Open Embedded Real-time Controllers for Industrial Distributed Control Systems

Delgado, Raimarius; Park, Jaeho; Choi, Byoung Wook

doi:10.3390/electronics8020223

Cited by 18 publications

(18 citation statements)

References 26 publications

(37 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Meaning, Linux only runs if there are no pending Xenomai processes. The performance of Xenomai on an i.MX6-based embedded platform similar to JECS-600ITX is presented in our previous work [31]. As EtherCAT is becoming the standard network protocol in ICSs, an open source EtherCAT master, IgH Etherlab, was stacked on top of Xenomai to establish a connection with an actual industrial network.…”

Section: Software Architercturementioning

confidence: 99%

“…Thus, we have modified the closest available patch source namely, ipipe-core-4.1.18-arm9, ensuring that all patch hunks are successful. After patching the Linux kernel with ADEOS-IPIPE, kernel options related to power management, kernel debugging, memory page migration, and CPU frequency scaling were disabled to ensure that the unwanted voltage and frequency scaling that can affect the real-time performance of Xenomai will not occur [31]. Thereafter, the Xenomai-enabled kernel is flashed to the JECS-600ITX.…”

Section: Software Architercturementioning

confidence: 99%

“…Considering the average response times, we can determine that the average CPU utilization of the EtherCAT control task is 0.09. According to the schedulability analysis presented in our previous work [31] and the utilization bound test, RT tasks are schedulable if the overall CPU utilization is less than the Liu and Leyland bound, which is 1 for a singular task. Thus, the EtherCAT control task is schedulable.…”

Section: Real-time Performancementioning

confidence: 99%

See 2 more Smart Citations

Safe and Policy Oriented Secure Android-Based Industrial Embedded Control System

Delgado

Park

Lee³

et al. 2020

Applied Sciences

Self Cite

View full text Add to dashboard Cite

Android is gaining popularity as the operating system of embedded systems and recent demands of its application on industrial control are steadily increasing. However, its feasibility is still in question due to two major drawbacks: safety and security. In particular, ensuring the safe operation of industrial control systems requires the system to be governed by stringent temporal constraints and should satisfy real-time requirements. In this sense, we explore the real-time characteristics of Xenomai to guarantee strict temporal deadlines, and provide a viable method integrating Android processes to real-time tasks. Security is another issue that affects safety due to the increased connectivity in industrial systems provoking a higher risk of cyber and hardware attacks. Herein, we adopted a hardware copy protection chip and enforced administrative security policies in the booting process and the Android application layer. These policies ensure that the developed system is protected from physical tampering and unwanted Android applications. The articulacy of the administrative policies is demonstrated through experiments. The developed embedded system is connected to an industrial EtherCAT motion device network exhibiting operability on an actual industrial application. Real-time performance was evaluated in terms of schedulability and responsiveness, which are critical in determining the safety and reliability of the control system.

show abstract

Section: Software Architercturementioning

confidence: 99%

Section: Software Architercturementioning

confidence: 99%

Section: Real-time Performancementioning

confidence: 99%

See 1 more Smart Citation

Safe and Policy Oriented Secure Android-Based Industrial Embedded Control System

Delgado

Park

Lee³

et al. 2020

Applied Sciences

Self Cite

View full text Add to dashboard Cite

show abstract

“…Therefore, they may not be able to communicate based on the specification of the IoT networks. IoT system is widely implemented in monitoring and control systems such as Network Control Systems (NCS) [1], Industrial Control Systems (ICS), Supervisory Control and Data Acquisition (SCADA) Systems [2], and Distributed Control Systems (DCS) [3]. These systems play a vital part in industrial infrastructures, energy management, machine automation, and healthcare support.…”

Section: Introductionmentioning

confidence: 99%

Verification Method for Accumulative Event Relation of Message Passing Behavior with Process Tree for IoT Systems

Ahmadon

Yamaguchi

2020

Information

View full text Add to dashboard Cite

In this paper, we proposed a verification method for the message passing behavior of IoT systems by checking the accumulative event relation of process models. In an IoT system, it is hard to verify the behavior of message passing by only looking at the sequence of packet transmissions recorded in the system log. We proposed a method to extract event relations from the log and check for any minor deviations that exist in the system. Using process mining, we extracted the variation of a normal process model from the log. We checked for any deviation that is hard to be detected unless the model is accumulated and stacked over time. Message passing behavior can be verified by comparing the similarity of the process tree model, which represents the execution relation between each message passing event. As a result, we can detect minor deviations such as missing events and perturbed event order with occurrence probability as low as 3%.

show abstract

“…The real-time environment for the i.MX6 SABRELite, considering the compatibility of each software, is shown inFigure 2. The real-time performance of the Xenomai-based real-time environment for i.MX6Q SABRELite and its comparison to other widely known open embedded hardware platforms was presented in our previous work in[34].…”

mentioning

confidence: 99%

Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Delgado

Choi

2019

Electronics

Self Cite

View full text Add to dashboard Cite

This paper proposes a real-time embedded system for joint space control of omnidirectional mobile robots. Actuators driving an omnidirectional mobile robot are connected in a line topology which requires synchronization to move simultaneously in translation and rotation. We employ EtherCAT, a real-time Ethernet network, to control servo controllers for the mobile robot. The first part of this study focuses on the design of a low-cost embedded system utilizing an open-source EtherCAT master. Although satisfying real-time constraints is critical, a desired trajectory on the center of the mobile robot should be decomposed into the joint space to drive the servo controllers. For the center of the robot, a convolution-based path planner and a corresponding joint space control algorithm are presented considering its physical limits. To avoid obstacles that introduce geometric constraints on the curved path, a trajectory generation algorithm considering high curvature turning points is adapted for an omnidirectional mobile robot. Tracking a high curvature path increases mathematical complexity, which requires precise synchronization between the actuators of the mobile robot. An improvement of the distributed clock—the synchronization mechanism of EtherCAT for slaves—is presented and applied to the joint controllers of the mobile robot. The local time of the EtherCAT master is dynamically adjusted according to the drift of the reference slave, which minimizes the synchronization error between each joint. Experiments are conducted on our own developed four-wheeled omnidirectional mobile robot. The experiment results confirm that the proposed system is very effective in real-time control applications for precise motion control of the robot even for tracking high curvature paths.

show abstract

Open Embedded Real-time Controllers for Industrial Distributed Control Systems

Cited by 18 publications

References 26 publications

Safe and Policy Oriented Secure Android-Based Industrial Embedded Control System

Safe and Policy Oriented Secure Android-Based Industrial Embedded Control System

Verification Method for Accumulative Event Relation of Message Passing Behavior with Process Tree for IoT Systems

Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Contact Info

Product

Resources

About