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Because a real-time system combines control and data processing designers specify it using different languages. Such systems are often distributed and the problem is to obtain a distributed implementation from these distinct specifications. Indeed, the method based on separated code generation and manual distribution leads to inconsistent implementations. We propose to unify all these specifications...
Controller area network (CAN) is nowadays widespread in distributed embedded systems due to its electrical robustness, low price, and deterministic access delay. However, its use in safety-critical applications has been controversial due to dependability limitations. In particular, in a CAN bus there are multiple components such that a single fault of any of them can prevent the communication capabilities...
This paper presents an architecture to build distributed embedded real-time systems in the RTLinux-GPL platform. The architecture (built in a layered fashion) has being built around open source projects ranging from Ethernet drivers to a CORBA environment. The paper focuses on those layers that give support for QoS and real-time networking over Ethernet networks. The main ideas are: to accomplish...
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...
A reported liability of the controller area network protocol is that it does not provide a clock synchronization service. Therefore, whenever a CAN-based distributed embedded system requires its nodes to have a common time base, clock synchronization has to be implemented by means of an external mechanism. In a previous work, we proposed a fault-tolerant and high-precision clock synchronization protocol...
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