Document Open Access Logo

The Time-Triggered Wireless Architecture

Authors Romain Jacob , Licong Zhang, Marco Zimmerling , Jan Beutel , Samarjit Chakraborty , Lothar Thiele

PDF
Thumbnail PDF

File

LIPIcs.ECRTS.2020.19.pdf
  • Filesize: 0.87 MB
  • 25 pages

Document Identifiers

Author Details

Romain Jacob
  • ETH Zurich, Switzerland
Licong Zhang
  • TU Munich, Germany
Marco Zimmerling
  • TU Dresden, Germany
Jan Beutel
  • ETH Zurich, Switzerland
Samarjit Chakraborty
  • University of North Carolina at Chapel Hill, NC, United States
Lothar Thiele
  • ETH Zurich, Switzerland

Funding

  • Zimmerling, Marco: German Research Foundation (DFG) within the Emmy Noether project NextIoT (grant ZI 1635/2-1)
  • Thiele, Lothar: Swiss National Science Foundation program "NCCR Automation"

Cite As Get BibTex

Romain Jacob, Licong Zhang, Marco Zimmerling, Jan Beutel, Samarjit Chakraborty, and Lothar Thiele. The Time-Triggered Wireless Architecture. In 32nd Euromicro Conference on Real-Time Systems (ECRTS 2020). Leibniz International Proceedings in Informatics (LIPIcs), Volume 165, pp. 19:1-19:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2020) https://doi.org/10.4230/LIPIcs.ECRTS.2020.19

Abstract

Wirelessly interconnected sensors, actuators, and controllers promise greater flexibility, lower installation and maintenance costs, and higher robustness in harsh conditions than wired solutions. However, to facilitate the adoption of wireless communication in cyber-physical systems (CPS), the functional and non-functional properties must be similar to those known from wired architectures. We thus present Time-Triggered Wireless (TTW), a wireless architecture for multi-mode CPS that offers reliable communication with guarantees on end-to-end delays among distributed applications executing on low-cost, low-power embedded devices. We achieve this by exploiting the high reliability and deterministic behavior of a synchronous transmission based communication stack we design, and by coupling the timings of distributed task executions and message exchanges across the wireless network by solving a novel co-scheduling problem. While some of the concepts in TTW have existed for some time and TTW has already been successfully applied for feedback control and coordination of multiple mechanical systems with closed-loop stability guarantees, this paper presents the key algorithmic, scheduling, and networking mechanisms behind TTW, along with their experimental evaluation, which have not been known so far. TTW is open source and ready to use: https://ttw.ethz.ch.

Subject Classification

ACM Subject Classification
  • Computer systems organization → Real-time system architecture
  • Computer systems organization → Sensors and actuators
  • Networks → Sensor networks
Keywords
  • Time-triggered architecture
  • wireless bus
  • synchronous transmissions

Metrics

  • Access Statistics
  • Total Accesses (updated on a weekly basis)
    0
    PDF Downloads
    0
    Metadata Views

Related Versions

Supplementary Materials

References

  1. endash. FlockLab. http://flocklab.ethz.ch/. Last accessed: 2020-04-14. URL: http://flocklab.ethz.ch/.
  2. Tarek Abdelzaher and Kang Shin. Combined task and message scheduling in distributed real-time systems. IEEE Transactions on Parallel and Distributed Systems, 1999. URL: https://doi.org/10.1109/71.809575.
  3. Johan Åkerberg, Mikael Gidlund, and Mats Björkman. Future research challenges in wireless sensor and actuator networks targeting industrial automation. In 2011 9th IEEE International Conference on Industrial Informatics, 2011. URL: https://doi.org/10.1109/INDIN.2011.6034912.
  4. Anonymous. TriScale: A Framework Supporting Reproducible Performance Evaluations in Networking. In Zenodo, 2020. URL: https://doi.org/10.5281/zenodo.3656819.
  5. Mohammad Ashjaei, Nima Khalilzad, Saad Mubeen, Moris Behnam, Ingo Sander, Luis Almeida, and Thomas Nolte. Designing end-to-end resource reservations in predictable distributed embedded systems. Real-Time Systems, 2017. URL: https://doi.org/10.1007/s11241-017-9283-6.
  6. Akramul Azim. Scheduling of Overload-Tolerant Computation and Multi-Mode Communication in Real-Time Systems. Doctoral Thesis, University of Waterloo, 2014. URL: http://hdl.handle.net/10012/8973.
  7. Dominik Baumann, Fabian Mager, Romain Jacob, Lothar Thiele, Marco Zimmerling, and Sebastian Trimpe. Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees. ACM Transactions on Cyber-Physical Systems, 2019. URL: https://doi.org/10.1145/3361846.
  8. Jan Beutel, Roman Trüb, Reto Da Forno, Markus Wegmann, Tonio Gsell, Romain Jacob, Michael Keller, Felix Sutton, and Lothar Thiele. The Dual Processor Platform Architecture: Demo Abstract. In Proceedings of the 18th International Conference on Information Processing in Sensor Networks, IPSN '19, Montreal, Quebec, Canada, 2019. ACM. URL: https://doi.org/10.1145/3302506.3312481.
  9. Tianyang Chen and Linh T. X. Phan. SafeMC: A System for the Design and Evaluation of Mode-Change Protocols. In 2018 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS), 2018. URL: https://doi.org/10.1109/RTAS.2018.00021.
  10. Octav Chipara, Chengjie Wu, Chenyang Lu, and William Griswold. Interference-Aware Real-Time Flow Scheduling for Wireless Sensor Networks. In 2011 23rd Euromicro Conference on Real-Time Systems, 2011. URL: https://doi.org/10.1109/ECRTS.2011.15.
  11. Silviu S. Craciunas and Ramon Serna Oliver. SMT-based Task- and Network-level Static Schedule Generation for Time-Triggered Networked Systems. In Proceedings of the 22Nd International Conference on Real-Time Networks and Systems, RTNS '14, Versaille, France, 2014. ACM. URL: https://doi.org/10.1145/2659787.2659812.
  12. Silviu S. Craciunas and Ramon Serna Oliver. Combined Task- and Network-level Scheduling for Distributed Time-triggered Systems. Real-Time Systems, 2016. URL: https://doi.org/10.1007/s11241-015-9244-x.
  13. Federico Ferrari, Marco Zimmerling, Luca Mottola, and Lothar Thiele. Low-power Wireless Bus. In Proceedings of the 10th ACM Conference on Embedded Network Sensor Systems, SenSys '12, New York, NY, USA, 2012. ACM. URL: https://doi.org/10.1145/2426656.2426658.
  14. Federico Ferrari, Marco Zimmerling, Lothar Thiele, and Olga Saukh. Efficient network flooding and time synchronization with Glossy. In Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, 2011. URL: https://ieeexplore.ieee.org/document/5779066.
  15. FlexRay. ISO 17458-1:2013endashRoad vehiclesendashFlexRay communications systemendashPart 1: General information and use case definition. Standard, International Organization for Standardization (ISO), Geneva, Switzerland, 2013. URL: https://www.iso.org/standard/59804.html.
  16. Gerhard Fohler. Changing operational modes in the context of pre run-time scheduling. IEICE transactions on information and systems, 1993. URL: https://pdfs.semanticscholar.org/272b/615266e763369e903dcb0b966e22077f127c.pdf.
  17. Samira Hayat, Evşen Yanmaz, and Raheeb Muzaffar. Survey on Unmanned Aerial Vehicle Networks for Civil Applications: A Communications Viewpoint. IEEE Communications Surveys Tutorials, Fourthquarter 2016. URL: https://doi.org/10.1109/COMST.2016.2560343.
  18. Tian He, John A. Stankovic, Chenyang Lu, and Tarek Abdelzaher. SPEED: A stateless protocol for real-time communication in sensor networks. In 23rd International Conference on Distributed Computing Systems, 2003. Proceedings., 2003. URL: https://doi.org/10.1109/ICDCS.2003.1203451.
  19. Jia Huang, Jan Olaf Blech, Andreas Raabe, Christian Buckl, and Alois Knoll. Static scheduling of a Time-Triggered Network-on-Chip based on SMT solving. In 2012 Design, Automation Test in Europe Conference Exhibition (DATE), 2012. URL: https://doi.org/10.1109/DATE.2012.6176522.
  20. International Electrotechnical Commission (IEC). Industrial networks - Wireless communication network and communication profiles - WirelessHART. https://webstore.iec.ch/publication/24433. Last accessed: 2020-04-14. URL: https://webstore.iec.ch/publication/24433.
  21. Romain Jacob. Leveraging Synchronous Transmissions for the Design of Real-Time Wireless Cyber-Physical Systems. Doctoral Thesis, ETH Zurich, 2020. Accepted: 2020-02-26T08:48:57Z. URL: https://doi.org/10.3929/ethz-b-000401717.
  22. Romain Jacob, Jonas Bächli, Reto Da Forno, and Lothar Thiele. Synchronous Transmissions Made Easy: Design Your Network Stack with Baloo. In Proceedings of the 2019 International Conference on Embedded Wireless Systems and Networks, 2019. URL: https://doi.org/10.3929/ethz-b-000324254.
  23. Romain Jacob, Reto Da Forno, Roman Trüb, Andreas Biri, and Lothar Thiele. Wireless Link Quality Estimation on FlockLab - and Beyond, 2019. URL: https://doi.org/10.5281/zenodo.3354717.
  24. Romain Jacob and Licong Zhang. TTW Artifacts - Initial release, 2020. URL: https://doi.org/10.5281/zenodo.3759222.
  25. Romain Jacob, Licong Zhang, Marco Zimmerling, Jan Beutel, Samarjit Chakraborty, and Loth Thiele. TTW: A Time-Triggered Wireless design for CPS. In 2018 Design, Automation Test in Europe Conference Exhibition (DATE), 2018. URL: https://doi.org/10.23919/DATE.2018.8342127.
  26. Romain Jacob, Marco Zimmerling, Pengcheng Huang, Jan Beutel, and Lothar Thiele. End-to-End Real-Time Guarantees in Wireless Cyber-Physical Systems. In 2016 IEEE Real-Time Systems Symposium (RTSS), 2016. URL: https://doi.org/10.1109/RTSS.2016.025.
  27. Kevin Jeffay, Donald F. Stanat, and Charles U. Martel. On non-preemptive scheduling of period and sporadic tasks. In Proceedings Twelfth Real-Time Systems Symposium, 1991. URL: https://doi.org/10.1109/REAL.1991.160366.
  28. Prachi Joshi, Haibo Zeng, Unmesh D. Bordoloi, Soheil Samii, S. S. Ravi, and Sandeep K. Shukla. The Multi-Domain Frame Packing Problem for CAN-FD. In Marko Bertogna, editor, 29th Euromicro Conference on Real-Time Systems (ECRTS 2017), Leibniz International Proceedings in Informatics (LIPIcs), Dagstuhl, Germany, 2017. Schloss DagstuhlendashLeibniz-Zentrum fuer Informatik. URL: https://doi.org/10.4230/LIPIcs.ECRTS.2017.12.
  29. Jens Karschau, Marco Zimmerling, and Benjamin M. Friedrich. Renormalization group theory for percolation in time-varying networks. Scientific Reports, 2018. URL: https://doi.org/10.1038/s41598-018-25363-2.
  30. Hermann Kopetz, Astrit Ademaj, Petr Grillinger, and Klaus Steinhammer. The time-triggered Ethernet (TTE) design. In Eighth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC'05), 2005. URL: https://doi.org/10.1109/ISORC.2005.56.
  31. Hermann Kopetz and Günther Bauer. The time-triggered architecture. Proceedings of the IEEE, 2003. URL: https://doi.org/10.1109/JPROC.2002.805821.
  32. Hermann Kopetz and G. Grunsteidl. TTP - A time-triggered protocol for fault-tolerant real-time systems. In FTCS-23 The Twenty-Third International Symposium on Fault-Tolerant Computing, 1993. URL: https://doi.org/10.1109/FTCS.1993.627355.
  33. Bernhard Korte and Jens Vygen. Combinatorial Optimization: Theory and Algorithms. Algorithms and Combinatorics. Springer-Verlag, Berlin Heidelberg, third edition, 2006. URL: https://doi.org/10.1007/3-540-29297-7.
  34. Jean-Yves Le Boudec and Patrick Thiran. Network Calculus: A Theory of Deterministic Queuing Systems for the Internet. Lecture Notes in Computer Science, Lect.Notes Computer. Tutorial. Springer-Verlag, Berlin Heidelberg, 2001. URL: https://doi.org/10.1007/3-540-45318-0.
  35. Roman Lim, Federico Ferrari, Marco Zimmerling, Christoph Walser, Philipp Sommer, and Jan Beutel. FlockLab: A Testbed for Distributed, Synchronized Tracing and Profiling of Wireless Embedded Systems. In Proceedings of the 12th International Conference on Information Processing in Sensor Networks, IPSN '13, New York, NY, USA, 2013. ACM. URL: https://doi.org/10.1145/2461381.2461402.
  36. Fabian Mager, Dominik Baumann, Romain Jacob, Lothar Thiele, Sebastian Trimpe, and Marco Zimmerling. Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks. In Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS '19, Montreal, Quebec, Canada, 2019. ACM. URL: https://doi.org/10.1145/3302509.3311046.
  37. Francisco Pozo, Guillermo Rodriguez-Navas, Hans Hansson, and Wilfried Steiner. SMT-based synthesis of TTEthernet schedules: A performance study. In 10th IEEE International Symposium on Industrial Embedded Systems (SIES), 2015. URL: https://doi.org/10.1109/SIES.2015.7185055.
  38. James A. Preiss, Wolfgang Honig, Gaurav S. Sukhatme, and Nora Ayanian. Crazyswarm: A large nano-quadcopter swarm. In 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017. URL: https://doi.org/10.1109/ICRA.2017.7989376.
  39. Abusayeed Saifullah, You Xu, Chenyang Lu, and Yixin Chen. Real-Time Scheduling for WirelessHART Networks. In 2010 31st IEEE Real-Time Systems Symposium, 2010. URL: https://doi.org/10.1109/RTSS.2010.41.
  40. Markus Schuß, Carlo Alberto Boano, Manuel Weber, and Kay Römer. A Competition to Push the Dependability of Low-Power Wireless Protocols to the Edge. In Proceedings of the 2017 International Conference on Embedded Wireless Systems and Networks, EWSN '17, USA, 2017. Junction Publishing. URL: https://doi.org/10.5555/3108009.3108018.
  41. Wilfried Steiner. An Evaluation of SMT-Based Schedule Synthesis for Time-Triggered Multi-hop Networks. In 2010 31st IEEE Real-Time Systems Symposium, 2010. URL: https://doi.org/10.1109/RTSS.2010.25.
  42. Felix Sutton, Marco Zimmerling, Reto Da Forno, Roman Lim, Tonio Gsell, Georgia Giannopoulou, Federico Ferrari, Jan Beutel, and Lothar Thiele. Bolt: A Stateful Processor Interconnect. In Proceedings of the 13th ACM Conference on Embedded Networked Sensor Systems, SenSys '15, New York, NY, USA, 2015. ACM. URL: https://doi.org/10.1145/2809695.2809706.
  43. Domitian Tamas-Selicean, Paul Pop, and Wilfried Steiner. Synthesis of Communication Schedules for TTEthernet-based Mixed-criticality Systems. In Proceedings of the Eighth IEEE/ACM/IFIP International Conference on Hardware/Software Codesign and System Synthesis, CODES+ISSS '12, Tampere, Finland, 2012. ACM. URL: https://doi.org/10.1145/2380445.2380518.
  44. Watteyne Watteyne, Thomas, Pere Tuset-Peiro, Xavier Vilajosana, Sofie Pollin, and Bhaskar Krishnamachari. Teaching Communication Technologies and Standards for the Industrial IoT? Use 6TiSCH! IEEE Communications Magazine, 2017. URL: https://doi.org/10.1109/MCOM.2017.1700013.
  45. Reinhard Wilhelm, Jakob Engblom, Andreas Ermedahl, Niklas Holsti, Stephan Thesing, David Whalley, Guillem Bernat, Christian Ferdinand, Reinhold Heckmann, Tulika Mitra, Frank Mueller, Isabelle Puaut, Peter Puschner, Jan Staschulat, and Per Stenström. The worst-case execution-time problememdashoverview of methods and survey of tools. ACM Transactions on Embedded Computing Systems (TECS), 2008. URL: https://doi.org/10.1145/1347375.1347389.
  46. Licong Zhang, Dip Goswami, Reinhard Schneider, and Samarjit Chakraborty. Task- and network-level schedule co-synthesis of Ethernet-based time-triggered systems. In 2014 19th Asia and South Pacific Design Automation Conference (ASP-DAC), 2014. URL: https://doi.org/10.1109/ASPDAC.2014.6742876.
  47. Marco Zimmerling. End-to-End Predictability and Efficiency in Low-Power Wireless Networks. Doctoral Thesis, ETH Zurich, Zürich, 2015. URL: https://doi.org/10.3929/ethz-a-010531577.
  48. Marco Zimmerling, Federico Ferrari, Luca Mottola, and Lothar Thiele. On Modeling Low-Power Wireless Protocols Based on Synchronous Packet Transmissions. In 2013 IEEE 21st International Symposium on Modelling, Analysis and Simulation of Computer and Telecommunication Systems(MASCOTS), 2013. URL: https://doi.org/10.1109/MASCOTS.2013.76.
  49. Marco Zimmerling, Luca Mottola, Pratyush Kumar, Federico Ferrari, and Lothar Thiele. Adaptive Real-Time Communication for Wireless Cyber-Physical Systems. ACM Transactions on Cyber-Physical Systems, 2017. URL: https://doi.org/10.1145/3012005.
  50. Marco Zimmerling, Luca Mottola, and Silvia Santini. Synchronous Transmissions in Low-Power Wireless: A Survey of Communication Protocols and Network Services. arXiv:2001.08557 [cs, eess], 2020. URL: http://arxiv.org/abs/2001.08557.
Questions / Remarks / Feedback
X

Feedback for Dagstuhl Publishing


Thanks for your feedback!

Feedback submitted

Could not send message

Please try again later or send an E-mail
© 2023-2024 Schloss Dagstuhl – LZI GmbH About DROPS Imprint Privacy Contact