Interacting Components

SystemCSP is a graphical modeling language based on both CSP and concepts of component-based software development. The component framework of SystemCSP enables specification of both interaction scenarios and relative execution ordering among components. Specification and implementation of interaction among participating components is formalized via the notion of interaction contract. The used approach enables incremental design of execution diagrams by adding restrictions in different interaction diagrams throughout the process of system design. In this way all different diagrams are related into a single formally verifiable system. The concept of reusable formally verifiable interaction contracts is illustrated by designing set of design patterns for typical fault tolerance interaction scenarios

Real-time and fault tolerance in distributed control software

Closed loop control systems typically contain multitude of spatially distributed sensors and actuators operated simultaneously. So those systems are parallel and distributed in their essence. But mapping this parallelism onto the given distributed hardware architecture, brings in some additional requirements: safe multithreading, optimal process allocation, real-time scheduling of bus and network resources. Nowadays, fault tolerance methods and fast even online reconfiguration are becoming increasingly important. All those often conflicting requirements, make design and implementation of real-time distributed control systems an extremely difficult task, that requires substantial knowledge in several areas of control and computer science. Although many design methods have been proposed so far, none of them had succeeded to cover all important aspects of the problem at hand. [1] Continuous increase of production in embedded market, makes a simple and natural design methodology for real-time systems needed more then ever

On designing a framework for distributed real-time embedded control systems

Closed loop control systems are in essence parallel and distributed. But when implementing this parallelism in software, lot of obstacles concerning multithreading communication and synchronization issues arise. Using multithreading in safe and structured way is possible if the program is built such that it can be checked using some formal mathematical algebra (e.g. CSP). Fortunately, several formal checking tools and libraries implementing CSP based constructs are available for most widely used general purpose programming languages.\ud One of those libraries is the CT library [1, 2], developed at University of Twente

CAN Fieldbus Communication in the CSP-based CT Library

In closed-loop control systems several realworld entities are simultaneously communicated to through a multitude of spatially distributed sensors and actuators. This intrinsic parallelism and complexity motivates implementing control software in the form of concurrent processes deployed on distributed hardware architectures. A CSP based occam-like architecture seems to be the most convenient for such a purpose. Many, often conflicting, requirements make design and implementation of distributed real-time control systems an extremely difficult task. The scope of this paper is limited to achieving safe and real-time communication over a CAN fieldbus for an\ud existing CSP-based framework

Dynamically reconfigurable resource-aware component framework: architecture and concepts

Applications executed on a shared distributed platform compete for resources provided by the platform. In case these applications have highly fluctuating resource demands, a software architecture is required that provides support for runtime resource management. In position paper [1], we have proposed such architecture and have introduced its key concepts and entities. In this paper, we introduce a metamodel that captures the key concepts and we identify lifecycle models for both applications and individual components. A set of dynamic reconfiguration strategies is introduced and their relationship to the stages of the application lifecycle is given. Keywords: Component framework – networked services – resource management – dynamic reconfiguration – application lifecycle – component lifecycl

Co-Simulation of Networked Embedded Control Systems, a CSP-like Process-oriented Approach

Complex control software problems can be solved by using structured design methods that take advantage of hardware abstraction and concurrency. In our lab, a toolchain has been developed that facilitates such a design method. This paper presents two extensions to this toolchain. The first, a distributed simulation framework, enables one to simulate a complete distributed control system, prior to the actual implementation. Focus has been on the influence the network communication exerts on the overall behavior of the system. The second extension, a new communication framework, allows for a smooth transition from simulation to a real control system, by hiding all low-level communication details from the control software. This separates the concerns of the control software from distribution and inter-node communication issues, creating freedom in process allocation

Impact of dense-water flow over a sloping bottom on open-sea circulation: Laboratory experiments and an Ionian Sea (Mediterranean) example

The North Ionian Gyre (NIG) displays prominent inversions on decadal scales. We investigate the role of internal forcing induced by changes in the horizontal pressure gradient due to the varying density of Adriatic Deep Water (AdDW), which spreads into the deep layers of the northern Ionian Sea. In turn, the AdDW density fluctuates according to the circulation of the NIG through a feedback mechanism known as the bimodal oscillating system. We set up laboratory experiments with a two-layer ambient fluid in a circular rotating tank, where densities of 1000 and 1015ĝ€¯kgĝ€¯m-3 characterize the upper and lower layers, respectively. From the potential vorticity evolution during the dense-water outflow from a marginal sea, we analyze the response of the open-sea circulation to the along-slope dense-water flow. In addition, we show some features of the cyclonic and anticyclonic eddies that form in the upper layer over the slope area. We illustrate the outcome of the experiments of varying density and varying discharge rates associated with dense-water injection. When the density is high (1020ĝ€¯kgĝ€¯m-3) and the discharge is large, the kinetic energy of the mean flow is stronger than the eddy kinetic energy. Conversely, when the density is lower (1010ĝ€¯kgĝ€¯m-3) and the discharge is reduced, vortices are more energetic than the mean flow - that is, the eddy kinetic energy is larger than the kinetic energy of the mean flow. In general, over the slope, following the onset of dense-water injection, the cyclonic vorticity associated with current shear develops in the upper layer. The vorticity behaves in a two-layer fashion, thereby becoming anticyclonic in the lower layer of the slope area. Concurrently, over the deep flat-bottom portion of the basin, a large-scale anticyclonic gyre forms in the upper layer extending partly toward a sloping rim. The density record shows the rise of the pycnocline due to the dense-water sinking toward the flat-bottom portion of the tank. We show that the rate of increase in the anticyclonic potential vorticity is proportional to the rate of the rise of the interface, namely to the rate of decrease in the upper-layer thickness (i.e., the upper-layer squeezing). The comparison of laboratory experiments with the Ionian Sea is made for a situation when the sudden switch from cyclonic to anticyclonic basin-wide circulation took place following extremely dense Adriatic water overflow after the harsh winter in 2012. We show how similar the temporal evolution and the vertical structure are in both laboratory and oceanic conditions. The demonstrated similarity further supports the assertion that the wind-stress curl over the Ionian Sea is not of paramount importance in generating basin-wide circulation inversions compared with the internal forcing