2002.bib
@article{ALMEIDA_IE_2002,
author = {Almeida, L. and Pedreiras, P. and Fonseca, J. A.},
title = {The FTT-CAN protocol: why and how},
journal = {IEEE Transactions on Industrial Electronics},
year = {2002},
volume = {49},
number = {6},
pages = {1189--1201},
month = {December},
doi = {10.1109/TIE.2002.804967},
issn = {0278-0046},
isbn = {ISBN-OPTIONAL},
keywords = {CAN, FTT-CAN, asynchronous messaging systems, controller area network, fieldbus-based communication systems, flexible operation, flexible time-triggered communication, industrial systems, machine control, manufacturing industry, synchronous messaging systems, timing constraints, controller area networks, distributed control, electronic messaging, field buses, industrial control, protocols, real-time systems},
note = {},
key = {},
abstract = {The requirement for flexible operation is becoming increasingly important in modern industrial systems. This requirement has to be supported at all system levels, including the field level in process industry, as well as the cell and machine control levels in manufacturing industry, where fieldbus-based communication systems are commonly found. Furthermore, typical applications at these levels require both time- and event-triggered communication services, in most cases under stringent timing constraints, to convey state data in the former case and alarms and management data in the latter. However, neither the requirement for flexible operation under guaranteed timeliness nor for joint support of time and event-triggered traffic are efficiently fulfilled by most of existing fieldbus systems. This paper presents a new protocol, flexible time-triggered communication on controller area network, which fulfills both requirements: it supports time-triggered communication in a flexible way as well as being an efficient combination of both time and event-triggered traffic with temporal isolation. These types of traffic are handled by two complementary subsystems, the synchronous and the asynchronous messaging systems, respectively. The paper includes a justification for the new protocol as well as its description and worst case temporal analysis for both subsystems. This analysis shows the capability of the protocol to convey real-time traffic of either type}
}
@article{PEDREIRAS_CCEJ_2002,
author = {Pedreiras, P. and Almeida, L.},
title = {EDF message scheduling on controller area network},
journal = {Computing and Control Engineering Journal},
year = {2002},
volume = {13},
number = {4},
pages = {163--170},
month = {August},
doi = {10.1049/cce:20020402},
issn = {0956-3385},
isbn = {ISBN-OPTIONAL},
keywords = {EDF, CAN, FTT-CAN, flexible time-triggered communication, controller area networks, field buses, earliest deadline first, real-time embedded systems, flexible time-triggered communication, embedded systems},
note = {},
key = {},
abstract = {The controller area network (CAN) has a maximum transmission rate of 1 Mbit/s and its fixed priorities-based medium access control (MAC) limits the maximum bus utilisation when timeliness guarantees are required. An implementation of earliest deadline first (EDF) message scheduling on the CAN, based on the FTT-CAN (flexible time-triggered communication on CAN) protocol, is presented, which allows higher utilisation factors with timeliness guarantees. The advantages of using EDF instead of rate-monotonic scheduling on the FTT-CAN are highlighted, and a comparison with other implementations of EDF scheduling on the CAN is presented}
}
@article{FERREIRA_MICRO_2002,
author = {Ferreira, J. and Pedreiras, P. and Almeida, L. and Fonseca, J. A.},
title = {The FTT-CAN protocol for flexibility in safety-critical systems},
journal = {IEEE Micro},
year = {2002},
volume = {22},
number = {4},
pages = {46--55},
month = {July/August},
doi = {10.1109/MM.2002.1028475},
issn = {0272-1732},
isbn = {},
keywords = {CAN, FTT-CAN, Time-Triggered Controller Area Network , automotive industry , communication protocol , flexible time-triggered communication on CAN , protocol , safety-critical systems},
note = {},
key = {},
abstract = {A new communication protocol for distributed embedded systems attempts to find a compromise between the often-opposing goals of system flexibility and safety}
}
@inproceedings{FERREIRA_WFCS_2002,
author = {Ferreira, J. and Pedreiras, P. and Almeida, L. and Fonseca, J. A.},
title = {Achieving fault tolerance in FTT-CAN},
booktitle = {4th IEEE International Workshop on Factory Communication Systems (WFCS'2002) Proceedings},
year = {2002},
editor = {},
volume = {},
series = {},
pages = {125--132},
address = {V{\"a}ster{\aa}s, Sweden},
month = {August},
organization = {},
publisher = {},
doi = {10.1109/WFCS.2002.1159709},
issn = {},
isbn = {0-7803-7586-6},
keywords = {CAN, FTT-CAN, bus guardians , communication system configuration , fault hypothesis , fault tolerance techniques , flexible time triggered communication over controller area network , master node replication , master synchronization , network errors , node failures , replicated network architecture , safety-critical applications , synchronization , time triggered traffic scheduling},
note = {},
key = {},
abstract = {In order to use the FTT-CAN protocol (flexible time-triggered communication over controller area network) in safety-critical applications, the impact of network errors and node failures must be thoroughly determined and minimized. This paper presents and discusses fault-tolerance techniques to limit that impact. The particular configuration of the communication system can be more or less complex and fault-tolerant as desired by the system designer. The paper includes the fault hypothesis and presents a replicated network architecture using bus guardians. An important aspect is the replication of the master node that schedules the time-triggered traffic. In this case, it is particularly important to assure correct synchronization of the master replicas. The mechanisms that support masters' replication and synchronization are described and their performance is evaluated. The resulting architecture allows a reduction of the conflicts between safety and flexibility, supporting the use of FTT-CAN in safety critical applications}
}
@inproceedings{FONSECA_AFRICON_2002,
author = {Fonseca, J. A. and Ferreira, J. and Calha, M. and Pedreiras, P. and Almeida, L.},
title = {Issues on task dispatching and master replication in FTT-CAN},
booktitle = {6th IEEE African Electrical Technology Conference Proceedings (AFRICON'2002)},
year = {2002},
editor = {},
volume = {1},
series = {},
pages = {221--226},
address = {George, South Africa},
month = {October},
organization = {},
publisher = {},
doi = {10.1109/AFRCON.2002.1146838},
issn = {},
isbn = {0-7803-7570-X},
keywords = {CAN, FTT-CAN, automotive applications, controller area network, distributed embedded systems, event-triggered traffic, fault tolerance, flexible time-triggered communication, master replication, protocol, task dispatching, temporal isolation},
note = {},
key = {},
abstract = {The FTT-CAN (flexible time-triggered communication on controller area network) protocol supports time-triggered communication in a flexible way as well as the combination of both time and event-triggered traffic with temporal isolation. Previous papers have already discussed its potentialities and presented worst-case temporal analysis for both types of communication. After a brief review of the main characteristics of the protocol, we present new issues concerning its use in distributed embedded systems: the extension for task dispatching and the inclusion of techniques to improve fault tolerance, namely master replication}
}
@inproceedings{PEDREIRAS_RTS_2002,
author = {Pedreiras, P. and Almeida, L.},
title = {Flexible Scheduling on Controller Area Network},
booktitle = {10th International Conference on Real-Time Systems (RTS'2002) Proceedings},
year = {2002},
editor = {},
volume = {},
series = {},
pages = {},
address = {Paris, France},
month = {March},
organization = {},
publisher = {},
doi = {},
issn = {},
isbn = {},
keywords = {CAN, FTT-CAN},
note = {},
key = {},
abstract = {The Controller Area Network (CAN) protocol was originally developed aiming at automotive applications. However, it rapidly expanded to other real-time application fields, mainly due to its prioritised medium-access control (MAC), high responsiveness, high data efficiency for short data transfers and low cost. Nevertheless, the fact that its MAC relies on fixed priorities imposes a compromise that, in particular situations, is undesired. For example, CAN does not support fairness among streams of messages that require similar quality-of-service and also, it does not allow very high bandwidth utilization levels with guaranteed timeliness for all message streams. In this paper we briefly present the FTT-CAN protocol (Flexible Time-Triggered communication on CAN) and show how this protocol can be used to efficiently support any type of message scheduling over CAN. Particularly, the paper illustrates this flexibility by focusing on the implementation of Earliest Deadline First (EDF) message scheduling on CAN. A comparison between EDF and Rate Monotonic (RM) scheduling in this environment is performed, namely concerning processing and communication overhead and achievable bus utilization. Schedulability analysis for both RM and EDF is presented, as well as a comparison with other proposals for EDF scheduling on CAN}
}
@inproceedings{PEDREIRAS_WFCS_2002,
author = {Pedreiras, P. and Almeida, L. and Gai, P.},
title = {FTT-Ethernet: a platform to implement the Elastic Task Model over message streams},
booktitle = {4th IEEE International Workshop on Factory Communication Systems (WFCS'2002) Proceedings},
year = {2002},
editor = {},
volume = {},
series = {},
pages = {225--232},
address = {V{\"a}ster{\aa}s, Sweden},
month = {August},
organization = {},
publisher = {},
doi = {10.1109/WFCS.2002.1159720},
issn = {},
isbn = {0-7803-7586-6},
keywords = {Ethernet, FTT-Ethernet, Adaptive control , Application software , Automotive engineering , Computer vision , Protocols , Quality of service , Real time systems , Robot vision systems , Streaming media , Vehicle dynamics},
note = {},
key = {},
abstract = {Real-time distributed systems are becoming more pervasive, supporting a broad range of applications such as automotive, adaptive control, robotics, computer vision, and multimedia. Furthermore, in all such applications there is a growing demand for flexibility in order to support dynamic configuration changes such as those arising from evolving requirements and on-line quality-of-service management. The elastic task model, proposed previously, is well suited to support that level of flexibility in multitasking systems running on single processors. This paper presents the extension Of such model to the network, which runs the FTT-Ethernet protocol. The paper includes a brief presentation of this protocol and of the elastic task model, discusses the referred extension and presents a set of experimental results involving the dynamic adjustment of the quality of service delivered to several message streams, with guaranteed timeliness}
}
@inproceedings{PEDREIRAS_ECRTS_2002,
author = {Pedreiras, P. and Almeida, L. and Gai, P.},
title = {The FTT-ethernet protocol: merging flexibility, timeliness and efficiency},
booktitle = {14th Euromicro Conference on Real-Time Systems (ECRTS'2002) Proceedings},
year = {2002},
editor = {},
volume = {},
series = {},
pages = {134--142},
address = {Vienna, Austria},
month = {June},
organization = {},
publisher = {},
doi = {10.1109/EMRTS.2002.1019195},
issn = {1068-3070},
isbn = {},
keywords = {Ethernet, FTT-Ethernet, Application software, Bandwidth, Control systems, Electrical equipment industry, Ethernet networks, Protocols, Real time systems},
note = {},
key = {},
abstract = {Despite having been designed to interconnect office equipment such as computers and printers, since its early days Ethernet has also been considered for use in the industrial domain. However, it was not originally developed to meet the requirements of real-time industrial automation systems and it was commonly considered unsuited for applications at the field level, i.e. to interconnect sensors, actuators and controllers. Therefore, along its 30 years of existence, several proposals have been presented to make this protocol exhibit real-time behaviour. Nevertheless, these proposals either require specialised hardware, or are suited to soft-real-time operation only, or are bandwidth or response-time inefficient. This paper presents an overview about the work previously done towards real-time communication on Ethernet. Then, it presents a new protocol, FTT-Ethernet, which relies on common
network adapters and on a new transmission control named master/multi-slave that efficiently supports hardreal-time operation in a flexible way}
}
@inproceedings{PEDREIRAS_RTLIA_2002,
author = {Pedreiras, P. and Almeida, L.},
title = {Flexibility, timeliness and efficiency over Ethernet},
booktitle = {1st International Workshop on Real-Time LANs in the Internet Age (RTLIA'2002) Proceedings},
year = {2002},
editor = {},
volume = {},
series = {},
pages = {53--56},
address = {Vienna, Austria},
month = {June},
organization = {},
publisher = {},
doi = {},
issn = {},
isbn = {},
keywords = {Ethernet, FTT-Ethernet, Application software, Bandwidth, Control systems, Electrical equipment industry, Ethernet networks, Protocols, Real time systems},
note = {},
key = {},
abstract = {This paper summarises the materials presented in [11] concerning the quest for real-time behaviour over Ethernet and the new protocol FTT-Ethernet. This paper then includes a discussion on the use of this new protocol on networks based on switches, as this is becoming the main architectural choice in LANs}
}