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

A Survey of Research into Mixed Criticality Systems

This survey covers research into mixed criticality systems that has been published since Vestal’s seminal paper in 2007, up until the end of 2016. The survey is organised along the lines of the major research areas within this topic. These include single processor analysis (including fixed priority and EDF scheduling, shared resources and static and synchronous scheduling), multiprocessor analysis, realistic models, and systems issues. The survey also explores the relationship between research into mixed criticality systems and other topics such as hard and soft time constraints, fault tolerant scheduling, hierarchical scheduling, cyber physical systems, probabilistic real-time systems, and industrial safety standards

Driving the Network-on-Chip Revolution to Remove the Interconnect Bottleneck in Nanoscale Multi-Processor Systems-on-Chip

The sustained demand for faster, more powerful chips has been met by the availability of chip manufacturing processes allowing for the integration of increasing numbers of computation units onto a single die. The resulting outcome, especially in the embedded domain, has often been called SYSTEM-ON-CHIP (SoC) or MULTI-PROCESSOR SYSTEM-ON-CHIP (MP-SoC). MPSoC design brings to the foreground a large number of challenges, one of the most prominent of which is the design of the chip interconnection. With a number of on-chip blocks presently ranging in the tens, and quickly approaching the hundreds, the novel issue of how to best provide on-chip communication resources is clearly felt. NETWORKS-ON-CHIPS (NoCs) are the most comprehensive and scalable answer to this design concern. By bringing large-scale networking concepts to the on-chip domain, they guarantee a structured answer to present and future communication requirements. The point-to-point connection and packet switching paradigms they involve are also of great help in minimizing wiring overhead and physical routing issues. However, as with any technology of recent inception, NoC design is still an evolving discipline. Several main areas of interest require deep investigation for NoCs to become viable solutions: • The design of the NoC architecture needs to strike the best tradeoff among performance, features and the tight area and power constraints of the onchip domain. • Simulation and verification infrastructure must be put in place to explore, validate and optimize the NoC performance. • NoCs offer a huge design space, thanks to their extreme customizability in terms of topology and architectural parameters. Design tools are needed to prune this space and pick the best solutions. • Even more so given their global, distributed nature, it is essential to evaluate the physical implementation of NoCs to evaluate their suitability for next-generation designs and their area and power costs. This dissertation performs a design space exploration of network-on-chip architectures, in order to point-out the trade-offs associated with the design of each individual network building blocks and with the design of network topology overall. The design space exploration is preceded by a comparative analysis of state-of-the-art interconnect fabrics with themselves and with early networkon- chip prototypes. The ultimate objective is to point out the key advantages that NoC realizations provide with respect to state-of-the-art communication infrastructures and to point out the challenges that lie ahead in order to make this new interconnect technology come true. Among these latter, technologyrelated challenges are emerging that call for dedicated design techniques at all levels of the design hierarchy. In particular, leakage power dissipation, containment of process variations and of their effects. The achievement of the above objectives was enabled by means of a NoC simulation environment for cycleaccurate modelling and simulation and by means of a back-end facility for the study of NoC physical implementation effects. Overall, all the results provided by this work have been validated on actual silicon layout

Analysis of Real-Time Capabilities of Dynamic Scheduled System

This PhD-thesis explores different real-time scheduling approaches to effectively utilize industrial real-time applications on multicore or manycore platforms. The proposed scheduling policy is named the Time-Triggered Constant Phase scheduler for handling periodic tasks, which determines time windows for each computation and communication in advance by using the dependent task model

Zuverlässige und Energieeffiziente gemischt-kritische Echtzeit On-Chip Systeme

Multi- and many-core embedded systems are increasingly becoming the target for many applications that require high performance under varying conditions. A resulting challenge is the control, and reliable operation of such complex multiprocessing architectures under changes, e.g., high temperature and degradation. In mixed-criticality systems where many applications with varying criticalities are consolidated on the same execution platform, fundamental isolation requirements to guarantee non-interference of critical functions are crucially important. While Networks-on-Chip (NoCs) are the prevalent solution to provide scalable and efficient interconnects for the multiprocessing architectures, their associated energy consumption has immensely increased. Specifically, hard real-time NoCs must manifest limited energy consumption as thermal runaway in such a core shared resource jeopardizes the whole system guarantees. Thus, dynamic energy management of NoCs, as opposed to the related work static solutions, is highly necessary to save energy and decrease temperature, while preserving essential temporal requirements. In this thesis, we introduce a centralized management to provide energy-aware NoCs for hard real-time systems. The design relies on an energy control network, developed on top of an existing switch arbitration network to allow isolation between energy optimization and data transmission. The energy control layer includes local units called Power-Aware NoC controllers that dynamically optimize NoC energy depending on the global state and applications’ temporal requirements. Furthermore, to adapt to abnormal situations that might occur in the system due to degradation, we extend the concept of NoC energy control to include the entire system scope. That is, online resource management employing hierarchical control layers to treat system degradation (imminent core failures) is supported. The mechanism applies system reconfiguration that involves workload migration. For mixed-criticality systems, it allows flexible boundaries between safety-critical and non-critical subsystems to safely apply the reconfiguration, preserving fundamental safety requirements and temporal predictability. Simulation and formal analysis-based experiments on various realistic usecases and benchmarks are conducted showing significant improvements in NoC energy-savings and in treatment of system degradation for mixed-criticality systems improving dependability over the status quo.Eingebettete Many- und Multi-core-Systeme werden zunehmend das Ziel für Anwendungen, die hohe Anfordungen unter unterschiedlichen Bedinungen haben. Für solche hochkomplexed Multi-Prozessor-Systeme ist es eine grosse Herausforderung zuverlässigen Betrieb sicherzustellen, insbesondere wenn sich die Umgebungseinflüsse verändern. In Systeme mit gemischter Kritikalität, in denen viele Anwendungen mit unterschiedlicher Kritikalität auf derselben Ausführungsplattform bedient werden müssen, sind grundlegende Isolationsanforderungen zur Gewährleistung der Nichteinmischung kritischer Funktionen von entscheidender Bedeutung. Während On-Chip Netzwerke (NoCs) häufig als skalierbare Verbindung für die Multiprozessor-Architekturen eingesetzt werden, ist der damit verbundene Energieverbrauch immens gestiegen. Daher sind dynamische Plattformverwaltungen, im Gegensatz zu den statischen, zwingend notwendig, um ein System an die oben genannten Veränderungen anzupassen und gleichzeitig Timing zu gewährleisten. In dieser Arbeit entwickeln wir energieeffiziente NoCs für harte Echtzeitsysteme. Das Design basiert auf einem Energiekontrollnetzwerk, das auf einem bestehenden Switch-Arbitration-Netzwerk entwickelt wurde, um eine Isolierung zwischen Energieoptimierung und Datenübertragung zu ermöglichen. Die Energiesteuerungsschicht umfasst lokale Einheiten, die als Power-Aware NoC-Controllers bezeichnet werden und die die NoC-Energie in Abhängigkeit vom globalen Zustand und den zeitlichen Anforderungen der Anwendungen optimieren. Darüber hinaus wird das Konzept der NoC-Energiekontrolle zur Anpassung an Anomalien, die aufgrund von Abnutzung auftreten können, auf den gesamten Systemumfang ausgedehnt. Online- Ressourcenverwaltungen, die hierarchische Kontrollschichten zur Behandlung Abnutzung (drohender Kernausfälle) einsetzen, werden bereitgestellt. Bei Systemen mit gemischter Kritikalität erlaubt es flexible Grenzen zwischen sicherheitskritischen und unkritischen Subsystemen, um die Rekonfiguration sicher anzuwenden, wobei grundlegende Sicherheitsanforderungen erhalten bleiben und Timing Vorhersehbarkeit. Experimente werden auf der Basis von Simulationen und formalen Analysen zu verschiedenen realistischen Anwendungsfallen und Benchmarks durchgeführt, die signifikanten Verbesserungen bei On-Chip Netzwerke-Energieeinsparungen und bei der Behandlung von Abnutzung für Systeme mit gemischter Kritikalität zur Verbesserung die Systemstabilität gegenüber dem bisherigen Status quo zeigen

Mixed Criticality Systems - A Review : (13th Edition, February 2022)

This review covers research on the topic of mixed criticality systems that has been published since Vestal’s 2007 paper. It covers the period up to end of 2021. The review is organised into the following topics: introduction and motivation, models, single processor analysis (including job-based, hard and soft tasks, fixed priority and EDF scheduling, shared resources and static and synchronous scheduling), multiprocessor analysis, related topics, realistic models, formal treatments, systems issues, industrial practice and research beyond mixed-criticality. A list of PhDs awarded for research relating to mixed-criticality systems is also included

Erreichen von Performance in Netzwerken-On-Chip für Echtzeitsysteme

In many new applications, such as in automatic driving, high performance requirements have reached safety critical real-time systems. Consequently, Networks-on-Chip (NoCs) must efficiently host new sets of highly dynamic workloads e.g., high resolution sensor fusion and data processing, autonomous decision’s making combined with machine learning. The static platform management, as used in current safety critical systems, is no more sufficient to provide the needed level of service. A dynamic platform management could meet the challenge, but it usually suffers from a lack of predictability and the simplicity necessary for certification of safety and real-time properties. In this work, we propose a novel, global and dynamic arbitration for NoCs with real-time QoS requirements. The mechanism decouples the admission control from arbitration in routers thereby simplifying a dynamic adaptation and real-time analysis. Consequently, the proposed solution allows the deployment of a sophisticated contract-based QoS provisioning without introducing complicated and hard to maintain schemes, known from the frequently applied static arbiters. The presented work introduces an overlay network to synchronize transmissions using arbitration units called Resource Managers (RMs), which allows global and work-conserving scheduling. The description of resource allocation strategies is supplemented by protocol design and verification methodology bringing adaptive control to NoC communication in setups with different QoS requirements and traffic classes. For doing that, a formal worst-case timing analysis for the mechanism has been proposed which demonstrates that this solution not only exposes higher performance in simulation but, even more importantly, consistently reaches smaller formally guaranteed worst-case latencies than other strategies for realistic levels of system's utilization. The approach is not limited to a specific network architecture or topology as the mechanism does not require modifications of routers and therefore can be used together with the majority of existing manycore systems. Indeed, the evaluation followed using the generic performance optimized router designs, as well as two systems-on-chip focused on real-time deployments. The results confirmed that the proposed approach proves to exhibit significantly higher average performance in simulation and execution.In vielen neuen sicherheitskritische Anwendungen, wie z.B. dem automatisierten Fahren, werden große Anforderungen an die Leistung von Echtzeitsysteme gestellt. Daher müssen Networks-on-Chip (NoCs) neue, hochdynamische Workloads wie z.B. hochauflösende Sensorfusion und Datenverarbeitung oder autonome Entscheidungsfindung kombiniert mit maschineller Lernen, effizient auf einem System unterbringen. Die Steuerung der zugrunde liegenden NoC-Architektur, muss die Systemsicherheit vor Fehlern, resultierend aus dem dynamischen Verhalten des Systems schützen und gleichzeitig die geforderte Performance bereitstellen. In dieser Arbeit schlagen wir eine neuartige, globale und dynamische Steuerung für NoCs mit Echtzeit QoS Anforderungen vor. Das Schema entkoppelt die Zutrittskontrolle von der Arbitrierung in Routern. Hierdurch wird eine dynamische Anpassung ermöglicht und die Echtzeitanalyse vereinfacht. Der Einsatz einer ausgefeilten vertragsbasierten Ressourcen-Zuweisung wird so ermöglicht, ohne komplexe und schwer wartbare Mechanismen, welche bereits aus dem statischen Plattformmanagement bekannt sind einzuführen. Diese Arbeit stellt ein übergelagertes Netzwerk vor, welches Übertragungen mit Hilfe von Arbitrierungseinheiten, den so genannten Resource Managern (RMs), synchronisiert. Dieses überlagerte Netzwerk ermöglicht eine globale und lasterhaltende Steuerung. Die Beschreibung verschiedener Ressourcenzuweisungstrategien wird ergänzt durch ein Protokolldesign und Methoden zur Verifikation der adaptiven NoC Steuerung mit unterschiedlichen QoS Anforderungen und Verkehrsklassen. Hierfür wird eine formale Worst Case Timing Analyse präsentiert, welche das vorgestellte Verfahren abbildet. Die Resultate bestätitgen, dass die präsentierte Lösung nicht nur eine höhere Performance in der Simulation bietet, sondern auch formal kleinere Worst-Case Latenzen für realistische Systemauslastungen als andere Strategien garantiert. Der vorgestellte Ansatz ist nicht auf eine bestimmte Netzwerkarchitektur oder Topologie beschränkt, da der Mechanismus keine Änderungen an den unterliegenden Routern erfordert und kann daher zusammen mit bestehenden Manycore-Systemen eingesetzt werden. Die Evaluierung erfolgte auf Basis eines leistungsoptimierten Router-Designs sowie zwei auf Echtzeit-Anwendungen fokusierten Platformen. Die Ergebnisse bestätigten, dass der vorgeschlagene Ansatz im Durchschnitt eine deutlich höhere Leistung in der Simulation und Ausführung liefert

Real-Time Sensor Networks and Systems for the Industrial IoT

The Industrial Internet of Things (Industrial IoT—IIoT) has emerged as the core construct behind the various cyber-physical systems constituting a principal dimension of the fourth Industrial Revolution. While initially born as the concept behind specific industrial applications of generic IoT technologies, for the optimization of operational efficiency in automation and control, it quickly enabled the achievement of the total convergence of Operational (OT) and Information Technologies (IT). The IIoT has now surpassed the traditional borders of automation and control functions in the process and manufacturing industry, shifting towards a wider domain of functions and industries, embraced under the dominant global initiatives and architectural frameworks of Industry 4.0 (or Industrie 4.0) in Germany, Industrial Internet in the US, Society 5.0 in Japan, and Made-in-China 2025 in China. As real-time embedded systems are quickly achieving ubiquity in everyday life and in industrial environments, and many processes already depend on real-time cyber-physical systems and embedded sensors, the integration of IoT with cognitive computing and real-time data exchange is essential for real-time analytics and realization of digital twins in smart environments and services under the various frameworks’ provisions. In this context, real-time sensor networks and systems for the Industrial IoT encompass multiple technologies and raise significant design, optimization, integration and exploitation challenges. The ten articles in this Special Issue describe advances in real-time sensor networks and systems that are significant enablers of the Industrial IoT paradigm. In the relevant landscape, the domain of wireless networking technologies is centrally positioned, as expected