Ethernet-based AFDX simulation and time delay analysis

Nowadays, new civilian aircraft have applied new technology and the amount of embedded systems and functions raised. Traditional avionics data buses design can‘t meet the new transmission requirements regarding weight and complexity due to the number of needed buses. On the other hand, Avionics Full Duplex Switched Ethernet (AFDX) with sufficient bandwidth and guaranteed services is considered as the next generation of avionics data bus. One of the important issues in Avionics Full Duplex Switched Ethernet is to ensure the data total time delay to meet the requirements of the safety-critical systems on aircraft such as flight control system. This research aims at developing an AFDX time delay model which can be used to analyse the total time delay of the AFDX network. By applying network calculus approach, both (σ,ρ) model and Generic Cell Rate Algorithm (GCRA) model are introduced. For tighter time-delay result, GCRA model is applied. Meanwhile, the current AFDX network simulation platform, FACADE, will be enhanced by adding new functions. Moreover, avionics application simulation modules are developed to exchange data with FACADE. The total time delay analysis will be performed on the improved FACADE to validate this AFDX network simulation platform in several scenarios. Moreover, each scenario is appropriated to study the association between total time delay performance and individual variable. The results from updated FACADE reflect the correlation between total time delay and certain variables. Larger BAG and more switches between source and destination end systems introduce larger total time delay while Lmax could also affect the total time delay. However, the results illustrate that the total time delays from updated FACADE are much larger than GCRA time delay model which could up to 10 times which indicates that this updated FACADE needs further improvement

Interconnection optimization for multi-cluster avionics networks

National audienceThe increasing complexity and heterogeneity of avionics networks make resource optimization a challenging task. In contrast to many previous approaches pursuing the optimization of traffic-source mapping and backbone network analysis, our work presented herein mainly focuses on the optimization of interconnection devices for multi-cluster avionics networks. In this paper, we introduce an optimized interconnection device, integrating novel frame packing strategies and schedulability analysis to enhance the communications between an AFDX-like backbone network and various peripheral sensor/actuator networks in terms of resource savings. The performance analysis conducted on a representative avionics communication architecture highlights the efficiency of our proposal to save resources particularly consumed bandwidth. These latter is considered as an important feature for avionics applications to guarantee easy incremental design during the long lifetime of an aircraft

Analysis and optimiozation of heterogeneous avionics networks

The aim of my thesis is to provide a resources-efficient gateway to connect Input/Output (I/O) CAN buses to a backbone network based on AFDX technology, in modern avionics communication architectures. Currently, the Remote Data Concentrator (RDC) is the main standard for gateways in avionics; and the existing implementations do not integrate any resource management mechanism. To handle these limitations, we design an enhanced CAN-AFDX RDC integrating new functions: (i) Frame Packing (FP) allowing to reduce communication overheads with reference to the currently used "1 to 1" frame conversion strategy; (ii) Hierarchical Traffic Shaping (HTS) to reduce contention on the CAN bus. Furthermore, our proposed RDC allows the connection of multiple I/O CAN buses to AFDX while guaranteeing isolation between different criticality levels, using a software partitioning mechanism. To analyze the performance guarantees offered by our proposed RDC, we considered two metrics: the end-to-end latency and the induced AFDX bandwidth consumption. Furthermore, an optimization process was proposed to achieve an optimal configuration of our proposed RDC, i.e., minimizing the bandwidth utilization while meeting the real-time constraints of communication. Finally, the capacity of our proposed RDC to meet the emerging avionics requirements has been validated through a realistic avionics case study

Analyse et optimisation des réseaux avioniques hétérogènes

La complexité des architectures de communication avioniques ne cesse de croître avec l’augmentation du nombre des terminaux interconnectés et l’expansion de la quantité des données échangées. Afin de répondre aux besoins émergents en terme de bande passante, latence et modularité, l’architecture de communication avionique actuelle consiste à utiliser le réseau AFDX (Avionics Full DupleX Switched Ethernet) pour connecter les calculateurs et utiliser des bus d’entrée/sortie (par exemple le bus CAN (Controller Area Network)) pour connecter les capteurs et les actionneurs. Les réseaux ainsi formés sont connectés en utilisant des équipements d’interconnexion spécifiques, appelés RDC (Remote Data Concentrators) et standardisé sous la norme ARINC655. Les RDCs sont des passerelles de communication modulaires qui sont reparties dans l’avion afin de gérer l’hétérogénéité entre le réseau cœur AFDX et les bus d’entrée/sortie. Certes, les RDCs permettent d’améliorer la modularité du système avionique et de réduire le coût de sa maintenance; mais, ces équipements sont devenus un des défis majeurs durant la conception de l’architecture avionique afin de garantir les performances requises du système. Les implémentations existantes du RDC effectuent souvent une translation direct des trames et n’implémentent aucun mécanisme de gestion de ressources. Or, une utilisation efficace des ressources est un besoin important dans le contexte avionique afin de faciliter l’évolution du système et l’ajout de nouvelles fonctions. Ainsi, l’objectif de cette thèse est la conception et la validation d’un RDC optimisé implémentant des mécanismes de gestion des ressources afin d’améliorer les performances de l’architecture de communication avionique tout en respectant les contraintes temporelles du système. Afin d’atteindre cet objectif, un RDC pour les architectures réseaux de type CAN-AFDX est conçu, intégrant les fonctions suivantes: (i) groupement des trames appliqué aux flux montants, i.e., flux générés par les capteurs et destinés à l’AFDX, pour minimiser le coût des communication sur l’AFDX; (ii) la régulation des flux descendants, i.e., flux générés par des terminaux AFDX et destinés aux actionneurs, pour réduire les contentions sur le bus CAN. Par ailleurs, notre RDC permet de connecter plusieurs bus CAN à la fois tout en garantissant une isolation entre les flux. Par la suite, afin d’analyser l’impact de ce nouveau RDC sur les performances du système avionique, nous procédons à la modélisation de l’architecture CAN-AFDX, et particulièrement le RDC et ses nouvelles fonctions. Ensuite, nous introduisons une méthode d’analyse temporelle pour calculer des bornes maximales sur les délais de bout en bout et vérifier le respect des contraintes temps-réel. Plusieurs configurations du RDC peuvent répondre aux exigences du système avionique tout en offrant des économies de ressources. Nous procédons donc au paramétrage du RDC afin de minimiser la consommation de bande passante sur l’AFDX tout en respectant les contraintes temporelles. Ce problème d’optimisation est considéré comme NP-complet, et l’introduction des heuristiques adéquates s’est avérée nécessaire afin de trouver la meilleure configuration possible du RDC. Enfin, les performances de ce nouveau RDC sont validées à travers une architecture CAN-AFDX réaliste, avec plusieurs bus CAN et des centaines de flux échangés. Différents niveaux d’utilisation des bus CAN ont été considérés et les résultats obtenus ont montré l’efficacité de notre RDC à améliorer la gestion des ressources du système avionique tout en respectant les contraintes temporelles de communication. En particulier, notre RDC offre une réduction de la bande passante AFDX allant jusqu’à 40% en comparaison avec le RDC actuellement utilisé. ABSTRACT : The aim of my thesis is to provide a resources-efficient gateway to connect Input/Output (I/O) CAN buses to a backbone network based on AFDX technology, in modern avionics communication architectures. Currently, the Remote Data Concentrator (RDC) is the main standard for gateways in avionics; and the existing implementations do not integrate any resource management mechanism. To handle these limitations, we design an enhanced CAN-AFDX RDC integrating new functions: (i) Frame Packing (FP) allowing to reduce communication overheads with reference to the currently used "1 to 1" frame conversion strategy; (ii) Hierarchical Traffic Shaping (HTS) to reduce contention on the CAN bus. Furthermore, our proposed RDC allows the connection of multiple I/O CAN buses to AFDX while guaranteeing isolation between different criticality levels, using a software partitioning mechanism. To analyze the performance guarantees offered by our proposed RDC, we considered two metrics: the end-to-end latency and the induced AFDX bandwidth consumption. Furthermore, an optimization process was proposed to achieve an optimal configuration of our proposed RDC, i.e., minimizing the bandwidth utilization while meeting the real-time constraints of communication. Finally, the capacity of our proposed RDC to meet the emerging avionics requirements has been validated through a realistic avionics case study

Worst-case delay analysis of real-time switched Ethernet networks with flow local synchronization

Les réseaux Ethernet commuté full-duplex constituent des solutions intéressantes pour des applications industrielles. Mais le non-déterminisme d’un commutateur IEEE 802.1d, fait que l’analyse pire cas de délai de flux critiques est encore un problème ouvert. Plusieurs méthodes ont été proposées pour obtenir des bornes supérieures des délais de communication sur des réseaux Ethernet commuté full duplex temps réels, faisant l’hypothèse que le trafic en entrée du réseau peut être borné. Le problème principal reste le pessimisme introduit par la méthode de calcul de cette borne supérieure du délai. Ces méthodes considèrent que tous les flux transmis sur le réseau sont indépendants. Ce qui est vrai pour les flux émis par des nœuds sources différents car il n’existe pas, dans le cas général, d’horloge globale permettant de synchroniser les flux. Mais pour les flux émis par un même nœud source, il est possible de faire l’hypothèse d’une synchronisation locale de ces flux. Une telle hypothèse permet de bâtir un modèle plus précis des flux et en conséquence élimine des scénarios impossibles qui augmentent le pessimisme du calcul. Le sujet principal de cette thèse est d’étudier comment des flux périodiques synchronisés par des offsets peuvent être gérés dans le calcul des bornes supérieures des délais sur un réseau Ethernet commuté temps-réel. Dans un premier temps, il s’agit de présenter l’impact des contraintes d’offsets sur le calcul des bornes supérieures des délais de bout en bout. Il s’agit ensuite de présenter comment intégrer ces contraintes d’offsets dans les approches de calcul basées sur le Network Calculus et la méthode des Trajectoires. Une méthode Calcul Réseau modifiée et une méthode Trajectoires modifiée sont alors développées et les performances obtenues sont comparées. Le réseau avionique AFDX (Avionics Full-Duplex Switched Ethernet) est pris comme exemple d’un réseau Ethernet commuté full-duplex. Une configuration AFDX industrielle avec un millier de flux est présentée. Cette configuration industrielle est alors évaluée à l’aide des deux approches, selon un choix d’allocation d’offsets donné. De plus, différents algorithmes d’allocation des offsets sont testés sur cette configuration industrielle, pour trouver un algorithme d’allocation quasi-optimal. Une analyse de pessimisme des bornes supérieures calculées est alors proposée. Cette analyse est basée sur l’approche des trajectoires (rendue optimiste) qui permet de calculer une sous-approximation du délai pire-cas. La différence entre la borne supérieure du délai (calculée par une méthode donnée) et la sous-approximation du délai pire cas donne une borne supérieure du pessimisme de la méthode. Cette analyse fournit des résultats intéressants sur le pessimisme des approches Calcul Réseau et méthode des Trajectoires. La dernière partie de la thèse porte sur une architecture de réseau temps réel hétérogène obtenue par connexion de réseaux CAN via des ponts sur un réseau fédérateur de type Ethernet commuté. Deux approches, une basée sur les composants et l’autre sur les Trajectoires sont proposées pour permettre une analyse des délais pire-cas sur un tel réseau. La capacité de calcul d’une borne supérieure des délais pire-cas dans le contexte d’une architecture hétérogène est intéressante pour les domaines industriels. ABSTRACT : Full-duplex switched Ethernet is a promising candidate for interconnecting real-time industrial applications. But due to IEEE 802.1d indeterminism, the worst-case delay analysis of critical flows supported by such a network is still an open problem. Several methods have been proposed for upper-bounding communication delays on a real-time switched Ethernet network, assuming that the incoming traffic can be upper bounded. The main problem remaining is to assess the tightness, i.e. the pessimism, of the method calculating this upper bound on the communication delay. These methods consider that all flows transmitted over the network are independent. This is true for flows emitted by different source nodes since, in general, there is no global clock synchronizing them. But the flows emitted by the same source node are local synchronized. Such an assumption helps to build a more precise flow model that eliminates some impossible communication scenarios which lead to a pessimistic delay upper bounds. The core of this thesis is to study how local periodic flows synchronized with offsets can be handled when computing delay upper-bounds on a real-time switched Ethernet. In a first step, the impact of these offsets on the delay upper-bound computation is illustrated. Then, the integration of offsets in the Network Calculus and the Trajectory approaches is introduced. Therefore, a modified Network Calculus approach and a modified Trajectory approach are developed whose performances are compared on an Avionics Full-DupleX switched Ethernet (AFDX) industrial configuration with one thousand of flows. It has been shown that, in the context of this AFDX configuration, the Trajectory approach leads to slightly tighter end-to-end delay upper bounds than the ones of the Network Calculus approach. But offsets of local flows have to be chosen. Different offset assignment algorithms are then investigated on the AFDX industrial configuration. A near-optimal assignment can be exhibited. Next, a pessimism analysis of the computed upper-bounds is proposed. This analysis is based on the Trajectory approach (made optimistic) which computes an under-estimation of the worst-case delay. The difference between the upper-bound (computed by a given method) and the under-estimation of the worst-case delay gives an upper-bound of the pessimism of the method. This analysis gives interesting comparison results on the Network Calculus and the Trajectory approaches pessimism. The last part of the thesis, deals with a real-time heterogeneous network architecture where CAN buses are interconnected through a switched Ethernet backbone using dedicated bridges. Two approaches, the component-based approach and the Trajectory approach, are developed to conduct a worst-case delay analysis for such a network. Clearly, the ability to compute end-to-end delays upper-bounds in the context of heterogeneous network architecture is promising for industrial domains

Heterogeneous models and analyses in the design of real-time embedded systems - an avionic case-study

The development of embedded systems according to Model-Driven Development relies on two complementary activities: system mod- eling on the one hand and analysis of the non-functional properties, such as timing properties, on the other hand. Yet, the coupling be- tween models and analyses remains largely disregarded so far: e.g. how to apply an analysis on a model? How to manage the analysis process? This paper presents an application of our research on this topic. In particular, we show that our approach makes it possible to combine heterogeneous models and analyses in the design of an avionic system. We use two languages to model the system at di erent levels of abstraction: the industry standard AADL (Ar- chitecture Analysis and Design Language) and the more recent implementation-oriented CPAL language (Cyber-Physical Action Language). We then combine di erent real-time scheduling analy- ses so as to gradually de ne the task and network parameters and nally validate the schedulability of all activities of the system

End-to-end latency and temporal consistency analysis in networked real-time systems

International audienceCritical embedded systems are often designed as a set of real-time tasks, running on shared computing modules, and communicating through networks. Because of their critical nature, such systems have to meet strict timing properties. To help the designers to prove the correctness of their system, the real-time systems community has developed numerous approaches for analysing the worst case scenarios either on the processors (e.g., worst case response time of a task) or on the networks (e.g., worst case traversal time of a message). These approaches provide results only for local components behaviours. However, there is a growing need for having a global view of the system, in order to determine end-to-end properties. Such a property applies to functional chains which describe the behaviour of sequences of tasks. We propose an approach to analyse worst case behaviour along functional chains in critical embedded systems. It is based on mixed integer linear programming (MILP) and is general in the sense that it can be applied to a variety of end-to-end properties. This paper focuses on two essential properties: end-to-end latency and temporal consistency. This work was supported by the French National Research Agency within the SATRIMMAP project

Response Time Analysis for RT-MQTT Protocol Grounded on SDN

The current industry trend is to replace the use of custom components with standards-based Commercially available Off-The-Shelf (COTS) based hardware and protocols. Furthermore, the emergence of new industrial paradigms, such as Industry 4.0 and the Industrial Internet of Things, sets additional requirements regarding e.g. scale, transparency, agility, flexibility and efficiency. Therefore, in these domains, application layer protocols such as Message Queuing Telemetry Transport protocol (MQTT) are gaining popularity, in result of their simplicity, scalability, low resource-usage and decoupling between end nodes. However, such protocols were not designed for real-time applications, missing key features such as determinism and latency bounds. A recent work proposed extending MQTT with real-time services, taking advantage of Software Defined Networking (SDN) to manage the network resource. These extensions allow applications to specify real-time requirements that are then captured by a resource manager and used to reserve the necessary resources at the network layer. This paper shows that such MQTT extended architecture is analyzable from a worst-case timing perspective. We derive a system model that captures the real-time features and we present a response-time analysis to assess the schedulability of the real-time traffic. Finally, we validate the analysis with a set of experimental results

Timing verification of real­time automotive Ethernet networks: what can we expect from simulation?

Switched Ethernet is a technology that is profoundly reshaping automotive communication architectures as it did in other application domains such as avionics with the use of AFDX backbones. Early stage timing verification of critical embedded networks typically relies on simulation and worst-case schedulability analysis. When the modeling power of schedulability analysis is not sufficient, there are typically two options: either make pessimistic assumptions or ignore what cannot be modeled. Both options are unsatisfactory because they are either inefficient in terms of resource usage or potentially unsafe. To overcome those issues, we believe it is a good practice to use simulation models, which can be more realistic, along with schedulability analysis. The two basic questions that we aim to study here is what can we expect from simulation, and how to use it properly? This empirical study explores these questions on realistic case-studies and provides methodological guidelines for the use of simulation in the design of switched Ethernet networks. A broader objective of the study is to compare the outcomes of schedulability analyses and simulation, and conclude about the scope of usability of simulation in the design of critical Ethernet networks