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real-time decentralized control with CAN

Real-time decentralized control with CAN

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： K.M. Zuberi K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

This paper deals with two important concerns in decentralized control: (1) communication over field bus and (2) the transition from a single powerful, centralized controller to many smaller, distributed controllers. The former requires real-time network scheduling for the field bus to ensure that messages get delivered in a timely manner, while the latter requires a low-overhead real-time operating system to cater to the specific needs of distributed control. We present solutions to both of these problems in the form of a network scheduling scheme for the controller area network (CAN) field bus and the EMERALDS real-time operating system which we have designed with the needs of the decentralized control application designer in mind.

关键词： Distributed control Control systems Centralized control Communication system control Costs Robot kinematics Distributed computing Power engineering computing Laboratories Job shop scheduling

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Combined routing and scheduling of concurrent communication traffic in hypercube multicomputers

Combined routing and scheduling of concurrent communication ...

引用

International Conference on Distributed computing Systems

作者： Bing-Rung Tsai K.G. Shin Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

We propose and evaluate low-complexity, low-overhead schemes for distributed message scheduling and routing in binary hypercube multicomputers equipped with a hardware communication adapter at each node. The goal is to optimize the network performance not only for steady traffic flow, but also for concurrent bursty traffic. We comparatively evaluate the performance of different scheduling-coding combinations for several switching methods, such as message switching, circuit switching and virtual cut-through. The evaluation results have indicated that in case of heavy transient traffic, a partially-adaptive routing scheme, when combined with an appropriate message-scheduling policy, can outperform a fully-adaptive routing scheme.

关键词： Routing Hypercubes Telecommunication traffic Switching circuits Communication switching Processor scheduling Multiprocessor interconnection networks Distributed computing Laboratories Hardware

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Fault injection experiments on real-time protocols using ORCHESTRA

Fault injection experiments on real-time protocols using ORC...

引用

IEEE International Symposim on High Assurance Systems engineering

作者： S. Dawson F. Jahanian T. Mitton Real Time Computing Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

The paper presents a set of experiments on real time protocols using the ORCHESTRA software fault injection environment. The paper first describes a specific implementation of ORCHESTRA for testing applications that use Unix sockets for communication. A novel feature of this tool is that it utilizes operating system support provided by real time Mach to quantify and compensate for the intrusiveness of the fault injection mechanism. The fault injection experiments which are described, tested fault tolerance and timing behavior of two target real time protocols. In addition, timing intrusiveness of ORCHESTRA was measured during the course of these experiments.

关键词： Protocols Timing Probes System testing Delay Application software Sockets Operating systems real time systems Software measurement

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A Router Architecture for real-time Point-to-Point Networks

A Router Architecture for Real-Time Point-to-Point Networks

引用

Annual International Symposium on computer Architecture, ISCA

作者： J. Hall K.G. Shin J. Rexford Real-Time Computing Laboratory Department of Electrical Engineering and Computer Science University of Michigan Dearborn Ann Arbor MI USA

Parallel machines have the potential to satisfy the large computational demands of emerging real-time applications. These applications require a predictable communication network, where time-constrained traffic requires bounds on latency or throughput while good average performance suffices for best-effort packets. This paper presents a router architecture that tailors low-level routing, switching, arbitration and flow-control policies to the conflicting demands of each traffic class. The router implements deadline-based scheduling, with packet switching and table-driven multicast routing, to bound end-to-end delay for time-constrained traffic, while allowing best-effort traffic to capitalize on the low-latency routing and switching schemes common in modern parallel machines. To limit the cost of servicing time-constrained traffic, the router shares packet buffers and link-scheduling logic between the multiple output ports. Verilog simulations demonstrate that the design meets the performance goals of both traffic classes in a single-chip solution.

关键词： Traffic control Routing computer architecture Parallel machines Telecommunication traffic Delay Packet switching Concurrent computing Communication networks Throughput

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Testing of fault-tolerant and real-time distributed systems via protocol fault injection

Testing of fault-tolerant and real-time distributed systems ...

引用

International Symposium on Fault-Tolerant computing (FTCS)

作者： S. Dawson F. Jahanian T. Mitton Teck-Lee Tung Real-Time Computing Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

As software for distributed systems becomes more complex, ensuring that a system meets its prescribed specification is a growing challenge that confronts software developers. This is particularly important for distributed applications with strict dependability and timeliness constraints. This paper reports on ORCHESTRA, a portable fault injection environment for testing implementations of distributed protocols. This tool is based on a simple yet powerful framework called script-driven probing and fault injection, for the evaluation and validation of the fault-tolerance and timing characteristics of distributed protocols. The tool, which was initially developed on the real-time Mach operating system and later ported to other platforms including Solaris and SunOS, has been used to conduct extensive experiments on several protocol implementations. This paper describes the design and implementation of the fault injection tool focusing on architectural features to support portability, minimizing intrusiveness on target protocols, and explicit support for testing real-time systems. The paper also describes the experimental evaluation of two protocol implementations: a real-time audio-conferencing application on real-time Mach, and a distributed group membership service on the Sun Solaris operating system.

关键词： System testing Fault tolerant systems real time systems Protocols Operating systems Software systems Application software Fault tolerance Timing Sun

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Using ZPL to develop a parallel chaos router simulator 96

Using ZPL to develop a parallel chaos router simulator

引用

1996 Winter Simulation Conference (WSC 96)

作者： Richardson, W Bailey, ML Sanders, WH Department of Electrical and Computer Engineering University of Arizona Tucson AZ Computer Science Department University of Arizona Tucson AZ Center for Reliable and High-Performance Computing Coordinated Science Laboratory University of Illinois at Urbana-Champaign Urbana IL

ISBN: (纸本)0780333837

This paper reports on our experience in writing a parallel version of a chaos router simulator using the new data-driven parallel language ZPL. The simulator is a large program that tests the capabilities of ZPL. The (parallel) ZPL program is compared with the existing serial implementation on two very different architectures: a 16-processor Intel Paragon and a cluster of eight Alpha workstations. On the Paragon, the simulator performs best when simulating medium- to large-sized routers, and on the Alpha cluster, it performs best when simulating large routers. Thus a user can choose the parallel platform best suited to the router size.

关键词： Parallel processing systems

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Traffic-controlled rate monotonic priority scheduling of ATM cells

Traffic-controlled rate monotonic priority scheduling of ATM...

引用

IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： Seok-Kyu Kweon K.G. Shin Real-Time Computing Laboratory Department of Elelctrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Future (broadband) integrated services networks are expected to carry various types of traffic including real-time packet video for which stringent quality of service (QoS) requirements must be met. We propose a cell multiplexing scheme for providing real-time communication services in point-to-point ATM networks. Our scheme is simple enough to be used in high-speed ATM networks, yet reasonably efficient in terms of accommodating channel requests. The scheme employs the leaky bucket model as the input traffic description model and regulates the input traffic at user network interface (UNI) to comply with the input traffic specification. Inside the network ATM switches provide bounded local delays to individual cells using a traffic controller and a non-preemptive rate-monotonic priority scheduler.

关键词： Asynchronous transfer mode Delay Telecommunication traffic Communication system traffic control Traffic control Switches B-ISDN Processor scheduling Jitter Video on demand

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Message transmission with timing constraints in ring networks

Message transmission with timing constraints in ring network...

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real-time Systems Symposium (RTSS)

作者： Ching-Chih Han K.G. Shin Department of Electrical Engineering Ohio State Uinversity Columbus OH USA Real-Time Computing Laboratory Department of Elect. Engineering and Computer Science University of Michigan Ann Arbor MI USA

We consider the message transmission problem in unidirectional slotted ring networks. We consider two operation modes: 1) the evacuation mode, in which all messages arrive before system initialization and no new message arrives during system operation; and 2) the continuation mode, in which new messages may arrive after system initialization. We study the performance of several message scheduling policies with respect to three performance measures: meeting all message deadlines, minimizing the maximum delay or the total length of busy periods, and minimizing the average delay. We show that the least-slack-time-first (LSF) scheduling policy is optimal in evacuation mode operation with respect to meeting all message deadlines, while no optimal scheduling policy can possibly exist for continuation mode operation. For the other two performance measures, we show that in the case when messages may be of variable lengths: 1) the farthest-destination-first (FDF) policy is optimal in terms of minimizing the maximum delay and minimizing the total length of busy periods for evacuation mode and for continuation mode operation, respectively, and 2) no optimal scheduling policy can possibly exist in terms of minimizing the average delay under either evacuation mode or continuation mode operation.

关键词： Timing Intelligent networks Length measurement Delay effects computer architecture Media Access Protocol Scattering Broadcasting Switches Laboratories

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The allocation and scheduling of precedence- and timing-constrained tasks with communication delays

The allocation and scheduling of precedence- and timing-cons...

引用

IEEE International Conference on engineering of Complex computer Systems

作者： Bo-Chao Cheng A.D. Stoyenko T.J. Marlowe S. Baruah Department of Computer and Information Science Real-Time Computing Laboratory New Jersey Institute of Technology Newark NJ USA

The problem of non-preemptively scheduling a set of n tasks on m identical processors with communication overhead subject to precedence and deadline constraints is considered. A new heuristic with the time complexity of O(n/sup 2/m), Least Space-time First (LSTF), is proposed to minimize the maximum tardiness. From simulation results, it is shown that LSTF outperforms other heuristic algorithms.

关键词： Processor scheduling Optimal scheduling Delay effects Information science Space technology Heuristic algorithms Concurrent computing Distributed computing Hardware

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A task graph model for design and implementation of real-time systems

A task graph model for design and implementation of real-tim...

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IEEE International Conference on engineering of Complex computer Systems

作者： A. Silberman T.J. Marlowe Department of Computer & Information Science Real-Time Computing Laboratory New Jersey Institute of Technology Newark NJ USA Department of Mathematics and Computer science Seton Hall University NJ USA

The paper introduces the RTM task graph model. RTM is a distributed operating system and scheduler for complex real time tasks developed at the University of Illinois, Urbana-Champaign, with a medium grained data flow model of computation. Tasks are linearly segmented (possibly with loops), but have arbitrary interconnectivity. This allows for decomposable tasks while avoiding the complications of a full fledged hierarchical model, simplifying scheduling, resource allocation. Our description of the task graph model in RTM can largely also be viewed as a list of desirable characteristics of any task graph based environment for real time design and implementation.

关键词： real time systems Object oriented modeling Processor scheduling Computational modeling Timing Application software Prototypes Hardware Ambient intelligence computer science

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