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Modeling and Timing Analysis of Industrial Component-Based Distributed Real-time Embedded Systems
Mälardalen University, School of Innovation, Design and Engineering. (Model-Based Engineering of Embedded Systems)ORCID iD: 0000-0003-3242-6113
2012 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The model- and component-based development approach has emerged as an attractive option for the development of Distributed Real-time Embedded (DRE) systems. In this thesis we target several issues such as modeling of legacy communication, extraction of end-to-end timing models and support for holistic response-time analysis of industrial component-based DRE systems.

We introduce a new approach for modeling legacy network communication in component-based DRE systems. By introducing special-purpose components to encapsulate and abstract the communication protocols in DRE systems, we allow the use of legacy nodes and legacy protocols in a component- and model-based software engineering environment. The proposed approach also supports the state-of-the-practice development of component-based DRE systems.

The Controller Area Network (CAN) is one of the widely used real-time networks in DRE systems especially in automotive domain. We identify that the existing analysis of CAN does not support common message transmission patterns which are implemented by some high-level protocols used in the industry. Consequently, we extend the existing analysis to facilitate the worst-case response-time computation of these transmission patterns. The extended analysis is generally applicable to any high-level protocol for CAN that uses periodic, sporadic, or both periodic and sporadic transmission of messages.

Because an end-to-end timing model should be available to perform the holistic response-time analysis, we present a method to extract the end-to-end timing models from component-based DRE systems. In order to show the applicability of our modeling techniques and extended analysis, we provide a proof of concept by extending the existing industrial component model (Rubus Component Model), implementing the holistic response-time analysis along with the extended analysis of CAN in the industrial tool suite (Rubus-ICE), and conducting an automotive case study.

Place, publisher, year, edition, pages
Västerås: Mälardalen University , 2012.
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 146
Keyword [en]
Distributed real-time embedded systems; component-based development; holistic response-time analysis; component model; timing model
National Category
Embedded Systems Computer Systems
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:mdh:diva-13883ISBN: 978-91-7485-055-0 (print)OAI: oai:DiVA.org:mdh-13883DiVA: diva2:470013
Presentation
2012-01-27, Gamma, Mälardalen University, Västerås, 10:15 (English)
Opponent
Supervisors
Projects
EEMDEF
Available from: 2011-12-28 Created: 2011-12-27 Last updated: 2013-12-04Bibliographically approved
List of papers
1. Analyzable Modeling of Legacy Communication in Component-Based Distributed Embedded Systems
Open this publication in new window or tab >>Analyzable Modeling of Legacy Communication in Component-Based Distributed Embedded Systems
2011 (English)In: Proceedings of the 37th EUROMICRO Conference on Software Engineering and Advanced Applications, SEAA 2011; Oulu; 30 August 2011 through 2 September 2011 / [ed] Stefan Biffl, Mika Koivuluoma, Pekka Abrahamsson, Markku Oivo, Los Alamitos: IEEE Computer Society, 2011Conference paper, Published paper (Refereed)
Abstract [en]

We present extensions to the existing industrial component model Rubus Component Model (RCM). By introducing special purpose components to encapsulate and abstract the communication protocols in distributed embedded systems we allow use of legacy nodes and legacy protocols in a component-based and model-based software engineering environment. With the addition of these components, RCM will be able to support state-of-the-practice development processes of distributed embedded systems where communication rules are defined early in the development process. The proposed extension also allows model-based and component-based development of new nodes that are deployed in the legacy systems that use predefined communication rules. We also demonstrate how an end-to-end timing model can be extracted from a distributed embedded system modeled with extended RCM. The extracted model is then used to perform an end-to-end timing analysis that we implemented in the Rubus Analysis Framework.

Place, publisher, year, edition, pages
Los Alamitos: IEEE Computer Society, 2011
Identifiers
urn:nbn:se:mdh:diva-13652 (URN)10.1109/SEAA.2011.43 (DOI)2-s2.0-82955178203 (Scopus ID)978-0-7695-4488-5 (ISBN)
Available from: 2011-12-15 Created: 2011-12-15 Last updated: 2013-12-04Bibliographically approved
2. Extending schedulability analysis of Controller Area Network (CAN) for mixed (periodic/sporadic) messages
Open this publication in new window or tab >>Extending schedulability analysis of Controller Area Network (CAN) for mixed (periodic/sporadic) messages
2011 (English)In: Proceedings of  2011 IEEE Conference on Emerging Technologies and Factory Automation (ETFA)  2011, Toulouse, France: I-Tech Education and Publishing KG, 2011Conference paper, Published paper (Refereed)
Abstract [en]

The schedulability analysis of Controller Area Network (CAN) developed by the research community is able to compute the response times of CAN messages that are queued for transmission periodically or sporadically. However, there are a few high level protocols for CAN such as CANopen and HCAN (Hagglunds Controller Area Network) that support the transmission of mixed messages as well. A mixed message can be queued for transmission both periodically and sporadically. Thus, it does not exhibit a periodic activation pattern. The existing analysis of CAN does not support the analysis of mixed messages. We extend the existing analysis to compute the response times of mixed messages. The extended analysis is generally applicable to any high level protocol for CAN that uses any combination of periodic, event and mixed (periodic/event) transmission of messages.

Place, publisher, year, edition, pages
Toulouse, France: I-Tech Education and Publishing KG, 2011
Identifiers
urn:nbn:se:mdh:diva-13671 (URN)10.1109/ETFA.2011.6059010 (DOI)2-s2.0-80655139151 (Scopus ID)978-1-4577-0018-7 (ISBN)
Conference
2011 IEEE Conference on Emerging Technologies and Factory Automation (ETFA) 2011
Available from: 2011-12-15 Created: 2011-12-15 Last updated: 2013-12-04Bibliographically approved
3. Extraction of End-to-end Timing Model from Component-Based Distributed Real-Time Embedded Systems
Open this publication in new window or tab >>Extraction of End-to-end Timing Model from Component-Based Distributed Real-Time Embedded Systems
2011 (English)In: Time Analysis and Model-Based Design, from Functional Models to Distributed Deployments (TiMoBD) workshop located at Embedded Systems Week, 2011Conference paper, Published paper (Refereed)
Abstract [en]

In order to facilitate the end-to-end timing analysis early during the development of component-based distributed real-time embedded (DRE) systems, we present the extraction of end-to-end timing models using the existing industrial component model, Rubus Component Model (RCM). Moreover, we discuss and solve the issues involved during the model extraction such as, extraction of timing information from all nodes and networks in the system, tracing of event chains in distributed transactions, and modeling of exit and entry points for RCM models to provide timing bounds for extra-model medium. We also describe the implementation of end-to-end timing model extraction in the Rubus Analysis Framework.

National Category
Computer Systems
Identifiers
urn:nbn:se:mdh:diva-13591 (URN)
Conference
Embedded Systems Week, Oct. 9-14 2011, Taipei, Taiwan
Available from: 2011-12-15 Created: 2011-12-15 Last updated: 2015-07-31Bibliographically approved
4. Support for Holistic Response-time Analysis in an Industrial Tool Suite: Implementation Issues, Experiences and a Case Study
Open this publication in new window or tab >>Support for Holistic Response-time Analysis in an Industrial Tool Suite: Implementation Issues, Experiences and a Case Study
2012 (English)In: Proceedings - 2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012, IEEE Computer Society, 2012, 210-221 p.Conference paper, Published paper (Refereed)
Abstract [en]

The process of implementing and integrating state-of-the-art real-time analysis techniques with an existing industrial tool suite for the development of Distributed Real-time Embedded (DRE) systems offers many challenges. The implementer has to not only code and implement the analysis in the tool suite, but also deal with several issues such as extraction of unambiguous timing and tracing information from the design model. In this paper we present an implementation of the Holistic Response-Time Analysis (HRTA) as a plug-in for an industrial tool suite Rubus-ICE that is used for component-based development of DRE systems. We discuss and solve the issues encountered and highlight the experiences gained during the process of implementation, integration and evaluation of HRTA plug-in. We also provide a proof of concept by modeling an automotive application (autonomous cruise control system) using component-based development and analyzing it with HRTA plug-in.

Place, publisher, year, edition, pages
IEEE Computer Society, 2012
National Category
Embedded Systems Engineering and Technology
Identifiers
urn:nbn:se:mdh:diva-13875 (URN)10.1109/ECBS.2012.38 (DOI)000308965100028 ()2-s2.0-84862074547 (Scopus ID)978-076954664-3 (ISBN)
Conference
2012 IEEE 19th International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2012; Novi Sad;11 April 2012 through 13 April
Note

(c) 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

Available from: 2013-04-10 Created: 2011-12-27 Last updated: 2013-12-04Bibliographically approved

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