Key-Ho Kwon

A fault-tolerant gateway for in-vehicle networks

This paper presents a fault-tolerant gateway embedded system that uses two micro-controllers. One microcontroller performs the main function of achieving a gateway, often called by the main micro-controller. In contrast, another plays the role of checker for the main micro-controller, and is called the sub micro-controller. To achieve fault-tolerance, the checker monitors the state of the main micro-controller. In this paper, we propose hardware architecture for fault-tolerance and evaluate the performance of the proposed system.

Implementation and analysis of the embedded master for EtherCAT

The Ethernet-based network protocol is widely using in industrial environments. Its advantages include high speed, high performance, operation over long distances, and better interoperability. A number of techniques are used to implement the Ethernet protocol for the needs of industrial processes that must provide real time processes. This paper analyses network performance of an Embedded system based master using EtherCAT. The network performance characteristics of the Embedded systems are compared by considering into the factors affecting their performance in a network system. This may determine reasons why network performance differs between factors.

Analysis of implementing OSEK NM with two types of ECU network

ldquoOpen Systems and their interfaces to electronics in Motor Vehiclesrdquo (OSEK) is a real-time operating system used in vehicle systems. OSEK is a standard operating system used by many carmakers. OSEK has a network management algorithm, OSEK network management (OSEK NM). It has two management rules: Direct NM and Indirect NM. Direct NM and Indirect NM are implemented in two network protocols for ECUs, CAN and LIN. Their advantages and disadvantages are analyzed. When two OSEK NM management rules are applied to the communication protocols, application problems and differences could be found. Performance analysis in real applications and network management rules for each network protocol are proposed.

Timing analysis of worst case with direct NM of OSEK NM

This paper presents the worst case network situation and the analyzed result for timing test on real embedded system. Timing is critical fact in a specific network. As the needs that vehicle is more intelligence, electrical components of vehicle are more enhanced and complicated. The number of electronic control units (ECUs) which are set up at vehicle is significantly increased. Therefore there is the huge network compounded with a lot of ECUs in automotive system. The more nodes connected and having variable functions, the network has higher probability to occur fault. The fault of network may cause extremely dangerous accident, especially automotive network. There is strong trend that ECU use open systems and their interfaces for the electronics in motor vehicles (OSEK) which is real time OS for automotive system. OSEK has network management tool which is OSEK network management (OSEK NM). Direct NM, which is one of management rule of OSEK NM for a network of ECUs that communicate via a CAN bus is chosen for this paper. The variable time is important factor in real time system. The repairing mechanism of direct NM is analyzed. The main contribution of this paper is to investigate the worst case for the timing of network management with the management mechanism of OSEK NM. For that purpose we tested each case on real embedded system with changing various circumstance variables and the analysis on the time result of the test is proposed.

A Reliable Gateway for In-vehicle Networks

Abstract This paper presents a reliable gateway for communication between the LIN, CAN, FlexRay protocols. A gateway is indispensable device for constructing in-vehicle networks. Networks with different protocols have to include an additional gateway in order to exchange information among different networks. The main function of the gateway is translation. However, there is some latency when a message is transferred from one node (source) to another (destination); further, there is a high probability of error due to different protocol specifications such as baudrates, message frame formats, and so on. Therefore the implementation of a reliable gateway is a challenging task. In this paper, we propose a reliable gateway based on OSEK OS and OSEK NM for in-vehicle networks. We develop a gateway embedded system and implement a reliable gateway mechanism. We then examine the developed gateway system and present the results of experiments with several trials.

A method for improving the reliability of the gateway system by using OSEK and duplication scheme

The gateway system is an essential component for network-to-network communication using different protocols inside a distributed system. Since reliability is an important aspect in an automotive system, here we propose a method for improving the reliability of the gateway system by using OSEK/VDX and duplication scheme. Three factors were considered for improving the reliability of the gateway. First, a high priority message must be processed first. Second, the gateway should not transmit messages to erroneous nodes that cannot receive messages by checking the accessibility of the destination node. Third, a sub-gateway should be used alternately with the main gateway when the main gateway cannot operate correctly. In this study, we developed a CAN and FlexRay gateway embedded system and applied the proposed method to this system.

A method of task synchronization in a distributed system using FlexRay

In a distributed system, the synchronization of tasks executed in different nodes is necessary. Therefore, we propose a method of synchronization of tasks in a distributed system using FlexRay. FlexRay is expected to become a dominant protocol in automotive systems. It supports a clock synchronization mechanism. We present two methods for synchronization of tasks using a clock synchronized by FlexRay. One is a synchronization method for the start point of tasks. The other is a synchronization method for specific points in the task. We implement the proposed method as an experiment.

Design and implementation of HW/SW platform for electric motorcycle

Environmental pollution regulations are becoming stricter and the seriousness of resource depletion is being magnified. Research and development of HEV (Hybrid Electronic Vehicle) and EV (Electric Vehicle) are being conducted. Unfortunately, the research on HEV and EV for two-wheeled vehicles has not been made actively. In this paper, the requirements of the HW (HardWare) / SW (SoftWare) platform for electric two-wheeled vehicles were analyzed using proven HW and SW vehicle platforms. A HW / SW platform for electric two-wheeled vehicle was designed based on those requirements. A prototype embedded system was implemented. If the electric two-wheeled vehicle is manufactured, the time and cost will be saved using implemented embedded system.

Method of fault injection for medical device based on ISO 26262

Today, Many industries are studying methods that enhance and measure dependability. Dependability measurement methods use fault injection to monitor the state of a system. A fault/error that occurs in an unexpected situation, giving rise to an extreme status, can be inspected. To obtain high Automotive Safety Integrity Level (ASIL) in automotive safety standard (ISO 26262), any system must be tested using fault injection technique. NASA standard (8719.13B) also recommends the fault injection test. In contrast, the medical device safety standard (ISO 14971) does not mention the fault injection test. In this paper, we compare the difference between two standards and introduce a method of fault injection in medical device.

Intelligent user interface for Human-Robot Interaction

Human-robot interaction technology, used to command a robot or to acquire information from a robot, is defined as the communication method between humans and the robot. Human-robot interaction consists of the input facility, environment display, intuitive command and reaction, and the architecture of the interface program. This research focuses on the framework of the interface program that contains the controls, communication architecture and robot mark-up languages. The application that builds the intelligent user interface uses the functions: plug-and-play for robot peripherals; self-diagnosis; and multimodal sensor fusion. This research proposes the robotpsilas architecture to make the decision based on the robotpsilas level of autonomy. Our intelligent user interface system consists of ultrasonic, position sensitive detector (PSD), and DC motors. We verify operation of the intelligent user interface for the human-robot interaction through evaluating a scenario: the remote control of the mobile robotpsilas navigation in an environment containing obstacles.