-silent paradigm. The system architecture makes use of existing standards and components where possible.

关键词： Real-Time Communication Fault-Tolerant systems distributed computer control systems Communication Protocols Reliability Recovery Times

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distributed Platforms for Shop Floor Communications: A Comparative Analysis

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IFAC Proceedings Volumes 1997年第19期30卷 457-463页

作者： José P.O. Santos J.J. Pinto Ferreira José M. Mendonça University of Aveiro / Dept. of Mechanics / 3800 Aveiro Portugal Tel.: +351 34 370892 Fax: +351 34 370953 FEUP-DEEC/INESC/Rua José Falcão 110 4000 Porto Portugal Tel.: +351 2 2094300 Fax: +351 2 2008487 FEUP-DEEC/Rua de Sagres 11 4150 Porto Portugal Tel.:+351 26103360 Fax: +351 2 6103361

This paper presents an overview of the evolution of factory communications and related standards, ranging from industrial network standards 1 such as MAP 2 , up to distributed platfonns like OSF/DCE 3 and OMG/CORBA 4 This overview has a particular emphasis on the advantages and constraints of distributed platforms as a means to support shop floor communications. The underlying work stems from and complements that of a previous paper (Santos et al.,1997) presenting a specific view on distributed platforms towards CIMOSA integrating infrastructure implementation.

关键词： Factory Automation Communication networks Integration distributed computer control systems

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Trends in Integrated Ship control Networking

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IFAC Proceedings Volumes 1997年第15期30卷 119-124页

作者： Niels Jørgensen Jens F. Dalsgaard Nielsen Aalborg University Department of Control Engineering Fredrik Bajersvej 7C 9220 Aalborg E Denmark http://www.control.auc.dk

Integrated Ship control systems can be designed as robust, distributed, autonomous control systems. The EU funded ATOMOS and ATOMOS II projects involves both technical and non technical aspects of this process. A reference modeling concept giving an outline of a generic ISC system covering the network and the equipment connected to it, a framework for verification of network functionality and performance by simulation and a general distribution platform for ISC systems, The ATOMOS Network, are results of this work.

关键词： distributed computer control systems Network Reliability Real-time Communication

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