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

Network Traffic Control Design and Evaluation

Recently, the term bufferbloat has been coined to indicate the uncontrolled growth of the network queueing time. A number of network traffic control strategies have been proposed to control network queueing delay. Active Queue Management (AQM) algorithms such as RED, CoDel and PIE have been proposed to drop packets before the network queues become full and to notify upper layers, e.g., transport protocols, about possible congestion status. Innovative packet schedulers such as FQ-CoDel, have been introduced to prioritize flows which do not build queues. Strategies to reduce device buffering, e.g., BQL, have been proposed to increase the effectiveness of packet schedulers. Network experimentation through simulators such as ns-3, one of the most used network simulators, allows the study of bufferbloat and to evaluate solutions in a controlled environment. In this work, we aligned the ns-3 queueing system to the Linux one, one of the most used networking stacks. We introduced in ns-3 a traffic control module modelled after the Linux one. Our design allowed the introduction in ns-3 of schedulers such as FQ-CoDel and of algorithms to dynamically size the buffers such as BQL. Also, we devised a new emulation methodology to overcome some limitations and increase the emulation fidelity. Then, by using the new emulation methodology, we validated the traffic control module with its AQM algorithms (RED, CoDel, FQ-CoDel and PIE). Our experiments prove the high fidelity of network emulation and the high accuracy of the traffic control module and AQM algorithms. Then, we show two proposals of design and evaluation of traffic control strategies by using ns-3. Firstly, we designed and evaluated a traffic control layer for the backlog management in 3GPP stacks. The approach improves significantly the flows performance in LTE networks. Secondly, we highlighted possible design flaws in rate based AQM algorithms and proposed an alternative flow control approach. The approach allows the improvement of the effectiveness of AQM algorithms. Our work will allow researchers to design and evaluate in a more accurate manner traffic control strategies through ns-3 based simulation and emulation and to evaluate the accuracy of other modules implemented in ns-3

Design of a New High Bandwidth Network for Agricultural Machines

Ethernet is by now the most adopted bus for fast digital communications in many environments, from household entertainment to PLC robotics in industrial assembly lines. Even in automotive industry, the interest in this technology is increasingly growing, pushed forward by research and by the need of high throughput that high dynamics distributed control demands. Although 100base-TX physical layer (PHY) does not seem to meet EMC requirements for vehicular and heavy-duty environments, OPEN Alliance BroadR Reach (soon becoming IEEE standard as IEEE 802.3bw) technology is the most promising and already adopted Ethernet-compatible PHY, reaching 100Mbps over an unshielded twisted pair. An agricultural machine is usually a system including tractor and one or more implements attached to it, to the back or to the front. Nowadays, a specific CAN-based distributed control network support treatments and applications, namely ISOBUS, defined by ISO 11783. This work deals with architectural and technological aspects of advanced Ethernet networks in order to provide a high-throughput deterministic network for in-vehicle distributed control for agricultural machinery. Two main paths of investigation will be presented: one concerning the prioritization of standard Ethernet taking advantage of standard ways of prioritization in well-established technologies; the other changing the channel access method of Ethernet using an industrial fieldbus, chosen after careful investigation. The prioritization of standard Ethernet is performed at two, non-mutual exclusive layers of the ISO OSI stack: one at L3, using the diffserv (former TOS) Ip field; one at L2, using the priorities defined in IEEE 802.1p, used in IEEE 802.1q (VLAN). These choices have several implications in the specific field of application of the agricultural machines. The change of the access method, instead, focused on the adoption of a specific fieldbus, in order to grant deterministic access to the medium and reliability of communications for safety-relevant applications. After a survey, that will be reported, the Powerlink fieldbus was chosen and some modifications will be discussed in order to suit the scope of the research

General QoS-Aware Scheduling Procedure for Passive Optical Networks

Increasing volume, dynamism, and diversity of access traffic have complicated the challenging problem of dynamic resource allocation in passive optical networks. We introduce a general scheduling procedure for passive optical networks, which optimizes a desired performance metric for an arbitrary set of operational constraints. The proposed scheduling has a fast and causal iterative implementation, where each iteration involves a local optimization problem followed by a recursive update of some status information. The generality of the platform enables a proper description of the diverse quality of service requirements, while its low computational complexity makes agile tracking of the network dynamism possible. To demonstrate its versatility and generality, the applications of the scheme for service-differentiated dynamic bandwidth allocation in time- and wavelength-division-multiplexed passive optical networks are discussed. To further reduce the computational complexity, a closed-form solution of the involved optimization in each iteration of the scheduling is derived. We directly incorporate transmission delay in the scheduling and show how the consumed power is traded for the tolerable amount of transmission delay. Furthermore, a 50% power efficiency improvement is reported by exploiting the inherent service diversity among subscribers. The impact of service prioritization, finite buffer length, and packet drops on the power efficiency of the scheme are also investigated