دانلود کتاب Handbook of Real-Time Computing

فهرست مطالب :

Preface
Contents
About the Editors
Section Editors
Contributors
Part I Principles and Theories of Real-Time Computing
1 Timing and Timing Control
Contents
1 Introduction
2 The History of Time
3 Time Measurement
3.1 Time Standards
3.2 Accuracy and Precision
3.3 Global Time
3.4 Quality of Time Measurement
3.5 Sparse Time
4 Clock Synchronization
4.1 Synchronization Condition
4.2 Central-Master Clock Synchronization
4.3 Fault-Tolerant Clock Synchronization
4.4 Fault-Tolerant-Average (FTA) Algorithm
4.5 External Clock Synchronization
5 Benefits of a Global Time in the Design of a Hard Real-Time System
5.1 Periodic Behavior
5.2 Temporal Predictability
5.3 Context Alignment
5.4 Error Detection
5.5 Fault-Tolerant Architectures
6 Conclusion
References
2 Modeling of Real-Time Software Systems
Contents
1 Introduction
1.1 On Models, Modeling, and Modeling Languages
1.2 Modeling Real-Time Software
1.3 Real-Time Analysis Languages
1.3.1 Performance Analysis Languages
1.3.2 Timing and Schedulability Analysis Methods
2 Categorizing Real-Time Modeling Languages
2.1 General Modeling Language Characteristics
2.1.1 Target Domain
2.1.2 Domain Coverage
2.1.3 Development Cycle Coverage
2.1.4 Purpose of Models
2.1.5 Multiple Levels of Abstraction
2.1.6 Primary Syntactical Form
2.1.7 Primary Language Paradigm
2.1.8 Precision Level
2.1.9 User-Defined Extensibility
2.1.10 Tool Support
2.1.11 Language Resources
2.2 Language Characteristics Specific to Real-Time Languages
2.2.1 Primary Model of Computation
2.2.2 Representation of Time
2.2.3 Modeling Qualities of Service (QoS)
2.2.4 Platform Modeling
2.2.5 Modeling Deployment
3 A Review of Notable Real-Time Modeling Languages
3.1 Historical RT Modeling Languages
3.1.1 Hatley-Pirbhai
3.1.2 Mascot 3
3.1.3 STATEMATE
3.1.4 SDL-92
3.1.5 Shlaer-Mellor (OOA)
3.1.6 HRT-HOOD
3.1.7 Real-Time Object-Oriented Modeling (ROOM)
3.2 Recent RT Modeling Languages
3.2.1 AADL
3.2.2 UML-Based RT Modeling Languages
3.2.3 UML-RT
3.2.4 Executable UML
3.2.5 UML-SDL (UML Profile Z.109)
3.2.6 UML/MARTE
3.2.7 SysML
3.3 Other Real-Time Modeling Languages (RTMLs)
3.3.1 Simulink and Stateflow
3.3.2 East-ADL
4 State of the Practice and Future Trends
References
3 Uncertainty Theories for Real-Time Systems
Contents
1 Introduction
2 Background and Fundamentals of Uncertainty Handling
2.1 Uncertainty Concepts and Taxonomies
2.1.1 Epistemic and Aleatory Uncertainty
2.1.2 Dimensions of Uncertainty
2.1.3 Subjective Uncertainty Perspective
2.1.4 Uncertainty from the Perspective of a Software System in Operation
2.2 Mathematical Theories for Handling Uncertainty
2.2.1 Probability Theory
2.2.2 Fuzzy Sets, Fuzzy Logic, and Possibility Theory
3 A Reference Model of Uncertainty Concerns for Real-Time Computing
3.1 Scope and Aims of the Reference Model
3.2 The Reference Model
3.2.1 Uncertainty Regarding the Execution Platform
3.2.2 Uncertainty Regarding the Communication Infrastructure
3.2.3 Uncertainty Regarding Data Processing
3.2.4 Uncertainty Regarding Coordination
4 Overview of Uncertainty Handling Approaches for Real-Time Systems
4.1 Handling Uncertainty in the Execution Platform
4.2 Handling Uncertainty in Communication
4.3 Handling Uncertainty in Data Processing
4.4 Handling Uncertainty Regarding Coordination of Different Systems
5 Engineering Considerations
5.1 Requirements Elicitation and Analysis
5.2 System and Context Modeling
5.3 Automated Verification and Analysis Techniques
6 Conclusion
References
4 Interface Design for Embedded and Real-Time Systems
Contents
1 Introduction
1.1 Overview
2 Embedded and Real-Time Systems
2.1 Overview
2.2 Interface and System Variations and Assessments
2.3 Challenges in Interface Design for Embedded Real-Time Systems
3 UX Design Processes and Methods
3.1 Overview
3.2 Criteria-Based Decision Making
3.3 Initiation and Planning
3.4 User Research and Requirements
3.5 Iterative Design and Test
3.6 Release and Post-release
3.7 Closing Thoughts
4 User Interfaces: Humans to Machines
4.1 Overview
4.2 Selection Criteria
4.3 Direct Controls or Outputs
4.4 Graphical User Interfaces (GUIs)
4.4.1 Embedded GUIs
4.4.2 External GUIs
4.5 Voice User Interfaces (VUIs)
4.6 Wearable Interfaces
4.7 Other Interaction Approaches
4.8 Closing Thoughts
5 Messaging Interfaces: Machines to Machines
5.1 Overview
5.2 Messaging, Queueing, and Serialization
5.3 Communications Protocols
5.3.1 Low Level Communications
5.3.2 IP Communications
5.3.3 M2M Wired and Wireless Protocols
5.3.4 IoT Application Protocols
5.4 Selection Criteria for Protocols
5.5 APIs and Microservices
5.6 Closing Thoughts
6 Conclusion
6.1 Closely Related Topics
6.1.1 Project Management
6.1.2 Device Production
6.1.3 Security Concerns
6.2 In Closing
References
Part II Real-Time Scheduling
5 Semi-partitioned Multiprocessor Scheduling
Contents
1 Introduction
2 System Model and Concepts
3 Implicit-Deadline Periodic Tasks
4 Implicit-Deadline Sporadic Tasks
5 Arbitrary-Deadline Sporadic Tasks
6 Comparison
7 Implementation Aspects
8 Conclusions
References
6 Practical Considerations in Optimal MultiprocessorScheduling
Contents
1 The Scheduling Problem
1.1 Terminology and Background
1.2 Fixed-Rate Servers
2 Optimality in Multiprocessor Scheduling
3 Approaches to Scheduling Optimality
3.1 Deadline Sharing
3.2 Fairness in Execution Progress
3.3 Task Aggregation as a Means of Fairness Relaxation
3.4 Nonfair Execution Progress Is Possible
3.5 Nonfair Execution Progress Via Duality
3.6 Nonfair Execution Progress Via Relaxing Partitioning
4 Hierarchical Nonfairness Based Approaches
4.1 The RUN Algorithm
4.1.1 Off-line Phase
4.1.2 On-line Phase
4.2 The QPS Algorithm
4.2.1 Off-line Phase
4.2.2 On-line Phase
4.3 Dealing with Sporadic Tasks
4.3.1 Sporadic Tasks in RUN
4.3.2 Sporadic Tasks in QPS
5 Final Comments
References
7 Soft Real-Time Scheduling
Contents
1 Introduction
2 Basic Definitions
3 Meeting Some Deadlines
4 Bounded Tardiness/Lateness
4.1 Review of EDF Scheduling
4.2 Work on Bounded Lateness and Bounded Tardiness Without Overload
5 Overload Management Using Value Functions
5.1 Locke\'s Best-Effort Heuristic
5.2 Providing a Guarantee on Achieved Value: D*
5.3 Providing the Optimal Guarantee: Dover
5.4 Providing Guarantees on Multiprocessors: MOCA
5.5 Rate-Based Earliest Deadline Scheduling
5.6 Schedulers Accounting for Dependencies
6 Overload Management by Changing Minimum Separation Times
7 Overload Management in Mixed-Criticality Scheduling
7.1 Techniques to Reduce Dropped Low-Criticality Jobs
7.2 Scaling Separation Times of Low-Criticality Jobs Instead of Dropping Jobs
7.2.1 Overload and MC2
8 Summary
References
8 Hierarchical Scheduling
Contents
1 Introduction
2 Uniprocessor Hierarchical Scheduling Systems
3 Compositional Framework for HSS
3.1 Demand Bound Functions for EDF and RM
3.2 Interface and Resource Supply Task in Compositional Framework
3.3 Compositional Framework Based on Bounded Delay Resource Model
3.3.1 Static Resource Partition Model
3.3.2 Bounded Delay Resource Model
3.3.3 Hierarchical Partition Scheduling
3.4 Compositional Framework Based on Periodic Resource Model
3.4.1 Periodic Resource Model
3.4.2 Schedulability Conditions for PRM
3.4.3 PRM Interface Generation: Periodic Capacity Bounds of PRM
3.4.4 Workload Utilization Bounds of PRM Under EDF and RM
3.5 Compositional Framework Based on Explicit Deadline Periodic Resource Model
3.5.1 Schedulability Conditions for EDP
3.5.2 Optimality Properties in EDP
3.5.3 EDP Interface Generation
3.5.4 Exact Transformation of Interfaces in EDP
4 Real-Time Calculus for HSS
4.1 Workload and Service Model
4.2 Schedulability Analysis
4.3 Compositional Analysis for Hierarchical Scheduling Systems
5 Comparison of Compositional and RTC Frameworks
6 Summary
References
9 Mixed-Criticality Uniprocessor Scheduling
Contents
1 Introduction and Motivation
2 Model and Definitions
3 The Uniprocessor Scheduling of Collections of MC Jobs
4 The Uniprocessor Scheduling of Collections of MC Tasks
4.1 Fixed Priority Scheduling
4.2 Dynamic Priority Scheduling
5 Further Information
References
10 Probabilistic Analysis
Contents
1 Introduction
1.1 Probabilistic Terminology and Notation
1.2 Probabilistic Task Model
1.3 Probabilistic Real-Time Constraints
2 Schedulability Analysis for Probabilistic Real-Time Tasks
2.1 Probabilistic Response Time Analysis
2.2 Detailed Example
3 Optimal Priority Assignment
3.1 Priority Assignment Example
3.2 Optimal Priority Assignment Using Audsley\'s Algorithm
4 Complexity of Probabilistic Schedulability Analyses
5 Review of Prior Work
6 Conclusions and Open Problems
Appendix: Task Set Generation
References
11 Multiprocessor Real-Time Locking Protocols
Contents
1 Introduction
2 The Multiprocessor Real-Time Locking Problem
2.1 Common Assumptions
2.2 Key Design Choices
2.2.1 Request Order
2.2.2 Spinning vs. Suspending
2.2.3 Progress Mechanism
2.2.4 Support for Fine-Grained Nesting
2.2.5 In-Place vs. Centralized Critical Sections
2.3 Analysis and Optimization Problems
2.4 Historical Perspective
3 Progress Mechanisms
3.1 Priority Inversion on Uniprocessors
3.2 Priority Inversion on Multiprocessors
3.3 Non-preemptive Sections
3.4 Priority Inheritance
3.5 Allocation Inheritance
3.6 Priority Boosting
3.7 Restricted Priority Boosting
3.8 Priority Raising
4 Spin-Lock Protocols
4.1 Spin-Lock Protocols for Partitioned Scheduling
4.1.1 Non-FIFO Spin Locks
4.1.2 Preemptable Spinning
4.1.3 Spin-Lock Protocols Based on Priority Boosting
4.1.4 Non-preemptive Critical Sections with Allocation Inheritance
4.2 Spin-Lock Protocols for Global Scheduling
5 Semaphore Protocols for Mutual Exclusion
5.1 Suspension-Oblivious Analysis of Semaphore Protocols
5.1.1 Suspension-Oblivious Analysis and Blocking Optimality
5.1.2 Global Scheduling
5.1.3 Partitioned Scheduling
5.1.4 Clustered Scheduling
5.2 Suspension-Aware Analysis of Semaphore Protocols
5.2.1 Suspension-Aware Schedulability Analysis and Blocking Optimality
5.2.2 Global Scheduling
5.2.3 Partitioned Scheduling
5.2.4 Semi-partitioned Scheduling
5.2.5 Clustered Scheduling
6 Centralized Execution of Critical Sections
6.1 Advantages and Disadvantages
6.2 Centralized Protocols
6.3 Blocking Optimality
7 Independence Preservation: Avoiding the Blocking of Higher-Priority Tasks
7.1 Use Cases
7.2 Fully Preemptive Locking Protocols for Partitioned and Clustered Scheduling
8 Protocols for Relaxed Exclusion Constraints
8.1 Phase-Fair Reader-Writer Locks
8.2 Multiprocessor Real-Time k-Exclusion Protocols
9 Nested Critical Sections
9.1 Coarse-Grained Nesting with Group Locks
9.2 Early Protocol Support for Nested Critical Sections
9.3 Recent Advances in Fine-Grained Multiprocessor Real-Time Locking
10 Implementation Aspects
10.1 Spin-Lock Algorithms
10.2 Avoiding System Calls
10.3 Implementations of Allocation Inheritance
10.4 RTOS and Programming Language Integration
11 Conclusion, Further Directions, and Open Issues
11.1 Further Research Directions
11.2 Open Problems
References
12 Parallel Real-Time Scheduling
Contents
1 Introduction
2 Models of Parallel Real-Time Tasks
2.1 Parallel Job Model
2.2 Parallel Real-Time System Model
3 Decomposition-Based Scheduling of Parallel Tasks
3.1 Theoretical Results for Parallel Synchronous Tasks
3.2 Theoretical Results for Parallel DAG Tasks
3.3 Implementations and Practical Considerations
4 Global Scheduling of Parallel Tasks
4.1 Theoretical Bounds
4.2 Schedulability Test and Response Time Analysis
4.3 Implementations and Practical Considerations
5 Federated-Based Scheduling of Parallel Tasks
5.1 Theoretical Results
5.2 Implementations and Practical Considerations
6 Mixed-Criticality Scheduling of Parallel Tasks
7 Summary
References
13 Real-Time Task Models
Contents
1 Introduction
2 Periodic/Sporadic Real-Time Task Models
2.1 Basic Periodic/Sporadic Task Models
2.2 Extensions with Jitter and Burst
2.3 Offset-Based Task Models
3 Graph-Based Real-Time Task Models
3.1 Multiframe Task Models
3.2 Recurring Branching Task Models
3.3 Digraph Real-Time Task Models
3.4 Task Automata
4 Parallel Real-Time Task Models
4.1 Gang Task Model
4.2 Parallel Synchronous Task Models
4.3 DAG Task Model
4.4 Parallel Conditional Task Models
4.5 Data-Flow Task Model
5 Real-Time Calculus
6 Conclusion
References
14 Complexity of Uniprocessor Scheduling Analysis
Contents
1 Introduction
2 Sporadic and Periodic Tasks
2.1 Sporadic and Synchronous Periodic Tasks
2.1.1 Upper Bounds
2.1.2 Lower Bounds
2.1.3 Other Results
2.2 Asynchronous Periodic Tasks
3 Task Models with Complex Job-Release Patterns
3.1 EDF-Schedulability
3.2 FP-Schedulability
4 Conclusions
References
Part III Real-Time Systems
15 Real-Time Cyber-physical Systems: State-of-the-Art and Future Trends
Contents
1 Introduction
2 Real-Time Systems
3 Real-Time Cyber-Physical Systems
4 Requirements and Components of Real-Time CPSs
5 Related Topics to Real-Time CPSs
6 Applications of Real-Time CPSs
6.1 Intelligent Manufacturing
6.2 Vehicular Systems and Intelligent Transportation
6.3 Medical and Healthcare Systems
6.4 Smart Grid
6.5 Smart Buildings
6.6 Data Centers
7 Challenges of Real-Time CPSs
8 Conclusions
References
16 Real-Time Data Analytics in Internet of Things Systems
Contents
1 Introduction to Real-Time Data Analytics in IoT Systems
1.1 Fundamentals of IoT Systems
1.2 Data Analytics in IoT Systems
1.2.1 IoT Data Characteristics
1.2.2 Taxonomy of IoT Data Analytics
2 Architectures for Real-Time Data Analytics in IoT Systems
2.1 Cloud-Based IoT System Architecture
2.2 Edge-Cloud Collaborative IoT System Architecture
3 Applications of Real-Time Data Analytics in IoT Systems
3.1 Smart City
3.2 Smart Healthcare
3.3 Smart Grid
3.4 Social Network
3.5 Environmental Monitoring
3.6 Industrial IoT
4 Challenges and Future Research Directions
4.1 Optimized Collaboration Between Edge and Cloud Computing
4.2 Autonomous Collaborations Among IoT End Devices
4.3 Cost-Efficient Event Management
4.4 Real-Time Security and Privacy Protection
5 Conclusion
References
17 Authentication and Integrity Protection for Real-Time Cyber-Physical Systems
Contents
1 Introduction
2 Security Threats
3 Authentication and Key Distribution in AMI
4 Secure Data Aggregation with Integrity Preservation
4.1 Setup Phase
4.2 Data Aggregation Phase
4.3 Trapdoor Collision Phase
4.4 Hash Verification Phase
4.5 Key Blinding Phase
4.6 Performance Evaluation
4.6.1 Computational Time and CPU Cycles
4.6.2 Communication Latency
4.6.3 Communication Overhead
4.7 Security Discussions
4.7.1 Data Integrity
4.7.2 Data Authenticity
4.7.3 Security of Polynomial Exchange
5 Key Management
5.1 Classification of Key Management Schemes
5.2 Symmetric-Based Key Management
5.3 Asymmetric-Based Key Management
5.3.1 Identity-Based Without Pairing
5.3.2 Identity-Based Schemes Using Pairing
5.4 Hybrid-Based Key Management
6 Conclusions and Outlook
References
18 Real-Time Simulation Support for Real-Time Systems
Contents
1 Introduction
2 What Is Simulation and Real-Time Simulation
3 Evolution of Real-Time Simulation
4 Real-Time Simulation Support for Real-Time Systems
5 Challenges and Best Practices in Industry
6 Conclusion
References
19 Real-Time Control Systems with Applicationsin Mechatronics
Contents
1 Introduction
1.1 Definitions and Characteristics of Real-Time Systems
1.2 Real-Time Operating Systems (RTOS)
1.3 Digital Control Systems: Controller Design and Discretization
2 Steer-by-Wire System with SMC
2.1 Introduction of SBW
2.2 Controller Design
2.3 Simulation Results
2.3.1 Sinusoidal Motion Tracking (Test A)
2.3.2 Trapezoid Motion Tracking (Test B)
2.4 Summary
3 Electronic Throttle (ET) System with NTSMC
3.1 Introduction of ET System
3.2 Controller Design
3.3 Simulation Results
3.4 Summary
4 Permanent Magnet Linear Motor (PMLM) with FNTSMC
4.1 Introduction of PMLM System
4.2 Controller Design
4.3 Simulation Results
4.4 Summary
5 Conclusion
References
20 PANTHEON: SCADA for Precision Agriculture
Contents
1 Precision Agriculture at Large
2 Precision Agriculture for Hazelnut Orchards: A Case Study
3 PANTHEON: A SCADA System for Agriculture
3.1 A SCADA for Hazelnut Management
3.1.1 Hazelnut Remote Sensing
4 Experimental Setup
5 SCADA Hardware Components
5.1 Wireless Network Backbone
5.2 Ground Robotic Platforms
5.2.1 Common Sensorial Equipment for Localization, Safety, and Navigation System
5.2.2 Ground Robot R-A Farming Sensorial Equipment
5.2.3 Ground Robot R-B Farming Sensorial Equipment
5.3 Aerial Robotic Platforms
5.3.1 Sensorial Equipment
5.4 IoT Agrometeorologic Monitoring Network
6 SCADA Software Architecture
6.1 Software Architecture
6.1.1 Data Collection and Preprocessing Layer
6.1.2 Data Transfer Layer
6.1.3 Data Storage and Processing Layer
6.2 Features of the Software Application
7 Conclusions
References
21 Smart Grid and Demand Side Management
Contents
1 Introduction
2 System Model
2.1 The Cost Function for the Power Provider
2.2 The Utility Functions for Power Consumers
3 One-Provider and One-Consumer Case
3.1 Problem Formulation
3.2 Lagrange Duality
3.3 Distributed Solution
4 One-Provider and Multi-Consumer Case
4.1 Without Interaction Among Consumers
4.2 With Interaction Among Consumers
4.2.1 Game Theory
4.2.2 Game Among Consumers
4.2.3 Distributed Solution
5 Simulation
5.1 One-Provider and One-Consumer Case
5.2 One-Provider and Multi-Consumer Case
5.2.1 Without Interaction Among Consumers
5.2.2 With Interaction Among Consumers
6 Conclusion
References
22 Vehicle Communications for Infotainment Applications
Contents
1 Intelligent Transportation System and Its Applications
1.1 Safety Applications
1.2 Traffic Management
1.3 Infotainment Applications
2 V2X Communications to Support Infotainment Applications
2.1 V2V-Based Solutions for Infotainment Applications
2.2 V2I-Based Solutions for Infotainment Applications
3 Recent Advances in Combination of V2I and V2V for Infotainment Applications
3.1 Should V2I Communications Be Combined with V2V Communications?
3.2 Existing Solutions Combining V2I Communications with V2V Communications
3.3 Preliminary Results of Our Proposed Cooperation Scheme
4 Conclusion
References
23 Cloud Empowered Real-Time Virtual Manufacturing Systems
Contents
1 Introduction
2 Literature Review (State of the Art)
3 An Integrated Framework for Cloud Empowered VMS
3.1 Prepositioning of Components
3.2 Specification of the Cloud-Empowered VMS Components
3.3 Software Technologies
3.3.1 3D Modeling or Development Tools
3.3.2 Photogrammetry Software
3.3.3 Cloud Platform
3.3.4 Cloud Deployment Strategies
4 Use Case of the Cloud Empowered VMS
4.1 The Physical Shopfloor Components
4.1.1 ETON 5000 SYNCRO Production System
4.1.2 AUTOMATEX CPT4700 Panel Cutter
4.1.3 AUTOMATEX MULTITEX 3300-2000
4.1.4 Available Industry 4.0 Packaging Solutions
4.2 Proposed Hybrid Virtual Manufacturing Process
4.2.1 The Details of the Components
4.2.2 The Operation Process
4.2.3 The Operation Flow
5 Conclusion
References
24 Real-Time Internet of Things for Smart Environments
Contents
1 What Is Real-Time IoT?
2 Example Applications
3 Characteristics of Real-Time IoT
4 Layered and Distributed Architecture
5 Layered Network Stack
5.1 Application Layer
5.2 MQTT and Its Support for Real-Time IoT
5.3 Transport Layer
5.4 Network Layer
5.5 MAC Layer
5.6 IEEE-802.15.4e: Time Slotted Channel Hopping
5.7 Physical Layer
5.7.1 IEEE-802.15.4
5.7.2 LPWAN Technologies
6 Operating System Support for Real-Time IoT
7 Design Considerations for Real-Time IoT
7.1 Many Sources of Latency in IoT Systems
7.2 Protocol and Operating System Recommendations
8 Conclusion
References
25 CyreumE: A Real-Time Situational Awareness and Decision-Making Blockchain-Based Architecture for the Energy Internet
Contents
1 Introduction
1.1 CyreumE Overview
1.2 Security Guarantees
1.3 Energy Internet Requirements for Real-Time Situational Awareness and Decision-Making
1.4 Contributions to Knowledge
1.5 Structure of the Chapter
2 Dataset
3 CyreumE-CP
3.1 Identity-Based Communication Paradigm
3.2 Description of CyreumE-CP
3.3 Formal Security Verification of CyreumE-CP Using AVISPA
4 CyreumE
4.1 Real-Time Situational Awareness Process CRSA
4.2 Distributed Value Chain Framework CDVC
4.3 The Real-Time Decision-Making Process CRDM
5 Security Analysis
6 Case Studies
6.1 Impact of Failures on SCADA System: Generation (Lack of Real-Time Availability of Operational Data/Reliability Issues) and Distribution (ATC&C) Losses
6.2 Disputes Across the Value Chain of the Power Grid
7 Discussion and Related Work
8 Conclusion and Future Work
References
26 A Real-Time Robotic System for Sewing PersonalizedStent Grafts
Contents
1 Introduction
2 Related Work
3 Overview
3.1 Module I: Personalized Module
3.2 Module II: Bimanual Sewing Module
3.2.1 Data Acquisition
3.2.2 Task Learning
3.2.3 Trajectory Optimization for Task Contexts
3.3 Module III: Vision Module
3.3.1 Tool Pose Tracking
3.3.2 Needle Detection
3.3.3 Visual Servoing
4 System Performance
4.1 Trajectory Following
4.2 Needle Driving and Piercing
4.3 Autonomous Sewing of Personalized Stent Grafts
5 Conclusion
References
Part IV Real-Time Networks and Communications
27 Low-Latency Multicast and Broadcast Technologies for Real-Time Applications in Smart Grid
Contents
1 Introduction
2 Low-Latency Multicast to Minimize End-to-End Delay for WAC
2.1 Problem Formulation
2.2 Problem-Solving with Lagrangian Relaxation
2.3 Algorithm Design
3 Low-Latency Multicast for Multiple Multicast Trees with Shared Links in WANs
3.1 Problem Formulation and Analysis
3.2 Problem-Solving with Constrained Optimization
3.2.1 Constrained Optimization
3.2.2 Heuristics for BCBT
3.2.3 Algorithm Design
4 Low-Latency Constrained Broadcast in NANs
4.1 Problem Formulation
4.2 Constrained Optimization and Solving
4.2.1 Layered Graph G(V + s,E)
4.2.2 Objective Function
4.2.3 Constraints to the Selection of Core Nodes
4.2.4 Constraints to Non-core Nodes
4.2.5 Constrained Optimization for CBS-ML
4.3 An Illustrative Example
5 Conclusions
References
28 The Efficacy and Real-Time Performance of RefractionNetworking
Contents
1 Introduction
2 Previous Research
3 Upstream Protocols
3.1 Rebound
3.2 Multiflow
3.3 Conjure
3.4 Siegebreaker
4 Downstream Protocols
5 Bidirectional Protocols
5.1 Slitheen
5.2 Gossip Protocol
5.3 Slitheen++
6 Discussion
6.1 Attacks
6.2 Barriers to Adoption
6.3 ISP Deployments
6.4 Future Research
7 Conclusion
References
29 Providing Real-Time and Reliable Transmission in Routing Protocols for Large-Scale Sensor Networks
Contents
1 Introduction
2 Routing Metrics for Reliable and Real-Time Data Transmission
2.1 Single Routing Metric
2.2 Composite Routing Metric
3 Route Discovery Process for Large-Scale Networks
4 Route Maintenance Process for Supporting Real-Time and Reliable Transmissions
5 Conclusion
References
30 Software-Defined Networking for Real-Time NetworkSystems
Contents
1 Introduction
2 Real-Time Networks (RTN)
3 Software-Defined Networks (SDN)
4 Benefits of SDN-RTN Integration
5 Standards for RTN
6 RTN Protocols
6.1 Real-Time Ethernet (RTE)
6.2 Wireless MAC Protocols for RTN
6.3 CAN Bus Protocol and Advancements
7 Variants of CAN Bus
7.1 Field Bus Protocol
7.2 Cross-Layer WNCS Network
7.3 Time-Sensitive Software-Defined Networks: TSSDN
8 SDN-Based RTN Architecture
9 Problem Formulation of SDRTN
10 Simulators for SDRTN
10.1 Virtual Time–Enabled Mininet
10.2 Mininet
10.3 WiFi-Mininet
11 Experimental Demonstrations
12 Conclusion
References
31 Satellite Communication Networks
Contents
1 Introduction
2 Background
3 ITU
4 Orbits
4.1 LEO
4.2 MEO
4.3 GEO
5 Services
5.1 FSS
5.2 BSS
5.3 MSS
6 Segments
7 Scenarios and Use Cases
8 Radio Link
8.1 Link Budget Analysis
9 Antenna Gain
10 EIRP
11 Noise
12 G/T
13 Losses
14 Bandwidth
15 Spectral Efficiency
16 Software-Defined Radio
17 Software-Defined Networking
18 SDR-SDN Integration
19 Interfacing
20 Security
21 Summary
References
Part V Real-Time Multi-Agent Systems
32 Event-Triggering Impulsive Differential Evolution
Contents
1 Introduction
2 Background Information
2.1 DE
2.2 Event-Triggered Mechanism (ETM)
2.3 Impulsive Control
3 An Event-Triggered Impulsive Control Scheme
3.1 The Proposed Approach
3.2 DE with an Event-Triggered Impulsive Control Scheme
4 Experimental Results and Analysis
4.1 Parameter Settings
4.2 Comparison with Six DE Algorithms
4.3 Effectiveness of Two Types of Impulses
4.4 Effectiveness of Random Selection of the Reference State in Stabilizing Impulses
4.5 Parameter Sensitivity Study
4.6 Scalability Study
4.7 Working Mechanism of ETI
5 Conclusion
References
33 Distributed Impulsive Control of Leader-Following Multi-agent Systems
Contents
1 Introduction
2 Leader-Following Consensus of Homogenous Nonlinear Multi-agent Systems via Distributed Impulsive Control
2.1 Problem Formulation
2.2 Leader-Following Consensus Criteria with Distributed Impulsive Control
2.2.1 Coupling Strength and Selective Pinning Scheme in the Case of h2>0
2.2.2 Coupling Strength and Selective Pinning Scheme in the Case of h2≥>0
2.3 Impulse Pinning Controllability
2.4 Pinning Feedback Gain
3 Network-Based Leader-Following Consensus of Homogenous Nonlinear Multi-agent Systems via Distributed Impulsive Control
3.1 Leader-Following Consensus Criteria with Delayed Impulsive Control
3.2 Numerical Simulations
4 Leader-Following Consensus of Heterogenous Nonlinear Multi-agent Systems via Distributed Impulsive Control
4.1 Leader-Following Bounded Consensus Criteria
4.1.1 Coupling Strength and Selective Pinning Scheme in the Case of h2>0
4.1.2 Coupling Strength and Selective Pinning Scheme in the Case of h2≥>0
4.2 Optimization
4.2.1 Optimization with h2>0
4.2.2 Optimization with h2≥
4.3 Controller Design with a Prescribed Error Bound
4.4 Numerical Simulations
5 Conclusion
6 Notes
References
34 Impulsive Control of Multi-agent Systems with PartialInformation
Contents
1 Introduction
2 Preliminaries
2.1 Mathematical Notations
2.2 Algebraic Graph Theory
2.3 Preliminaries on Matrix Theory
3 Problems Formulation
4 Impulsive Controller Development
5 Consensus Under Identical Impulsive Period
5.1 Consensus Analysis of System (7)
5.2 Consensus Analysis of System (8)
5.3 Performance Optimization of Convergence Speed
5.4 Performance Optimization of Decay Rate of Error Energy
6 Consensus Under Time-Varying Impulsive Period
7 Examples
7.1 Examples for Consensus Under Identical Impulsive Period
7.2 Examples for Consensus Under Time-Varying Impulsive Period
8 Conclusion
References
35 Analysis and Design of Synchronization for a Heterogeneous Network
Contents
1 Introduction
2 Problem Formulation
2.1 Algebraic Graph Theory
2.2 System Model
2.3 Distributed Controller
3 Event-Based Control of Reference Generators
3.1 Predicted Value for Edge state
3.2 Synchronization of Reference Generators
3.3 Lower Bound for Inter-event Intervals
4 Output Regulation of Nonidentical Agents
5 Simulation Example
6 Conclusion
References
36 Consensus of Multi-agent Systems with Intermittent Communication and Its Extensions
Contents
1 Introduction
1.1 Notations
1.2 Preliminaries on Algebraic Graph Theory
1.3 Preliminaries on Matrix Theory
2 Consensus of Second-Order Multi-agent Systems with Synchronously Intermittent Communication
2.1 Model Formulation
2.2 Second-Order Consensus in Strongly Connected Networks with Synchronously Intermittent Communication
2.3 Second-Order Consensus in Networks Containing a Directed Spanning Tree with Synchronously Intermittent Communication
3 Consensus of Second-Order Multi-agent Systems with Nonlinear Dynamics and Synchronously Intermittent Communication
3.1 Model Formulation
3.2 Second-Order Consensus in Nonlinear Multi-agent Systems with Synchronously Intermittent Communication
3.3 Second-Order Consensus in Delayed Nonlinear Multi-agent Systems with Synchronously Intermittent Communication
4 Consensus Tracking of Nonlinear Multi-agent Systems with Asynchronously Intermittent Communication
4.1 Model Formulation
4.2 Consensus Tracking in Networks with Fixed Directed Topology Containing a Directed Spanning Tree
4.3 Consensus Tracking in Networks with Every Possible Topology Containing a Directed Spanning Tree
4.4 Consensus Tracking in Networks with Topology Frequently Containing a Directed Spanning Tree
5 Numerical Simulations
5.1 Consensus of Second-Order Multi-agent Systems withIntermittent Communication
5.2 Consensus of Second-Order Multi-agent Systems with Nonlinear Dynamics and Intermittent Communication
6 Conclusions
References
37 Synchronization in Coupled Harmonic Oscillator Systems Based on Sampled Position Data
Contents
1 Introduction
2 Preliminaries
2.1 Notations
2.2 Graph Theory
3 Problem Formulation and Algorithm Design
4 Synchronization Under Protocol (2)
5 Synchronization Under Protocol (3)
5.1 Synchronization Criteria for Network (1) with Protocol (3)
5.2 Design of β and T for Undirected Network
5.3 Design of β and T for Directed Network
6 Numerical Results
6.1 Synchronization with Current Sampled Position Data
6.2 Synchronization with Past Sampled Position Data
7 Conclusions
References
38 Synchronization of Nonlinear Dynamical Networks with Heterogeneous Impulses
Contents
1 Introduction
2 Model Formulation and Some Preliminaries
3 Synchronization of Nonlinear Dynamical Networks with Heterogeneous Impulses
4 Numerical Example
5 Conclusion
References
39 Adaptive Consensus of Multiple Lagrangian Systems
Contents
1 Introduction
2 Background
3 Consensus of Multiple Lagrangian Systems Under a Directed Graph with Full Information
4 Consensus of Multiple Lagrangian Systems Under a Directed Graph Without Relative Velocity Information
5 Conclusions
References
40 On Discrete-Time Convergence for General Linear Multi-agent Systems Under Dynamic Topology
Contents
1 Introduction
2 Preliminaries
2.1 Notation
2.2 Concepts in Graph
2.3 Row Stochastic Matrix
2.4 Problem Statement
3 Main Results
3.1 Convergence Analysis
3.2 Further Analysis and Extensions
4 Conclusion
References
41 Distributed Consensus of Stochastic Delayed Multi-agent Systems Under Asynchronous Switching
Contents
1 Introduction
2 Preliminaries
3 Main Results
4 Numerical Examples
4.1 Appendix: Proofs
5 Conclusion
References
42 Outer Synchronization of Partially Coupled Dynamical Networks via Pinning Impulsive Controllers
Contents
1 Introduction
2 Preliminaries and Problem Statement
2.1 Notation
2.2 Partially Coupled Dynamical Networks
2.3 Error Dynamical System
3 Outer Synchronization of Drive-response Partially Coupled Networks
3.1 Pinning Impulsive Control Scheme
3.2 Impulsive Control Protocol via Concept of Average Impulsive Interval
4 Numerical Examples
5 Conclusion
References
43 Time-Varying Formation Control Under Switching Interaction Topologies Theories and Applications
Contents
1 Introduction
2 Preliminaries and Problem Description
2.1 Basic Concepts and Results on Graph Theory
2.2 Problem Description
3 Time-Varying Formation Analysis
4 Time-Varying Formation Feasibility and Protocol Design
5 Simulation and Experimental Results
5.1 Numerical Simulation for High-Order Linear Swarm System
5.2 Quadrotor Formation Platform
5.3 Simulations and Experiments for Quadrotor Swarm Systems
6 Conclusions
References
44 Semi-global Consensus of Multi-agent Systems with Impulsive Approach
Contents
1 Introduction
2 Preliminaries and Problem Statement
2.1 Notation
2.2 Graph Theory
2.3 Consensus Protocol via Low-Gain Feedback Approach
2.4 Impulsive Consensus Protocol via Low-Gain Feedback Approach
3 Impulsive Consensus Protocol Design
3.1 Low-Gain-Based Impulsive Consensus Protocol
3.2 Low-and-High-Gain-Based Impulsive Consensus Protocol
3.2.1 Design of Low-Gain Parameter γ0
3.2.2 Design of High-Gain Parameter β0
3.2.3 Design of Low-and-High-Gain-Based Impulsive Control Gain Matrix K
4 Numerical Examples
5 Conclusion
References
45 Event-Triggered Schemes for Leader-Following Consensus of Multi-agent Systems
Contents
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Notations
2.2 Leader-Following Consensus
2.3 Basic Theory on Graphs and Matrices
2.4 Other Useful Lemmas
2.5 Problem Formulation
2.5.1 Continuous-Time Control Protocol
2.5.2 Event-Triggered Control Protocol
3 Three Types of Event-Triggered Schemes on Leader-Following Consensus of General Linear Multi-agent Systems
3.1 Centralized Event-Triggered Control
3.2 Clustered Event-Triggered Control
3.3 Distributed Event-Triggered Control
3.4 Discussion on Event Detection
3.5 Summary
3.6 Notes
4 An Impulsive Framework for Event-Triggered Consensus Analysis: The Clustered Case
4.1 Event-Triggered Protocol via State Feedback
4.2 Consensus Analysis Based on Impulsive Control Framework
4.3 The Case with External Disturbance
4.4 Numerical Examples
4.5 Summary
4.6 Notes
References
46 Ultra-fast Formation Control of High-Order, Discrete-Time Multi-Agent Systems Based on Multistep PredictiveMechanism
Contents
1 Introduction
2 Preliminaries on Graph Theory and Problem Formulation
2.1 Preliminaries on Graph Theory
2.2 Problem Formulation
3 Main Results
3.1 Analysis on Ultra-fast Formation Control
3.2 Designs of Control Gain and Coupling Gain
4 Simulation Examples
4.1 Example 1
4.2 Example 2
5 Conclusions
References
47 Particle Swarm Optimization of Real-Time PID Controllers
Contents
1 Introduction
2 Theory
3 Algorithms
4 Application to Control Parameter Optimization
5 Application to Real-Time Parameter Identification
5.1 Kinetic Modelling and Identification Criterion of a VTOL Aircraft
5.2 Design of the Estimation Procedure
5.3 Description of the Experimental Setup
5.4 Parameter Estimation and Experimental Results
5.5 Model Validation
6 Conclusions
References
Index