CSP channels for CAN-bus connected embedded control systems

Closed loop control system typically contains multitude of sensors and actuators operated simultaneously. So they are parallel and distributed in its essence. But when mapping this parallelism to software, lot of obstacles concerning multithreading communication and synchronization issues arise. To overcome this problem, the CT kernel/library based on CSP algebra has been developed. This project (TES.5410) is about developing communication extension to the CT library to make it applicable in distributed systems. Since the library is tailored for control systems, properties and requirements of control systems are taken into special consideration. Applicability of existing middleware solutions is examined. A comparison of applicable fieldbus protocols is done in order to determine most suitable ones and CAN fieldbus is chosen to be first fieldbus used. Brief overview of CSP and existing CSP based libraries is given. Middleware architecture is proposed along with few novel ideas

Proof-of-Concept Application - Annual Report Year 1

In this document the Cat-COVITE Application for use in the CATNETS Project is introduced and motivated. Furthermore an introduction to the catallactic middleware and Web Services Agreement (WS-Agreement) concepts is given as a basis for the future work. Requirements for the application of Cat-COVITE with in catallactic systems are analysed. Finally the integration of the Cat-COVITE application and the catallactic middleware is described. --Grid Computing

DIVE on the internet

This dissertation reports research and development of a platform for Collaborative Virtual Environments (CVEs). It has particularly focused on two major challenges: supporting the rapid development of scalable applications and easing their deployment on the Internet. This work employs a research method based on prototyping and refinement and promotes the use of this method for application development. A number of the solutions herein are in line with other CVE systems. One of the strengths of this work consists in a global approach to the issues raised by CVEs and the recognition that such complex problems are best tackled using a multi-disciplinary approach that understands both user and system requirements. CVE application deployment is aided by an overlay network that is able to complement any IP multicast infrastructure in place. Apart from complementing a weakly deployed worldwide multicast, this infrastructure provides for a certain degree of introspection, remote controlling and visualisation. As such, it forms an important aid in assessing the scalability of running applications. This scalability is further facilitated by specialised object distribution algorithms and an open framework for the implementation of novel partitioning techniques. CVE application development is eased by a scripting language, which enables rapid development and favours experimentation. This scripting language interfaces many aspects of the system and enables the prototyping of distribution-related components as well as user interfaces. It is the key construct of a distributed environment to which components, written in different languages, connect and onto which they operate in a network abstracted manner. The solutions proposed are exemplified and strengthened by three collaborative applications. The Dive room system is a virtual environment modelled after the room metaphor and supporting asynchronous and synchronous cooperative work. WebPath is a companion application to a Web browser that seeks to make the current history of page visits more visible and usable. Finally, the London travel demonstrator supports travellers by providing an environment where they can explore the city, utilise group collaboration facilities, rehearse particular journeys and access tourist information data

A decentralized framework for cross administrative domain data sharing

Federation of messaging and storage platforms located in remote datacenters is an essential functionality to share data among geographically distributed platforms. When systems are administered by the same owner data replication reduces data access latency bringing data closer to applications and enables fault tolerance to face disaster recovery of an entire location. When storage platforms are administered by different owners data replication across different administrative domains is essential for enterprise application data integration. Contents and services managed by different software platforms need to be integrated to provide richer contents and services. Clients may need to share subsets of data in order to enable collaborative analysis and service integration. Platforms usually include proprietary federation functionalities and specific APIs to let external software and platforms access their internal data. These different techniques may not be applicable to all environments and networks due to security and technological restrictions. Moreover the federation of dispersed nodes under a decentralized administration scheme is still a research issue. This thesis is a contribution along this research direction as it introduces and describes a framework, called \u201cWideGroups\u201d, directed towards the creation and the management of an automatic federation and integration of widely dispersed platform nodes. It is based on groups to exchange messages among distributed applications located in different remote datacenters. Groups are created and managed using client side programmatic configuration without touching servers. WideGroups enables the extension of the software platform services to nodes belonging to different administrative domains in a wide area network environment. It lets different nodes form ad-hoc overlay networks on-the-fly depending on message destinations located in distinct administrative domains. It supports multiple dynamic overlay networks based on message groups, dynamic discovery of nodes and automatic setup of overlay networks among nodes with no server-side configuration. I designed and implemented platform connectors to integrate the framework as the federation module of Message Oriented Middleware and Key Value Store platforms, which are among the most widespread paradigms supporting data sharing in distributed systems

Analysis of current middleware used in peer-to-peer and grid implementations for enhancement by catallactic mechanisms

This deliverable describes the work done in task 3.1, Middleware analysis: Analysis of current middleware used in peer-to-peer and grid implementations for enhancement by catallactic mechanisms from work package 3, Middleware Implementation. The document is divided in four parts: The introduction with application scenarios and middleware requirements, Catnets middleware architecture, evaluation of existing middleware toolkits, and conclusions. -- Die Arbeit definiert Anforderungen an Grid und Peer-to-Peer Middleware Architekturen und analysiert diese auf ihre Eignung für die prototypische Umsetzung der Katallaxie. Eine Middleware-Architektur für die Umsetzung der Katallaxie in Application Layer Netzwerken wird vorgestellt.Grid Computing

Teleoperation of passivity-based model reference robust control over the internet

This dissertation offers a survey of a known theoretical approach and novel experimental results in establishing a live communication medium through the internet to host a virtual communication environment for use in Passivity-Based Model Reference Robust Control systems with delays. The controller which is used as a carrier to support a robust communication between input-to-state stability is designed as a control strategy that passively compensates for position errors that arise during contact tasks and strives to achieve delay-independent stability for controlling of aircrafts or other mobile objects. Furthermore the controller is used for nonlinear systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance thus maintaining a communication link with an upper bound of constant delay is crucial for robustness and stability of the overall system. For utilizing such framework an elucidation can be formulated by preparing site survey for analyzing not only the geographical distances separating the nodes in which the teleoperation will occur but also the communication parameters that define the virtual topography that the data will travel through. This survey will first define the feasibility of the overall operation since the teleoperation will be used to sustain a delay based controller over the internet thus obtaining a hypothetical upper bound for the delay via site survey is crucial not only for the communication system but also the delay is required for the design of the passivity-based model reference robust control. Following delay calculation and measurement via site survey, bandwidth tests for unidirectional and bidirectional communication is inspected to ensure that the speed is viable to maintain a real-time connection. Furthermore from obtaining the results it becomes crucial to measure the consistency of the delay throughout a sampled period to guarantee that the upper bound is not breached at any point within the communication to jeopardize the robustness of the controller. Following delay analysis a geographical and topological overview of the communication is also briefly examined via a trace-route to understand the underlying nodes and their contribution to the delay and round-trip consistency. To accommodate the communication channel for the controller the input and output data from both nodes need to be encapsulated within a transmission control protocol via a multithreaded design of a robust program within the C language. The program will construct a multithreaded client-server relationship in which the control data is transmitted. For added stability and higher level of security the channel is then encapsulated via an internet protocol security by utilizing a protocol suite for protecting the communication by authentication and encrypting each packet of the session using negotiation of cryptographic keys during each session

A middleware service for fault-tolerant group communications

PhD ThesisMany distributed applications require multicast group communication services, enabling an entity to interact with a group of other entities. Providing the reliability and ordering guarantees required by group based applications is not a trivial task in distributed systems where computation and communication delays might not be known accurately. Furthermore, the approaches available to support these guarantees are diverse. The choice of approach may significantly effect the performance of an application and/or may not be suitable for some application types. Nowadays, distributed applications are frequently built as a Middleware service. The Thesis develops techniques for providing group communication support in Middleware environments. A group communication service has been designed and implemented in such a way as not to hinder the interoperability/portability of applications built using it. The service provides a variety of functions that may be tailored to suit many different types of applications. Group communication protocols are presented that ensure reliability and ordering guarantees. Furthermore, the reliability and ordering guarantees of such protocols may be tailored to suit a wide variety of applications. Mechanisms that provide a variety of approaches to inter-member and inter-group interactions that are suitable for satisfying the requirements of many different types of applications (e.g., fault- tolerant, collaborative) are also supported. The service can work over local and wide area networks (Internet).Hewlett Packard laboratories Engineering and Physical Science Research Counci

A Semantic-Based Middleware for Multimedia Collaborative Applications

The Internet growth and the performance increase of desktop computers have enabled large-scale distributed multimedia applications. They are expected to grow in demand and services and their traffic volume will dominate. Real-time delivery, scalability, heterogeneity are some requirements of these applications that have motivated a revision of the traditional Internet services, the operating systems structures, and the software systems for supporting application development. This work proposes a Java-based lightweight middleware for the development of large-scale multimedia applications. The middleware offers four services for multimedia applications. First, it provides two scalable lightweight protocols for floor control. One follows a centralized model that easily integrates with centralized resources such as a shared too], and the other is a distributed protocol targeted to distributed resources such as audio. Scalability is achieved by periodically multicasting a heartbeat that conveys state information used by clients to request the resource via temporary TCP connections. Second, it supports intra- and inter-stream synchronization algorithms and policies. We introduce the concept of virtual observer, which perceives the session as being in the same room with a sender. We avoid the need for globally synchronized clocks by introducing the concept of user\u27s multimedia presence, which defines a new manner for combining streams coming from multiple sites. It includes a novel algorithm for estimation and removal of clock skew. In addition, it supports event-driven asynchronous message reception, quality of service measures, and traffic rate control. Finally, the middleware provides support for data sharing via a resilient and scalable protocol for transmission of images that can dynamically change in content and size. The effectiveness of the middleware components is shown with the implementation of Odust, a prototypical sharing tool application built on top of the middleware