DTS: Dynamic TDMA scheduling for Networked Control Systems

Networked Control Systems (NCSs) are pervasively applied in modern industry. With increasing functionalities, modern NCSs tend to have dynamic workload by holding a variety of applications via a shared network. To handle workload variations and provide performance guarantees, dynamic network scheduling scheme is highly desired in NCSs. In this paper, we propose a network scheduling scheme, referred to as DTS, that can make on-the-fly decisions to schedule the applications in NCSs. DTS aims at NCSs that use time-triggered network as shared medium and Time division multiple access (TDMA) as network access method. DTS dynamically changes the network accessing sequence of the applications in a way to provide optimal system performance and maintain control stability in NCSs. DTS adopts a decentralized schedule mechanism where each application can make its local schedule decision, enhancing the scalability of NCSs. Simulation results demonstrate the effectiveness of the proposed scheme by improving the network bandwidth and providing better system performance in NCS comparing with the existing time-triggered scheduling schemes.     

Dynamic configuration management in reliable distributed real-timeinformation systems

A new architecture for large-scale information systems is presented. The original aspects of the architecture are mainly: (1) the time-triggered, message-triggered object (TMO) structuring of the middleware and the application software of distributed real-time information systems; and (2) the dynamic configuration management subsystem (DCMS), based on the supervisor-based network surveillance (SNS) scheme. The positive impacts of this TMO structuring on maintainability and service interruption bounds are first discussed, with distributed replicated information service systems and other systems as examples. The main discussion is on the DCMS architecture. As a component of the DCMS, the network surveillance (NS) subsystem enables fast learning, by each interested fault-free node in the system, of the faults or repair completion events occurring in other parts of the system. Currently, concrete real-time NS schemes that are effective in distributed systems based on point-to-point network architectures are scarce. The SNS scheme presented in this paper is a semi-centralized real-time NS scheme which is effective in a variety of point-to-point networks. This scheme is highly scalable. An efficient implementation model for the SNS scheme is presented that can be easily adapted to various commercial operating system kernels. This paper also presents a formal analysis of the SNS scheme, on the basis of the implementation model, to obtain its strongly competitive tight bounds on the fault detection latency. Finally, some DCMS implementation issues are discussed that remain to be addressed in future research     

DTS音频解码算法的仿真与定点实现

Digital Theatre System Coherent Acoustics(数字化影院系统,简称DTS)目前广泛应用于电影、DVD、DTV等消费电子领域。首先,介绍DTS编码的特点和解码流程,然后结合定点DSP芯片TMS320DM642的特点,详细阐述了DTS解码程序的定点化及其优化设计方法。测试结果表明,在保证音频解码精度的前提下,解码程序运行速度得到了很大提高并实现了实时解码。     

改进型时间触发嵌入式系统编程模式

对于成本敏感的嵌入式系统,通常因为资源有限而难以采用抢先式实时多任务操作系统。传统的基于超级循环的前后台编程方法和基于时间触发的合作式多任务编程方法对任务的划分需要较高的技巧。本文通过对基于时间触发合作式调度器的改进,建立了一种适用于小型嵌入式系统的通用编程模式,使这类系统的编程变得清晰、简单。     

An object-oriented platform for distributed high-performance symbolic computation

We describe the distributed object-oriented threads system (DOTS), a programming environment designed to support object-oriented fork/join parallel programming in a heterogeneous distributed environment. A mixed network of Windows NT PCs and UNIX workstations is transformed by DOTS into a homogeneous pool of anonymous compute servers forming together a multicomputer. DOTS is a complete redesign of the distributed threads system (DTS) using the object-oriented paradigm both in its internal implementation and in the programming paradigm it supports. It has been used for the parallelization of applications in the field of computer algebra and in the field of computer graphics. We also give a brief account of applications in the domain of symbolic computation that were developed using DTS.     

TTP/C协议的一致性机制研究

介绍了一种基于时间触发的面向容错分布式嵌入系统的通用构架TTA，以及目前TTA系统的主流协议TTP／C所提供的主要一致性机制，并提出了一种改进的状态确认算法。     

非零和微分博弈系统的事件触发最优跟踪控制（英文）

近年来,对于具有未知动态的非零和微分博弈系统的跟踪问题,已经得到了讨论,然而这些方法是时间触发的,在传输带宽和计算资源有限的环境下并不适用.针对具有未知动态的连续时间非线性非零和微分博弈系统,本文提出了一种基于积分强化学习的事件触发自适应动态规划方法.该策略受梯度下降法和经验重放技术的启发,利用历史和当前数据更新神经网络权值.该方法提高了神经网络权值的收敛速度,消除了一般文献设计中常用的初始容许控制假设.同时,该算法提出了一种易于在线检查的持续激励条件(通常称为PE),避免了传统的不容易检查的持续激励条件.基于李亚普诺夫理论,证明了跟踪误差和评价神经网络估计误差的一致最终有界性.最后,通过一个数值仿真实例验证了该方法的可行性.     

基于CAN总线的共享时钟混合调度算法

CAN总线协议已广泛地应用在分布式嵌入式实时系统中,研究表明共享时钟调度算法能够很好地将基于CAN的微处理器和时间触发网络结构结合起来。针对现有共享时钟调度算法大多采用时间触发不可抢占调度机制的不足,结合时间触发混合调度模型,提出了一种共享时钟混合调度算法,并对算法的消息传输时间、错误检测时间和抖动进行了相应分析。使用Matlab下的Truetime工具搭建仿真平台,仿真结果表明,提出的算法能够减少传输时间,降低抖动,增强实时性。     

: A distributed real-time logic language

This paper presents a new language that integrates the real-time and distributed paradigms within the framework of a concurrent logic language. Concurrent logic languages (CLLs) are capable of expressing concurrence, communication and nondeterminism in a natural way. That is, the intrinsic parallel semantics of the concurrent logic languages makes them well-suited for distributed programming. The proposed language is particularly suitable for loosely coupled systems and it contains mechanisms for distributed and real-time process control. A new execution model for concurrent logic languages is presented, which enables efficient distributed execution and real-time control. The model is introduced by giving an operational semantics for the language and the new model's implementation is discussed, including the definition of a new abstract machine and its implementation on a network of Unix workstations. Although the sequential core is not optimized, some previous results are discussed, showing the feasibility of the language's execution model for distributed real-time systems. The language is currently being used as the kernel language for a distributed simulation and validation tool for communication protocols.     

: A distributed real-time logic language

This paper presents a new language that integrates the real-time and distributed paradigms within the framework of a concurrent logic language. Concurrent logic languages (CLLs) are capable of expressing concurrence, communication and nondeterminism in a natural way. That is, the intrinsic parallel semantics of the concurrent logic languages makes them well-suited for distributed programming. The proposed language is particularly suitable for loosely coupled systems and it contains mechanisms for distributed and real-time process control. A new execution model for concurrent logic languages is presented, which enables efficient distributed execution and real-time control. The model is introduced by giving an operational semantics for the language and the new model's implementation is discussed, including the definition of a new abstract machine and its implementation on a network of Unix workstations. Although the sequential core is not optimized, some previous results are discussed, showing the feasibility of the language's execution model for distributed real-time systems. The language is currently being used as the kernel language for a distributed simulation and validation tool for communication protocols.     

基于CADCON的群体AUV三维仿真

近年的AUV仿真工作更多地集中于对AUV水动力学特性仿真数学模型的建立上，不能满足AUV群体协作策略级仿真的需要。CADCON是AUSI基于Internet架构开发的群体协作AUV三维水下环境分布式仿真平台，提供了可定制的虚拟海洋环境和一系列可灵活配置的AUV模型以及AUV群体行为组件开发接口。该文介绍了CADCON的功能和体系结构，归纳了基于CADCON平台进行AUV群体协作仿真的基本流程和参数配置方法，给出了Visual C＋＋环境下的AUV群体行为组件开发的基本方法，该方法的可行性已得到实验验证。     

Systematic formal verification for fault-tolerant time-triggeredalgorithms

Many critical real-time applications are implemented as time-triggered systems. We present a systematic way to derive such time-triggered implementations from algorithms specified as functional programs (in which form their correctness and fault-tolerance properties can be formally and mechanically verified with relative ease). The functional program is first transformed into an untimed synchronous system and, then, to its time-triggered implementation. The first step is specific to the algorithm concerned, but the second is generic and we prove its correctness. This proof has been formalized and mechanically checked with the PVS verification system. The approach provides a methodology that can ease the formal specification and assurance of critical fault-tolerant systems     

Replication Management in Reliable Real-Time Systems

Building reliable real-time applications on top of commercial off-the-shelf (COTS) components is not a straightforward task. Thus, it is essential to provide a simple and transparent programming model, in order to abstract programmers from the low-level implementation details of distribution and replication. However, the recent trend for incorporating pre-emptive multitasking applications in reliable real-time systems inherently increases its complexity. It is therefore important to provide a transparent programming model, enabling pre-emptive multitasking applications to be implemented without resorting to simultaneously dealing with both system requirements and distribution and replication issues. The distributed embedded architecture using COTS components (DEAR-COTS) architecture has been previously proposed as an architecture to support real-time and reliable distributed computer-controlled systems (DCCS) using COTS components. Within the DEAR-COTS architecture, the hard real-time subsystem provides a framework for the development of reliable real-time applications, which are the core of DCCS applications. This paper presents the proposed framework, and demonstrates how it can be used to support the transparent replication of software components.     

实现分布式仿真系统同步的一种方法

分布式仿真系统的构建过程中,关于各仿真子节点的协调运行与同步问题是其中的重点和难点。该文介绍了面向对象的实时仿真软件开发环境Constellation和网络传输服务NDDS这两个工具,并且结合这它们的特点和相互之间的密切联系,研究出一种应用它们实现分布式仿真系统同步的方法。最后建立一个卫星姿态控制仿真系统,介绍了如何实现这种方法,并且进行以下验证：在Constellation下和在Matlab下建立的仿真系统进行比较,验证系统和集中式系统仿真结果比较,验证系统在Windows操作系统下和实时操作系统下仿真结果比较。     

分布并行计算在网格环境下的一种新实现*

介绍了开放网格服务结构OGSA的标准实现Globus Tookit 3的系统结构、编程模型以及分布式并行的支撑环境,并以大规模矩阵相乘为例给出了该环境下分布并行计算的实现方法和试验结果。讨论了任务分布、系统通信和容错机制等关键问题。     

事件/时间触发嵌入式操作系统内核的设计

针对分布式实时系统对操作系统内核的新需要,为避免因时间触发任务相互影响而造成的抖动,研究了时间触发任务的调度器设计,提出了一种改进的调度策略;在开放源代码的uCOSII嵌入式操作系统内核的基础上扩展了时间触发功能,设计了支持事件/时间混合触发的嵌入式实时操作内核TTuCOSII（Time-Triggered Micro Operating System II）。仿真实验表明TTuCOSII具有较高的时间触发精度,良好的调度性能,可以满足事件/时间混合触发的要求。     

Formal timing analysis of distributed systems

Although a large number of formal methods have been reported in the literature, most of them are applicable only at the initial stages of software development. A major reason for this situation is that those formalisms lack expressiveness to describe the behavior of systems with respect to their underlying configurations. On the other hand, recent experience has shown that the complex nature of distributed systems is conveniently described, constructed and managed in terms of their configuration. In this context, with the twin objectives of accurately modelling the real-timed behavior of distributed systems and supporting the analysis of timing behavior with respect to their underlying configurations, we formulate a logic language called distributed logic (DL). DL is a first-order logic augmented with temporal and spatial modalities. The semantics of DL are based on ideas drawn from both the interleaving and partial order models. In addition to the syntax and semantics of the logic, a formal proof scheme for a distributed programming model is also presented. Finally, use of the proof method is illustrated through the analysis of the real-time properties of a sample problem.     

Evaluating a new communication protocol for real-time distributed control

The recent trend in distributed automation and control systems has been towards event-triggered system architectures such as UML and IEC 61499. Although existing communication protocols (e.g., Ethernet) can support high-level communication within these systems, there is contention as to which low-level protocol to use, or if any exist that meet the requirements of being event-triggered and hard real-time. This paper proposes a new way to measure communication performance. The goal of the new measurement method is to stress the necessity that a real-time communication protocol needs to be both efficient and fair. This is illustrated by comparing three communication strategies: Controller Area Network (CAN), Time-Triggered CAN (TTCAN) and Escalating Priority CAN (EPCAN). The first two represent the extremes between event-triggered and time-triggered communication strategies; the third is introduced to illustrate the benefits of a new event-based communication protocol proposed by the authors.     

Application‐Specific Tone Mapping Via Genetic Programming

High dynamic range (HDR) imagery permits the manipulation of real‐world data distinct from the limitations of the traditional, low dynamic range (LDR), content. The process of retargeting HDR content to traditional LDR imagery via tone mapping operators (TMOs) is useful for visualizing HDR content on traditional displays, supporting backwards‐compatible HDR compression and, more recently, is being frequently used for input into a wide variety of computer vision applications. This work presents the automatic generation of TMOs for specific applications via the evolutionary computing method of genetic programming (GP). A straightforward, generic GP method that generates TMOs for a given fitness function and HDR content is presented. Its efficacy is demonstrated in the context of three applications: Visualization of HDR content on LDR displays, feature mapping and compression. For these applications, results show good performance for the generated TMOs when compared to traditional methods. Furthermore, they demonstrate that the method is generalizable and could be used across various applications that require TMOs but for which dedicated successful TMOs have not yet been discovered.