vfs.bib

@inbook{MARAU_DAES_2007,
  author = {Marau, R. and Silva, V. and Ferreira, J. and Almeida, L. and Pedreiras, P. and Martins, E. and Fonseca, J. A.},
  title = {Distributed Automotive Embedded Systems},
  chapter = {Assessment of FTT-CAN master replication mechanisms for safety-critical applications},
  pages = {},
  publisher = {SAE International},
  year = {2007},
  volume = {},
  series = {},
  type = {},
  address = {},
  edition = {},
  month = {November},
  doi = {},
  issn = {},
  isbn = {978-0-7680-1966-7},
  keywords = {FTT, FTT-CAN, CAN, Real-Time communications, protocols, Embedded systems},
  note = {},
  key = {},
  abstract = {The operational flexibility of distributed embedded systems is receiving growing attention because it is required to support on-line adaptation to varying operational conditions, either due to changes in the environment or to faults in the system. However, flexibility makes dependability more difficult to achieve, because there is less a priori knowledge. One protocol that favors flexibility and is widely used in embedded systems, particularly in automotive and robotic systems, is CAN, but some claim that it is not adequate to support safety-critical applications. We argue that CAN, deployed with an adequate overlay protocol, can provide the required support for dependability and flexibility. One such overlying protocol is Flexible Time-Triggered CAN (FTTCAN), that enforces a global notion of time and a global periodic schedule by means of specific messages issued by a master node. In this paper we assess the FTT-CAN master replication mechanisms implemented in a distributed robot control system. Above all, we provide experimental results that show the robustness of such mechanisms}
}

@article{MARAU_SAE_2006,
  author = {Marau, R. and Almeida, L. and Fonseca, J. A. and Ferreira, J. and Silva, V.},
  title = {Assessment of FTT-CAN master replication mechanisms for safety-critical applications},
  journal = {SAE 2006 Transactions Journal of Passenger Cars: Electronic and Electrical Systems},
  year = {2006},
  volume = {},
  number = {},
  pages = {},
  month = {April},
  doi = {10.4271/2006-01-1024},
  issn = {},
  isbn = {},
  keywords = {CAN, FTT, FTT-CAN, Real-Time communications, Embedded systems, protocols},
  note = {E	XTRA-INFO-OPTIONAL},
  key = {KEY-OPTIONAL},
  abstract = {The operational flexibility of distributed embedded systems is receiving growing attention because it is required to support on-line adaptation to varying operational conditions, either due to changes in the environment or to faults in the system. However, flexibility makes dependability more difficult to achieve, because there is less a priori knowledge. One protocol that favors flexibility and is widely used in embedded systems, particularly in automotive and robotic systems, is CAN, but some claim that it is not adequate to support safety-critical applications. We argue that CAN, deployed with an adequate overlay protocol, can provide the required support for dependability and flexibility. One such overlying protocol is Flexible Time-Triggered CAN (FTTCAN), that enforces a global notion of time and a global periodic schedule by means of specific messages issued by a master node. In this paper we assess the FTT-CAN master replication mechanisms implemented in a distributed robot control system. Above all, we provide experimental results that show the robustness of such mechanisms}
}

@inproceedings{SILVA_ETFA_2005,
  author = {Silva, V. and Marau, R. and Almeida, L. and Ferreira, J. and Calha, M. and Pedreiras, P. and Fonseca, J. A.},
  title = {Implementing a distributed sensing and actuation system: The CAMBADA robots case study},
  booktitle = {10th IEEE Conference on Emerging Technologies and Factory Automation (ETFA'2005) Proceedings},
  year = {2005},
  editor = {},
  volume = {2},
  series = {},
  pages = {781--788},
  address = {Catania, Italy},
  month = {September},
  organization = {},
  publisher = {},
  doi = {10.1109/ETFA.2005.1612753},
  issn = {},
  isbn = {0-7803-9401-1},
  keywords = {CAN, FTT-CAN, CAMBADA, controller area network, distributed actuation system, distributed computing architecture, distributed embedded system, distributed sensing system, mobile autonomous robotics},
  note = {},
  key = {},
  abstract = {The use of distributed computing architectures has become commonplace in complex embedded systems with potential advantages, for example, in terms of scalability, dependability and maintainability. One particular area in which that trend can be witnessed is mobile autonomous robotics in which several sensors and actuators are interconnected by means of a control network. In this paper we address one case study concerning the CAMBADA robots that were developed at the University of Aveiro for the Robocup Middle Size League. These robots have a distributed architecture with two layers, a coordination layer responsible for the global behaviors and a distributed sensing and actuating layer that conveys internal state information and executes coordination commands. This paper focuses on the latter layer, which is based on the FTT-CAN protocol, following a network-centric approach that provides an efficient framework for the synchronization of all systems activities. We describe the computing and communication requirements, the robot architecture, the system design and implementation, and finally we provide experimental results that show advantages with respect to a non-synchronized distributed approach}
}