Supporting Real-Time Communication in CSMA-Based Networks : the VTP-CSMA Virtual Token Passing Approach

Tese de doutoramento. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 200

Using the ethernet protocol for real-time communications in embedded systems

Doutoramento em Engenharia ElectrotécnicaOs Sistemas Computacionais de Controlo Distribuído (SCCD) estão muito disseminados em aplicações que vão desde o controlo de processos e manufactura a automóveis, aviões e robôs. Muitas aplicações são de natureza tempo-real, ou seja, impõem fortes restrições às propriedades subjacentes aos sistemas de controlo, gerando a necessidade de fornecer um comportamento temporal previsível durante períodos alargados de tempo. Em particular, dependendo da aplicação, uma falha em garantir as restrições pode causar importantes perdas económicas ou mesmo pôr vidas humanas em risco. Actualmente, a quantidade e funcionalidade dos modernos SCCD têm crescido firmemente. Esta evolução é motivada por uma nova classe de aplicações que requer maior demanda de recursos tais como aplicações de multimedia (por exemplo visão), bem como pela tendência em usar grande número de processadres simples e interconectados, em vez de poucos e poderosos processadores, encapsulando cada funcionalidade num único processador. Consequentemente, a quantidade de informação que deve ser trocada entre os nós da rede também cresceu drasticamente nos últimos anos e está agora atingindo os limites que podem ser obtidos por tradicionais barramentos de campo, como por exempo CAN, WorldFIP, PROFIBUS. Outras alternativas são pois requeridas para suportar a necessidade de largura de banda e a manutenção de exigências dos sistemas de comunicação tempo-real: previsibilidade, pontualidade, atraso e variação de período limitados. Uma das linhas de trabalho tem apostado na Ethernet, tirando vantagem dos baixos custos dos circuitos, da elevada largura de banda, da fácil integração com a Internet, e da simplicidade em promover expansões e compatibilidade com redes usadas na estrutura administrativa das empresas industriais. Porém, o mecanismo padronizado de acesso ao meio da Ethernet (CSMA/CD) é destrutivo e não determinístico, o que impede seu uso directo ao nível de campo ou pelo menos em aplicações de comunicação tempo-real. Apesar disso, muitas abordagens diferentes têm sido propostas e usadas para obter comportamento tempo-real em Ethernet. As abordagens actuais para dotar de comportamento tempo-real Ethernet partilhada apresentam desvantagens tais como: exigência de hardware especializado, fornecimento de garantias temporais estatísticas, ineficiência na utilização da largura de banda ou na reposta tempo-real. São ainda por vezes inflexíveis com respeito às propriedades de tráfego bem como com as políticas de escalonamento. Podem exigir processadores com elevado poder de cálculo. Finalmente não permitem que estações tempo-real possam coexistir com estações Ethernet standard no mesmo segmento. Uma proposta recente, o algoritmo hBEB, permite a coexistência de estações tempo-real e standard no mesmo segmento. Contudo, apenas uma estação tempo-real pode estar activa, o que é inaceitável para aplicações de automação e controlo. Esta tese discute uma nova solução para promover tempo-real em Ethernet partilhada, baseando-se na passagem implícita de testemunho de forma similar à usada pelo protocolo P-NET. Esta técnica é um mecanismo de acesso ao meio físico pouco exigente em termos de processamento, sendo portanto adequada para implementar uma rede de dispositivos baseados em processadores de baixo poder de cálculo e controladores Ethernet standard. Esta tese apresenta ainda uma proposta de implementação do VTPE em IP core para superar algumas dificuldades derivadas de funcionalidades que não são suportadas por controladores standard, nomeadamente a arbitragem do meio físico durante a transmissão de uma trama. Esta nova proposta pode aumentar muito a eficiência do VTPE no uso da largura de banda. O VTPE, assim como P-NET ou protocolos similares, permite a uma estação apenas comunicar uma vez por cada circulação do testemunho. Esta imposição pode causar bloqueios de comunicação por períodos inaceitáveis em aplicações com tráfego isócrono, por exemplo multimedia. Uma solução proposta permite que uma estação possa aceder ao meio físico mais de uma vez por cada circulação do token. Os resultados experimentais a as análises desenvolvidas mostram que o bloqueio pode ser drasticamente reduzido. Por último esta tese discute uma variante do protocolo VTPE, o VTPE/h- BEB, que permite que mais de uma estação hBEB possa coexistir com diversas estações Ethernet standard num mesmo segmento partilhado. Um demonstrador para prova de conceito bem como uma aplicação foram também implementados.Distributed Computer-Control Systems (DCCS) are widely disseminated in applications ranging from automation and control to automotive, avionics and robotics. Many of these applications are real-time, posing stringent constraints to the properties of underlying control systems, which arise from the need to provide predictable behaviour during extended time periods. Depending on the particular type of application, a failure to meet these constraints can cause important economic losses or can even put human life in risk. Currently the number and functionality of modern DCCSs have been increasing steadily. This evolution has been motivated for a new class of applications of more resource demanding applications, such as multimedia (e.g. machine vision), as well as by the trend to use large numbers of simple interconnected processors, instead of a few powerful ones, encapsulating each functionality in one single processor. Consequently, the amount of information that must be exchanged among the network nodes has also increased dramatically and is now reaching the limits achievable by traditional fieldbuses. Therefore, other alternatives are required to support higher bandwidth demands while keeping the main requirements of a real-time communication system: predictability, timeliness, bounded delays and jitter. Efforts have been made with Ethernet to take advantage of the low cost of the silicon, high bandwidth, easy integration with the Internet, easy expansion and compatibility with the networks used at higher layers in the factory structure. However its standardized media access control (CSMA/CD) is destructive and not deterministic, impairing its direct use at field level at least for real-time communication. Despite this, many solutions have been proposed to achieve real-time behavior in Ethernet. However they present several disadvantages: requiring specialized hardware, providing statistical timeliness guarantees only, being bandwidth or response-time inefficient, being inflexible concerning traffic properties and/or scheduling policy, or finally not allowing real-time stations to coexist with standard Ethernet stations in the same segment. A recent proposal, the hBEB algorithm, allows the coexistence of real-time and standard Ethernet stations in the same shared segment. However hBEB limits at most one real-time station per segment which is unacceptable for applications in industrial automation and process control. This thesis discusses a new real-time shared Ethernet solution based on the virtual token passing technique similarly to the one used by the P-NET protocol. This technique is a medium access control mechanism that requires small processing power, being suitable to implement devices based on processors with small processing power. The solution is called Virtual Token Passing Ethernet or VTPE. This proposal discusses the modifications required in the Ethernet frame format, the temporal analysis to guarantee real-time communication and the implementation of two demonstrators based on microcontrollers and standard Ethernet controllers. This thesis also presents a proposal to implement VTPE in an IP Core to overcome some difficulties derived from limitations of standard Ethernet controllers, namely to allow medium access control during a frame transmission. This proposal can increase the bandwidth efficiency of VTPE. VTPE, as well as P-NET or any other protocol based on circular token rotation technique, only allows a station to communicate once for each token round. This design imposition can cause unacceptable communication blocking in applications with isochronous traffic such as multimedia. An improvement in the VTPE proposal enables a station to access the medium more than once per token round. The experimental results as well as the temporal analysis show that the blocking can be drastically reduced. This improvement can also be used in the P-NET protocol. Finally this thesis proposes a variant of VTPE, named VTPE/hBEB, to be implemented in Ethernet controllers that are able to support the hBEB algorithm. The VTPE/hBEB allows more than one hBEB station to coexist with several standard Ethernet stations in the same shared Ethernet segment. A demonstrator for the VTPE/hBEB validation, as well as an application, are also presented and discussed

Low-Latency Hard Real-Time Communication over Switched Ethernet

With the upsurge in the demand for high-bandwidth networked real-time applications in cost-sensitive environments, a key issue is to take advantage of developments of commodity components that offer a multiple of the throughput of classical real-time solutions. It was the starting hypothesis of this dissertation that with fine grained traffic shaping as the only means of node cooperation, it should be possible to achieve lower guaranteed delays and higher bandwidth utilization than with traditional approaches, even though Switched Ethernet does not support policing in the switches as other network architectures do. This thesis presents the application of traffic shaping to Switched Ethernet and validates the hypothesis. It shows, both theoretically and practically, how commodity Switched Ethernet technology can be used for low-latency hard real-time communication, and what operating-system support is needed for an efficient implementation

“Design, Development and Characterization of a Thermal Sensor Brick System for Modular Robotics

This thesis presents the work on thermal imaging sensor brick (TISB) system for modular robotics. The research demonstrates the design, development and characterization of the TISB system. The TISB system is based on the design philosophy of sensor bricks for modular robotics. In under vehicle surveillance for threat detection, which is a target application of this work we have demonstrated the advantages of the TISB system over purely vision-based systems. We have highlighted the advantages of the TISB system as an illumination invariant threat detection system for detecting hidden threat objects in the undercarriage of a car. We have compared the TISB system to the vision sensor brick system and the mirror on a stick. We have also illustrated the operational capability of the system on the SafeBot under vehicle robot to acquire and transmit the data wirelessly. The early designs of the TISB system, the evolution of the designs and the uniformity achieved while maintaining the modularity in building the different sensor bricks; the visual, the thermal and the range sensor brick is presented as part of this work. Each of these sensor brick systems designed and implemented at the Imaging Robotics and Intelligent Systems (IRIS) laboratory consist of four major blocks: Sensing and Image Acquisition Block, Pre-Processing and Fusion Block, Communication Block, and Power Block. The Sensing and Image Acquisition Block is to capture images or acquire data. The Pre-Processing and Fusion Block is to work on the acquired images or data. The Communication Block is for transferring data between the sensor brick and the remote host computer. The Power Block is to maintain power supply to the entire brick. The modular sensor bricks are self-sufficient plug and play systems. The SafeBot under vehicle robot designed and implemented at the IRIS laboratory has two tracked platforms one on each side with a payload bay area in the middle. Each of these tracked platforms is a mobility brick based on the same design philosophy as the modular sensor bricks. The robot can carry one brick at a time or even multiple bricks at the same time. The contributions of this thesis are: (1) designing and developing the hardware implementation of the TISB system, (2) designing and developing the software for the TISB system, and (3) characterizing the TISB system, where this characterization of the system is the major contribution of this thesis. The analysis of the thermal sensor brick system provides the user and future designers with sufficient information on parameters to be considered to make the right choice for future modifications, the kind of applications the TISB could handle and the load that the different blocks of the TISB system could manage. Under vehicle surveillance for threat detection, perimeter / area surveillance, scouting, and improvised explosive device (IED) detection using a car-mounted system are some of the applications that have been identified for this system

Overview of UMTS network evolution through radio and transmission feature validation

This project is based on several UMTS network feature validation with the aim to provide an end-to-end in-depth knowledge overview gained in parallel in the areas of radio network mobility processes (cell camping and inter-system handover), Quality of Service improvement for HSPA data users and transport network evolution towards the All-IP era.Hardware and software validation is a key step in the relationship between the mobile network operator and the vendor. Through this verification process, while executing that functionality or testing a specific hardware, the difference between the actual result and expected result can be better understood and, in turn, this in-depth knowledge acquisition is translated into a tailored usage of the product in the operator’s live network. As a result, validation helps in building a better product as per the customer’s requirement and helps satisfying their needs, which positively impacts in the future evolution of the vendor product roadmap implementation process for a specific customer. This project is based on several Universal Mobile Telecommunication Services (UMTS) network feature validation with the aim to provide an end-to-end in-depth knowledge overview gained in parallel in the areas of radio network mobility processes (cell camping and inter-system handover), Quality of Service improvement for High Speed Downlink Packet Access (HSPA) data users and transport network evolution towards the All-IP era.Las campañas de validación hardware y software son un paso clave en las relaciones comerciales establecidas entre un operador de telecomunicaciones y su proveedor de equipos de red. Durante los procesos de certificación, mientras se ejecuta una funcionalidad software o se valida un determinado hardware, se obtiene un conocimiento profundo de la diferencia entre el resultado obtenido y el esperado, repercutiendo directamente en un uso a medida de dicha funcionalidad o hardware en la propia red del cliente. Como consecuencia de lo anterior, podemos aseverar que los procesos de validación permiten en gran medida al proveedor adaptarse mejor a los requerimientos del cliente, ayudando a satisfacer realmente sus necesidades. Esto implica directamente un impacto positivo en la futura evolución del portfolio que el fabricante ofrece a un determinado cliente. Este proyecto está basado en la validación de diferentes funcionalidades de red UMTS, cuyo objetivo es proporcionar un conocimiento global de distintos aspectos que conforman el funcionamiento de una red de telecomunicaciones 3G, como son los procesos de movilidad de acceso radio (acampado de red y handover inter-sistema), las mejoras en la calidad de servicio para usuarios de datos HSPA y la convergencia de la red de transporte hacia la era IP.Els processos de validació hardware i software són un punt clau en les relacions comercials establertes entre un operador de telecomunicaciones i el proveïdor d'equipament de la xarxa. En el transcurs dels processos de certificació, a la mateixa vegada que s'executa una funcionalitat software o es valida un determinat hardware, s'obtenen grans coneixements respecte la diferència entre el resultat obtingut i l'esperat, que són d'aplicació directa a l'hora d'establir un ús adpatat a la xarxa del client. En conseqüència, podem asseverar que les campanyes de validació permeten en gran mesura al proveïdor adaptar-se millor als requeriments del client, ajudant a satisfer realment les seves necessitats. Això implica directament un impacte positiu en la futura evol.lució del portfoli que el fabricant ofereix a un determinat client. Aquest projecte es basa en la presentació d'un procès de validació de diferents funcionalitats relacionades amb la xarxa UMTS, amb l'objectiu de proporcionar un coneixement global de la varietat d'aspectes que conformen el funcionament d'una xarxa de telecomunicacions 3G, com són els processos de mobilitat en accès radio (acampat de l'usuari i handover inter-sistema), millores en la qualitat de servei per a usuaris de dades HSPA i la convergència de la xarxa de transport cap a l'era IP

Real-time communications over switched Ethernet supporting dynamic QoS management

Doutoramento em Engenharia InformáticaDurante a última década temos assistido a um crescente aumento na utilização de sistemas embutidos para suporte ao controlo de processos, de sistemas robóticos, de sistemas de transportes e veículos e até de sistemas domóticos e eletrodomésticos. Muitas destas aplicações são críticas em termos de segurança de pessoas e bens e requerem um alto nível de determinismo com respeito aos instantes de execução das respectivas tarefas. Além disso, a implantação destes sistemas pode estar sujeita a limitações estruturais, exigindo ou beneficiando de uma configuração distribuída, com vários subsistemas computacionais espacialmente separados. Estes subsistemas, apesar de espacialmente separados, são cooperativos e dependem de uma infraestrutura de comunicação para atingir os objectivos da aplicação e, por consequência, também as transacções efectuadas nesta infraestrutura estão sujeitas às restrições temporais definidas pela aplicação. As aplicações que executam nestes sistemas distribuídos, chamados networked embedded systems (NES), podem ser altamente complexas e heterogéneas, envolvendo diferentes tipos de interacções com diferentes requisitos e propriedades. Um exemplo desta heterogeneidade é o modelo de activação da comunicação entre os subsistemas que pode ser desencadeada periodicamente de acordo com uma base de tempo global (time-triggered), como sejam os fluxos de sistemas de controlo distribuído, ou ainda ser desencadeada como consequência de eventos assíncronos da aplicação (event-triggered). Independentemente das características do tráfego ou do seu modelo de activação, é de extrema importância que a plataforma de comunicações disponibilize as garantias de cumprimento dos requisitos da aplicação ao mesmo tempo que proporciona uma integração simples dos vários tipos de tráfego. Uma outra propriedade que está a emergir e a ganhar importância no seio dos NES é a flexibilidade. Esta propiedade é realçada pela necessidade de reduzir os custos de instalação, manutenção e operação dos sistemas. Neste sentido, o sistema é dotado da capacidade para adaptar o serviço fornecido à aplicação aos respectivos requisitos instantâneos, acompanhando a evolução do sistema e proporcionando uma melhor e mais racional utilização dos recursos disponíveis. No entanto, maior flexibilidade operacional é igualmente sinónimo de maior complexidade derivada da necessidade de efectuar a alocação dinâmica dos recursos, acabando também por consumir recursos adicionais no sistema. A possibilidade de modificar dinâmicamente as caracteristicas do sistema também acarreta uma maior complexidade na fase de desenho e especificação. O aumento do número de graus de liberdade suportados faz aumentar o espaço de estados do sistema, dificultando a uma pre-análise. No sentido de conter o aumento de complexidade são necessários modelos que representem a dinâmica do sistema e proporcionem uma gestão optimizada e justa dos recursos com base em parâmetros de qualidade de serviço (QdS). É nossa tese que as propriedades de flexibilidade, pontualidade e gestão dinâmica de QdS podem ser integradas numa rede switched Ethernet (SE), tirando partido do baixo custo, alta largura de banda e fácil implantação. Nesta dissertação é proposto um protocolo, Flexible Time-Triggered communication over Switched Ethernet (FTT-SE), que suporta as propriedades desejadas e que ultrapassa as limitações das redes SE para aplicações de tempo-real tais como a utilização de filas FIFO, a existência de poucos níveis de prioridade e a pouca capacidade de gestão individualizada dos fluxos. O protocolo baseia-se no paradigma FTT, que genericamente define a arquitectura de uma pilha protocolar sobre o acesso ao meio de uma rede partilhada, impondo desta forma determinismo temporal, juntamente com a capacidade para reconfiguração e adaptação dinâmica da rede. São ainda apresentados vários modelos de distribuição da largura de banda da rede de acordo com o nível de QdS especificado por cada serviço utilizador da rede. Esta dissertação expõe a motivação para a criação do protocolo FTT-SE, apresenta uma descrição do mesmo, bem como a análise de algumas das suas propiedades mais relevantes. São ainda apresentados e comparados modelos de distribuição da QdS. Finalmente, são apresentados dois casos de aplicações que sustentam a validade da tese acima mencionada.During the last decade we have witnessed a massive deployment of embedded systems on a wide applications range, from industrial automation to process control, avionics, cars or even robotics. Many of these applications have an inherently high level of criticality, having to perform tasks within tight temporal constraints. Additionally, the configuration of such systems is often distributed, with several computing nodes that rely on a communication infrastructure to cooperate and achieve the application global goals. Therefore, the communications are also subject to the same temporal constraints set by the application requirements. Many applications relying on such networked embedded systems (NES) are complex and heterogeneous, comprehending different activities with different requirements and properties. For example, the communication between subsystems may follow a strict temporal synchronization with respect to a global time-base (time-triggered), like in a distributed feedback control loop, or it may be issued asynchronously upon the occurrence of events (eventtriggered). Regardless of the traffic characteristics and its activation model, it is of paramount importance having a communication framework that provides seamless integration of heterogeneous traffic sources while guaranteeing the application requirements. Another property that has been emerging as important for NES design and operation is flexibility. The need to reduce installation and operational costs, while facilitating maintenance is promoting a more rational use of the available resources at run-time, exploring the ability to tune service parameters as the system evolves. However, such operational flexibility comes with the cost of increasing the complexity of the system to handle the dynamic resource management, which on the other hand demands the allocation of additional system resources. Moreover, the capacity to dynamically modify the system properties also causes a higher complexity when designing and specifying the system, since the operational state-space increases with the degrees of flexibility of the system. Therefore, in order to bound this complexity appropriate operational models are needed to handle the system dynamics and carry on an efficient and fair resource management strategy based on quality of service (QoS) metrics. This thesis states that the properties of flexibility and timeliness as needed for dynamic QoS management can be provided to switched Ethernet based systems. Switched Ethernet, although initially designed for general purpose Internet access and file transfers, is becoming widely used in NES-based applications. However, COTS switched Ethernet is insufficient regarding the needs for real-time predictability and for supporting the aforementioned properties due the use of FIFO queues too few priority levels and for stream-level management capabilities. In this dissertation we propose a protocol to overcome those limitations, namely the Flexible Time-Triggered communication over Switched Ethernet (FTT-SE). The protocol is based on the FTT paradigm that generically defines a protocol architecture suitable to enforce real-time determinism on a communication network supporting the desired flexibility properties. This dissertation addresses the motivation for FTT-SE, describing the protocol as well as its schedulability analysis. It additionally covers the resource distribution topic, where several distribution models are proposed to manage the resource capacity among the competing services and while considering the QoS level requirements of each service. A couple of application cases are shown that support the aforementioned thesis

IP and ATM integration: A New paradigm in multi-service internetworking

ATM is a widespread technology adopted by many to support advanced data communication, in particular efficient Internet services provision. The expected challenges of multimedia communication together with the increasing massive utilization of IP-based applications urgently require redesign of networking solutions in terms of both new functionalities and enhanced performance. However, the networking context is affected by so many changes, and to some extent chaotic growth, that any approach based on a structured and complex top-down architecture is unlikely to be applicable. Instead, an approach based on finding out the best match between realistic service requirements and the pragmatic, intelligent use of technical opportunities made available by the product market seems more appropriate. By following this approach, innovations and improvements can be introduced at different times, not necessarily complying with each other according to a coherent overall design. With the aim of pursuing feasible innovations in the different networking aspects, we look at both IP and ATM internetworking in order to investigating a few of the most crucial topics/ issues related to the IP and ATM integration perspective. This research would also address various means of internetworking the Internet Protocol (IP) and Asynchronous Transfer Mode (ATM) with an objective of identifying the best possible means of delivering Quality of Service (QoS) requirements for multi-service applications, exploiting the meritorious features that IP and ATM have to offer. Although IP and ATM often have been viewed as competitors, their complementary strengths and limitations from a natural alliance that combines the best aspects of both the technologies. For instance, one limitation of ATM networks has been the relatively large gap between the speed of the network paths and the control operations needed to configure those data paths to meet changing user needs. IP\u27s greatest strength, on the other hand, is the inherent flexibility and its capacity to adapt rapidly to changing conditions. These complementary strengths and limitations make it natural to combine IP with ATM to obtain the best that each has to offer. Over time many models and architectures have evolved for IP/ATM internetworking and they have impacted the fundamental thinking in internetworking IP and ATM. These technologies, architectures, models and implementations will be reviewed in greater detail in addressing possible issues in integrating these architectures s in a multi-service, enterprise network. The objective being to make recommendations as to the best means of interworking the two in exploiting the salient features of one another to provide a faster, reliable, scalable, robust, QoS aware network in the most economical manner. How IP will be carried over ATM when a commercial worldwide ATM network is deployed is not addressed and the details of such a network still remain in a state of flux to specify anything concrete. Our research findings culminated with a strong recommendation that the best model to adopt, in light of the impending integrated service requirements of future multi-service environments, is an ATM core with IP at the edges to realize the best of both technologies in delivering QoS guarantees in a seamless manner to any node in the enterprise

Voice over IP

The area that this thesis covers is Voice over IP (or IP Telephony as it is sometimes called) over Private networks and not over the Internet. There is a distinction to be made between the two even though the term is loosely applied to both. IP Telephony over Private Networks involve calls made over private WANs using IP telephony protocols while IP Telephony over the Internet involve calls made over the public Internet using IP telephony protocols. Since the network is private, service is reliable because the network owner can control how resources are allocated to various applications, such as telephony services. The public Internet on the other hand is a public, largely unmanaged network that offers no reliable service guarantee. Calls placed over the Internet can be low in quality, but given the low price, some find this solution attractive. What started off as an Internet Revolution with free phone calls being offered to the general public using their multimedia computers has turned into a telecommunication revolution where enterprises are beginning to converge their data and voice networks into one network. In retrospect, an enterprise\u27s data networks are being leveraged for telephony. The communication industry has come full circle. Earlier in the decade data was being transmitted over the public voice networks and now voice is just another application which is/will be run over the enterprises existing data networks. We shall see in this thesis the problems that are encountered while sending Voice over Data networks using the underlying IP Protocol and the corrective steps taken by the Industry to resolve these multitudes of issues. Paul M. Zam who is collaborating in this Joint Thesis/project on VoIP will substantiate this theoretical research with his practical findings. On reading this paper the reader will gain an insight in the issues revolving the implementation of VoIP in an enterprises private network as well the technical data, which sheds more light on the same. Thus the premise of this joint thesis/project is to analyze the current status of the technology and present a business case scenario where an organization will be able to use this information