emartins.bib

@inbook{MARAU_DAES_2007,
  author = {Marau, R. and Silva, V. and Ferreira, J. and Almeida, L. and Pedreiras, P. and Martins, E. and Fonseca, J. A.},
  title = {Distributed Automotive Embedded Systems},
  chapter = {Assessment of FTT-CAN master replication mechanisms for safety-critical applications},
  pages = {},
  publisher = {SAE International},
  year = {2007},
  volume = {},
  series = {},
  type = {},
  address = {},
  edition = {},
  month = {November},
  doi = {},
  issn = {},
  isbn = {978-0-7680-1966-7},
  keywords = {FTT, FTT-CAN, CAN, Real-Time communications, protocols, Embedded systems},
  note = {},
  key = {},
  abstract = {The operational flexibility of distributed embedded systems is receiving growing attention because it is required to support on-line adaptation to varying operational conditions, either due to changes in the environment or to faults in the system. However, flexibility makes dependability more difficult to achieve, because there is less a priori knowledge. One protocol that favors flexibility and is widely used in embedded systems, particularly in automotive and robotic systems, is CAN, but some claim that it is not adequate to support safety-critical applications. We argue that CAN, deployed with an adequate overlay protocol, can provide the required support for dependability and flexibility. One such overlying protocol is Flexible Time-Triggered CAN (FTTCAN), that enforces a global notion of time and a global periodic schedule by means of specific messages issued by a master node. In this paper we assess the FTT-CAN master replication mechanisms implemented in a distributed robot control system. Above all, we provide experimental results that show the robustness of such mechanisms}
}

@inbook{ALMEIDA_HRTES_2007,
  author = {Almeida, L. and Pedreiras, P. and Ferreira, J. and Calha, J. and Fonseca, J. A. and Marau, R. and Silva, R. and Martins, E.},
  title = {Handbook of Real-Time and Embedded Systems},
  chapter = {Online QoS Adaptation with the Flexible Time-Triggered (FTT) Communication Paradigm},
  pages = {},
  publisher = {Chapman and Hall/CRC},
  year = {2007},
  volume = {},
  series = {},
  type = {},
  address = {},
  edition = {},
  month = {},
  doi = {},
  issn = {},
  isbn = {978-1-58488-678-5},
  keywords = {Ethernet, FTT, FTT-SE, Real-Time communications},
  note = {},
  key = {},
  abstract = {}
}

@article{FERREIRA_II_2006,
  author = {Ferreira, J. and Almeida, L. and Fonseca, J. A. and Pedreiras, P. and Martins, E. and Rodriguez-Navas, G. and Rigo, J. and Proenza, J.},
  title = {Combining operational flexibility and dependability in FTT-CAN},
  journal = {IEEE Transactions on Industrial Informatics},
  year = {2006},
  volume = {2},
  number = {2},
  pages = {95--102},
  month = {May},
  doi = {10.1109/TII.2005.875508},
  issn = {1551-3203},
  isbn = {},
  keywords = {CAN, FTT-CAN, distributed safety-critical systems, dynamic online traffic scheduling, dynamic traffic management, fail-silence enforcement, fault tolerance, flexible time-triggered CAN, master replication, operational dependability, operational flexibility},
  note = {},
  key = {},
  abstract = {The traditional approaches to the design of distributed safety-critical systems, due to fault-tolerance reasons, have mostly considered static cyclic table-based traffic scheduling. However, there is a growing demand for operational flexibility and integration, mainly to improve efficiency in the use of system resources, with the network playing a central role to support such properties. This calls for dynamic online traffic scheduling techniques so that dynamic communication requirements are adequately supported. Nevertheless, using dynamic traffic management mechanisms raises additional problems, in terms of fault-tolerance, related with the weaker knowledge of the future system state caused by the higher level of operational flexibility. Such problems have been recently addressed in the scope of using flexible time-triggered CAN (FTT-CAN) in safety-critical applications in order to benefit from the high operational flexibility of this protocol. This paper gathers and reviews the main mechanisms that were developed to provide dependability to the protocol, namely, master replication and fail-silence enforcement}
}

@inproceedings{FONSECA_ICC_2000,
  author = {Fonseca, J. A. and Martins, E. and Almeida, L. and Pedreiras, P. and Neves, P.},
  title = {Flexible Time-Triggered Protocol for CAN: new scheduling and dispatching solutions},
  booktitle = {7th International CAN Conference (ICC'2000) Proceedings},
  year = {2000},
  editor = {},
  volume = {},
  series = {},
  pages = {},
  address = {New Orleans, USA},
  month = {June},
  organization = {},
  publisher = {},
  doi = {},
  issn = {},
  isbn = {},
  keywords = {CAN, FTT-CAN},
  note = {},
  key = {},
  abstract = {One of the possibilities to build robust communication systems with respect to their temporal behaviour is to use autonomous control based on the time-triggered paradigm. The FTT-CAN - flexible time-triggered protocol, relies on centralised scheduling but makes use of the CAN native distributed arbitration to reduce communication overhead. There, a planning scheduler is used within a master node to reduce the scheduling run-time overhead. On-line changes to the communication requirements can then be made under guaranteed timeliness. In addition FTT-CAN also allows an efficient combination of both time-triggered and event-triggered traffic with temporal isolation. In this paper, recent evolutions of the initial protocol definition concerning transmission of synchronous and asynchronous messages are presented. These consist in a time division of the elementary transmission window which optimises the available bandwidth for asynchronous messages, keeping the timeliness of synchronous messages without jeopardising their transmission jitter. A novel solution for the planning scheduler is also presented. It consists in an FPGA-based coprocessor which implements the planning scheduler technique without imposing overhead to the arbiter CPU. With it, it is possible to reduce strongly the plan duration thus allowing on-line admission demanded by system elements and, also, to extend the protocol application to high-speed networks}
}