Real-Time Reliable Middleware for Industrial Internet-of-Things

This dissertation contributes to the area of adaptive real-time and fault-tolerant systems research, applied to Industrial Internet-of-Things (IIoT) systems. Heterogeneous timing and reliability requirements arising from IIoT applications have posed challenges for IIoT services to efficiently differentiate and meet such requirements. Specifically, IIoT services must both differentiate processing according to applications\u27 timing requirements (including latency, event freshness, and relative consistency of each other) and enforce the needed levels of assurance for data delivery (even as far as ensuring zero data loss). It is nontrivial for an IIoT service to efficiently differentiate such heterogeneous IIoT timing/reliability requirements to fit each application, especially when facing increasingly large data traffic and when common fault-tolerant mechanisms tend to introduce latency and latency jitters. This dissertation presents a new adaptive real-time fault-tolerant framework for IIoT systems, along with efficient and adaptive strategies to meet each IIoT application\u27s timing/reliability requirements. The contributions of the framework are demonstrated by three new IIoT middleware services: (1) Cyber-Physical Event Processing (CPEP), which both differentiates application-specific latency requirements and enforces cyber-physical timing constraints, by prioritizing, sharing, and shedding event processing. (2) Fault-Tolerant Real-Time Messaging (FRAME), which integrates real-time capabilities with a primary-backup replication system, to fit each application\u27s unique timing and loss-tolerance requirements. (3) Adaptive Real-Time Reliable Edge Computing (ARREC), which leverages heterogeneous loss-tolerance requirements and their different temporal laxities, to perform selective and lazy (yet timely) data replication, thus allowing the system to meet needed levels of loss-tolerance while reducing both the latency and bandwidth penalties that are typical of fault-tolerant sub-systems

Real-time control over networks

A control system in which sensors, actuators, and controllers are interconnected over a communication network is called a networked control system (NCS). Enhanced computational capabilities and bandwidths in the networking technology enabled researchers to develop NCSs to implement distributed control schemes. This dissertation presents a framework for the modeling, design, stability analysis, control, and bandwidth allocation of real-time control over networks. This framework covers key research issues regarding control over networks and can be the guidelines of NCS design. A single actuator ball magnetic-levitation (maglev) system is implemented as a test bed for the real-time control over networks to illustrate and verify the theoretical results of this dissertation. Experimentally verifying the feasibility of Internet-based real-time control is another main objective of this dissertation. First, this dissertation proposes a novel NCS model in which the effects of the networkinduced time delay, data-packet loss, and out-of-order data transmission are all considered. Second, two simple algorithms based on model-estimator and predictor- and timeout-scheme are proposed to compensate for the network-induced time delay and packet loss simultaneously. These algorithms are verified experimentally by the ball maglev test bed. System stability analyses of original and compensated systems are presented. Then, a novel co-design consideration related to real-time control and network communication is also proposed. The working range of the sampling frequency is determined by the analysis of the system stability and network parameters such as time delay, data rate, and data-packet size. The NCS design chart developed in this dissertation can be a useful guideline for choosing the network and control parameters in the design of an NCS. Using a real-time operating system for real-time control over networks is also proposed as one of the main contributions of this dissertation. After a real-time NCS is successfully implemented, advanced control theories such as robust control, optimal control, and adaptive control are applied and formulated to improve the quality of control (QoC) of NCSs. Finally, an optimal dynamic bandwidth management method is proposed to solve the optimal network scheduling and bandwidth allocation problem when NCSs are connected to the same network and are sharing the network resource

Distributed real-time control via the internet

The objective of this research is to demonstrate experimentally the feasibility of using the Internet for a Distributed Control System (DCS). An algorithm has been designed and implemented to ensure stability of the system in the presence of upper bounded time-varying delays. A single actuator magnetic ball levitation system has been used as a test bed to validate the proposed algorithm. Experiments were performed to obtain the round-trip time delay between the host PC and the client PC under varying network loads and at different times. A digital real-time lead-lag controller was implemented for the magnetic levitation system. Upper bounds for the artificial and experimental round-trip time delay that can be accommodated in the control loop for the maglev system were estimated. The artificial time delay was based on various probabilistic distributions and was generated through MATLAB. To accommodate sporadic surges in time delays that are more than these upper bounds, a timeout algorithm with sensor data prediction was developed. Experiments were performed to validate the satisfactory performance of this algorithm in the presence of the bonded sporadic excessive time delays

An Experimental Analysis of the Call Capacity of IEEE 802.11b Wireless Local Area Networks for VoIP Telephony

The use of the Internet to make phone calls is growing in popularity as the Voice over Internet protocol (VoIP) allows users to make phone calls virtually free of charge. The increased uptake of broadband services by domestic users will further increase the use of VoIP telephony. Furthermore, the emergence of low cost wireless networks (namely IEEE 802.11a/b/g WLANs) is expected to bring wireless VoIP into the mainstream. As the number of wireless hotspots increases more users will want to use VoIP calls wherever possible by connecting to open access points (AP). A major concern with VoIP is Quality of Service (QoS). In order for VoIP to be truly successful users must enjoy a similar perceived QoS as a call made over a traditional telephone network. There are many factors that influence QoS which include: throughput, packet delay, delay variation (or jitter), and packet loss. This thesis is an experimental study of the call capacity of an IEEE 802.11b network when using VoIP telephony. Experiments included increasing the number of VoIP stations and also increasing the level of background traffic until network saturation occurs. Results show that the network is capable of supporting at least 16 VoIP stations. Due to the operation of the IEEE 802.11 medium access control (MAC) mechanism, the AP acts as a bottleneck for all traffic destined for wireless stations, in that significant delays can be incurred by VoIP packets which can lead to a poor perceived QoS by users. Consequently the performance of the AP downlink is the critical component in determining VoIP call capacity

Impact of Signaling System Performance on QoE in Next Generation Networks, Journal of Telecommunications and Information Technology, 2009, nr 4

The first experience of quality by multimedia applications’ users takes place during the setup phase of a new connection. If the setup phase is not accepted or “slowly accepted”, the confidence of the user decreases. The user becomes more sensitive when he/she pays the connections with assured quality of service (QoS). In this case, the process of call request should be also accomplished with QoS guarantees. This paper presents the signaling sub-system implemented within the EuQoS system. The EuQoS signaling process follows main assumptions of next generation networks (NGN) architecture and performs tasks related with codec agreement between multimedia end users, admission control and resource reservation functions. In this paper, we present analytical, simulation and experimental results showing the impact of signaling system performance on quality of experience (QoE) for the potential users of multi-layer EuQoS system. In particular, the presented approach aims at ensuring user QoE of the connection setup phase by ensuring QoS for transferring signaling messages by the network

Models and Protocols for Resource Optimization in Wireless Mesh Networks

Wireless mesh networks are built on a mix of fixed and mobile nodes interconnected via wireless links to form a multihop ad hoc network. An emerging application area for wireless mesh networks is their evolution into a converged infrastructure used to share and extend, to mobile users, the wireless Internet connectivity of sparsely deployed fixed lines with heterogeneous capacity, ranging from ISP-owned broadband links to subscriber owned low-speed connections. In this thesis we address different key research issues for this networking scenario. First, we propose an analytical predictive tool, developing a queuing network model capable of predicting the network capacity and we use it in a load aware routing protocol in order to provide, to the end users, a quality of service based on the throughput. We then extend the queuing network model and introduce a multi-class queuing network model to predict analytically the average end-to-end packet delay of the traffic flows among the mobile end users and the Internet. The analytical models are validated against simulation. Second, we propose an address auto-configuration solution to extend the coverage of a wireless mesh network by interconnecting it to a mobile ad hoc network in a transparent way for the infrastructure network (i.e., the legacy Internet interconnected to the wireless mesh network). Third, we implement two real testbed prototypes of the proposed solutions as a proof-of-concept, both for the load aware routing protocol and the auto-configuration protocol. Finally we discuss the issues related to the adoption of ad hoc networking technologies to address the fragility of our communication infrastructure and to build the next generation of dependable, secure and rapidly deployable communications infrastructures

Load-aware routing in mesh networks: Models, algorithms and experimentation

In this paper we consider wireless mesh networks (WMNs) used to share the Internet connectivity of sparsely deployed fixed lines with heterogeneous capacity, ranging from ISP-owned high-speed links to subscriber-owned low-speed connections. If traffic is routed in the mesh without considering the load distribution and the bandwidth of Internet connections, some gateways may rapidly get overloaded because they are selected by too many mesh nodes. This may cause a significant reduction of the overall network capacity. To address this issue, in this paper we first develop a queuing network model that predicts the residual capacity of network paths, and identifies network bottlenecks. By taking advantage of this model, we design a novel Load-Aware Route Selection algorithm, named LARS, which improves the network capacity by allocating network paths to upstream Internet flows so as to ensure a more balanced utilization of wireless network resources and gateways? Internet connections. Using simulations and a prototype implementation, we show that the LARS scheme significantly outperforms the shortest-path first routing protocol using a contention-aware routing metric, providing up to 240% throughput improvement in some network scenarios

Integration of Clouds to Industrial Communication Networks

Cloud computing, owing to its ubiquitousness, scalability and on-demand ac- cess, has transformed into many traditional sectors, such as telecommunication and manufacturing production. As the Fifth Generation Wireless Specifica- tions (5G) emerges, the demand on ubiquitous and re-configurable computing resources for handling tremendous traffic from omnipresent mobile devices has been put forward. And therein lies the adaption of cloud-native model in service delivery of telecommunication networks. However, it takes phased approaches to successfully transform the traditional Telco infrastructure to a softwarized model, especially for Radio Access Networks (RANs), which, as of now, mostly relies on purpose-built Digital Signal Processors (DSPs) for computing and processing tasks.On the other hand, Industry 4.0 is leading the digital transformation in manufacturing sectors, wherein the industrial networks is evolving towards wireless connectivity and the automation process managements are shifting to clouds. However, such integration may introduce unwanted disturbances to critical industrial automation processes. This leads to challenges to guaran- tee the performance of critical applications under the integration of different systems.In the work presented in this thesis, we mainly explore the feasibility of inte- grating wireless communication, industrial networks and cloud computing. We have mainly investigated the delay-inhibited challenges and the performance impacts of using cloud-native models for critical applications. We design a solution, targeting at diminishing the performance degradation caused by the integration of cloud computing

Operating System Contribution to Composable Timing Behaviour in High-Integrity Real-Time Systems

The development of High-Integrity Real-Time Systems has a high footprint in terms of human, material and schedule costs. Factoring functional, reusable logic in the application favors incremental development and contains costs. Yet, achieving incrementality in the timing behavior is a much harder problem. Complex features at all levels of the execution stack, aimed to boost average-case performance, exhibit timing behavior highly dependent on execution history, which wrecks time composability and incrementaility with it. Our goal here is to restitute time composability to the execution stack, working bottom up across it. We first characterize time composability without making assumptions on the system architecture or the software deployment to it. Later, we focus on the role played by the real-time operating system in our pursuit. Initially we consider single-core processors and, becoming less permissive on the admissible hardware features, we devise solutions that restore a convincing degree of time composability. To show what can be done for real, we developed TiCOS, an ARINC-compliant kernel, and re-designed ORK+, a kernel for Ada Ravenscar runtimes. In that work, we added support for limited-preemption to ORK+, an absolute premiere in the landscape of real-word kernels. Our implementation allows resource sharing to co-exist with limited-preemptive scheduling, which extends state of the art. We then turn our attention to multicore architectures, first considering partitioned systems, for which we achieve results close to those obtained for single-core processors. Subsequently, we shy away from the over-provision of those systems and consider less restrictive uses of homogeneous multiprocessors, where the scheduling algorithm is key to high schedulable utilization. To that end we single out RUN, a promising baseline, and extend it to SPRINT, which supports sporadic task sets, hence matches real-world industrial needs better. To corroborate our results we present findings from real-world case studies from avionic industry