Francisco Vasques

Real-time fieldbus communications using Profibus networks

This paper provides a comprehensive study on how to use Profibus fieldbus networks to support real-time industrial communications, that is, on how to ensure the transmission of real-time messages within a maximum bound time. Profibus is base on a simplified timed token (TT) protocol, which is a well-proved solution for real-time communication systems. However, Profibus differs with respect to the TT protocol, thus preventing the application of the usual TT protocol real-time analysis. In fact, real-time solutions for networks based on the TT protocol rely on the possibility of allocating specific bandwidth for the real-time traffic. This means that a minimum amount of time is always available, at each token visit, to transmit real-time messages, transversely, with the Profibus protocol, in the worst case, only one real-time message is processed per token visit. The authors propose two approaches to guarantee the real-time behavior of the Profibus protocol: (1) an unconstrained low-priority traffic profile; and (2) a constrained low-priority traffic profile. The proposed analysis shows that the first profile is a suitable approach for more responsive systems (tighter deadlines), while the second allows for increased nonreal-time traffic throughput.

Reliability and Availability Evaluation of Wireless Sensor Networks for Industrial Applications

Wireless Sensor Networks (WSN) currently represent the best candidate to be adopted as the communication solution for the last mile connection in process control and monitoring applications in industrial environments. Most of these applications have stringent dependability (reliability and availability) requirements, as a system failure may result in economic losses, put people in danger or lead to environmental damages. Among the different type of faults that can lead to a system failure, permanent faults on network devices have a major impact. They can hamper communications over long periods of time and consequently disturb, or even disable, control algorithms. The lack of a structured approach enabling the evaluation of permanent faults, prevents system designers to optimize decisions that minimize these occurrences. In this work we propose a methodology based on an automatic generation of a fault tree to evaluate the reliability and availability of Wireless Sensor Networks, when permanent faults occur on network devices. The proposal supports any topology, different levels of redundancy, network reconfigurations, criticality of devices and arbitrary failure conditions. The proposed methodology is particularly suitable for the design and validation of Wireless Sensor Networks when trying to optimize its reliability and availability requirements.

Cycle time properties of the PROFIBUS timed-token protocol

A recent trend in distributed computer-controlled systems (DCCS) is to interconnect the distributed computing elements by means of multi-point broadcast networks. Since the network medium is shared between a number of network nodes, access contention exists and must be solved by a medium access control (MAC) protocol. Usually, DCCS impose real-time constraints. In essence, by real-time constraints we mean that traffic must be sent and received within a bounded interval, otherwise a timing fault is said to occur. This motivates the use of communication networks with a MAC protocol that guarantees bounded access and response times to message requests. PROFIBUS is a communication network in which the MAC protocol is based on a simplified version of the timed-token protocol. In this paper we address the cycle time properties of the PROFIBUS MAC protocol, since the knowledge of these properties is of paramount importance for guaranteeing the real-time behaviour of a distributed computer-controlled system which is supported by this type of network.

Reliable real-time communication in CAN networks

Controller area network (CAN) is a fieldbus network suitable for small-scale distributed computer controlled systems (DCCS), being appropriate for sending and receiving short real-time messages at speeds up to 1 Mbit/sec. Several studies are available on how to guarantee the real-time requirements of CAN messages, providing preruntime schedulability conditions to guarantee the real-time communication requirements of DCCS traffic. Usually, it is considered that CAN guarantees atomic multicast properties by means of its extensive error detection/signaling mechanisms. However, there are some error situations where messages can be delivered in duplicate or delivered only by a subset of the receivers, leading to inconsistencies in the supported applications. In order to prevent such inconsistencies, a middleware for reliable communication in CAN is proposed, taking advantage of CAN synchronous properties to minimize the runtime overhead. Such middleware comprises a set of atomic multicast and consolidation protocols, upon which the reliable communication properties are guaranteed. The related timing analysis demonstrates that, in spite of the extra stack of protocols, the real-time properties of CAN are preserved since the predictability of message transfer is guaranteed.

Real-time communications over hybrid wired/wireless PROFIBUS-based networks

PROFIBUS is an international standard (IEC 61158) for factory-floor communications, with some hundreds of thousands of world-wide installations. However, it does not include any wireless capabilities. In this paper we propose a hybrid wired/wireless PROFIBUS solution where most of the design options are made in order to guarantee the proper real-time behaviour of the overall network. We address the timing unpredictability problems placed by the co-existence of heterogeneous transmission media in the same network. Moreover, we propose a novel solution to provide inter-cell mobility to PROFIBUS wireless nodes.

VTP-CSMA: A Virtual Token Passing Approach for Real-Time Communication in IEEE 802.11 Wireless Networks

Currently, there is a trend towards the implementation of industrial communication systems using wireless networks. However, keeping up with the timing constraints of real-time traffic in wireless environments is a hard task. The main reason is that real-time devices must share the same communication medium with timing unconstrained devices. The VTP-CSMA architecture has been proposed to deal with this problem. It considers an unified wireless system in one frequency band, where the communication bandwidth is shared by real-time and non-real-time communicating devices. The proposed architecture is based on a virtual token passing (VTP) procedure that circulates a virtual token among real-time devices. This virtual token is complemented by an underlying traffic separation mechanism that prioritizes the real-time traffic over the non-real-time traffic. This is one of the most innovative aspects of the proposed architecture, as most part of real-time communication approaches are not able to handle timing unconstrained traffic sharing the same communication medium. A ring management procedure for the VTP-CSMA architecture is also proposed, allowing real-time stations to adequately join/leave the virtual ring.

Schedulability analysis of real-time traffic in WorldFIP networks: an integrated approach

The WorldFIP protocol is one of the profiles that constitute the European fieldbus standard EN-50170. It is particularly well suited to be used in distributed computer-controlled systems where a set of process variables must be shared among network devices. To cope with the real-time requirements of such systems, the protocol provides communication services based on the exchange of periodic and aperiodic identified variables. The periodic exchanges have the highest priority and are executed at run time according to a cyclic schedule. Therefore, the respective schedulability can be determined at pre-run-time when building the schedule table. Concerning the aperiodic exchanges, the situation is different since their priority is lower and they are bandied according to a first-come-first-served policy. In this paper, a response-time-based schedulability analysis for the real-time traffic is presented. Such analysis considers both types of traffic in an integrated way, according to their priorities. Furthermore, a fixed-priorities-based policy is also used to schedule the periodic traffic. The proposed analysis represents an improvement relative to previous work and it can be evaluated online as part of a traffic online admission control. This feature is of particular importance when a planning scheduler is used, instead of the typical offline static scheduler, to allow online changes to the set of periodic process variables.

Integrating inaccessibility in response time analysis of CAN networks

A controller area network (CAN) is a field bus network suitable for small-scale distributed computer controlled systems, appropriate for transferring short real-time messages. Nevertheless, it must be understood that continuity of service is not fully guaranteed since it may be disturbed by temporary periods of network inaccessibility. Such temporary periods of network inaccessibility are integrated in the response time analysis of CAN networks. The achieved results emphasise that, in the presence of temporary periods of network inaccessibility, a CAN network is not able to provide different integrity levels to the supported applications, since errors in low priority messages interfere with the response time of higher priority message streams.

Guaranteeing real-time message deadlines in PROFIBUS networks

The paper provides a comprehensive study on how to use Profibus networks to support real time communications, that is, ensuring the transmission of the real time messages before their deadlines. Profibus is based on a simplified Timed Token (TT) protocol, which is a well proved solution for real time communication systems. However, Profibus differences from the TT protocol prevent the application of the usual TT analysis. The main reason is that, conversely to the TT protocol, in the worst case, only one high priority message is processed per token visit. The major contribution of the paper is to prove that, despite this shortcoming, it is possible to guarantee communication real time behaviour with the Profibus protocol.

Simulation Analysis of the IEEE 802.11e EDCA Protocol for an Industrially-Relevant Real-Time Communication Scenario

The IEEE 802.11e standard was published as an amendment to the original IEEE 802.11 standard. This amendment is intended to provide differentiated levels of QoS to the supported applications. The 802.11e amendment incorporates an additional coordination function called hybrid coordination function (HCF) that uses both a contention-based channel access method, called the enhanced distributed channel access (EDCA) and a controlled channel access, referred to as the HCF controlled channel access (HCCA). Under the EDCA mechanism, it is a common assumption to consider the highest access category (voice) adequate to support real-time communication. In this paper, we analyze the timing behavior of the EDCA function, when it is used to support real-time traffic. Basically, we assess the behavior of the voice category in open communication environments (i.e., a communication environment subject to external disturbances) when this access category is used to transfer small sized packets, generated in periodic intervals. We show that the transmission opportunity (TXOP) mechanism included in the IEEE 802.11e amendment improves the system throughput, for the case of message streams with small packet sizes. However, the impact of external disturbances upon the transfer of real-time messages is highly relevant. For instance, the average access delay for the real-time messages is more than one order of magnitude larger when the external disturbance increases the network load from just 10% to 30%. Furthermore, both the number of packet losses and the average size of the MAC queues forecast an unacceptable number of deadline losses for the real-time message streams, even for intermediate load cases.