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17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults Networked Control Systems Tolerant to faults FP6-IST-STREP Project E. Rondeau CRAN-UMR 7039 : CNRS-UHP-INPL 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults PLAN : 1. NeCST project 2. WP5 : Communication 3. NeCST Platforms 4. Conclusion 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: - NeCST : Networked Control Systems Tolerant to Faults - STREP Project - IST - Embedded Systems - Contract n° IST – 2004 – 004303 - Start date of project : 1 August 2004 - Duration : 3 years - Budget : 2M€ (Total) 1.2 M€ (Eligible costs) 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: Project Coordinator : E. Rondeau Contractors : - University Henri-Poincaré, Nancy 1 (UHP, France) (Leader : D. Sauter) - Helsinki University of Technology (HUT, Finland) (Leader : SL Jämsä-Jounela) - University of Duisburg-Essen (UNIDE, Germany) (Leader : S. Ding) - University of Hull (UHULL, UK) (Leader : R. Patton) - NESTE JACOBS Oy (NESTE, Finland) (Leader : M. Sourander) - PREDICT (PREDICT, France) (Leader : J.B. Léger) - SAE – Automation (SAE, Slovakia) (Leader : V. Palacka) 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: - The aim of the project is to explore research opportunities in the direction of distributed control systems in order to enhance the performance of diagnostics and fault tolerant control systems. - Conventional Fault Detection and Isolation (FDI) / Fault Tolerant Control (FTC) and Autonomy theories, with their ideal assumptions such as synchronised control, non delayed sensing and actuation, must be adapted to the new paradigm of NeCS. 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: FDI/FTC Conceptual Model : Fault Detection Accommodation Reconfiguration Degradation Evaluation Application Model Application 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: FDI/FTC Conceptual Model For Distributed Systems : Fault Detection Accommodation Reconfiguration Evaluation Delay Failure Remote Application Model Remote Application Degradation Remote measures and Remote compensations generate : - Missing values - Delays, Jitters - Clock non synchronization 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: FDI/FTC Conceptual Model OVER NETWORK : Fault Detection Accommodation Reconfiguration Evaluation Network Remote Application Model Remote Application Degradation Network generates : - Management traffic (ARP, STP, SNMP,…) - Route optimization (RIP,…) - Protocols with self adaptation mechanisms (TCP) + Remote measures and Remote compensations generate : - Missing values - Correlation between delay & missing messages (TCP) - Delays, Jitters - Encapsulation & fragmentation of messages,… - Clock non synchronization 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: FDI/FTC Conceptual Model OF NETWORK : Fault Detection Accommodation Evaluation Network Model Reconfiguration Network Degradation Compensation on the network : Network Measure - Accommodation : Priority, Queuing policy, load balancing - Reconfiguration : protocols, network architecture - Network instrumentation Network Model - Degradation : Message Inter arrival, traffic smoothing,… - Queuing model, Network calculus 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: NeCST Conceptual Model : Fault Detection Evaluation QoS Network Model Accommodation Network Reconfiguration Degradation Remote Application Model Remote Application Fault Detection Accommodation Evaluation Embedded Model Fault Detection Evaluation Reconfiguration Accommodation Fault Detection Degradation Reconfiguration Evaluation Degradation Accommodation Reconfiguration Degradation Embedded Model Embedded Embedded Model Embedded Embedded 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults Goal: To coordinate the Local and Global FDI/FTC models in taking into account the network QoS 1. NeCST project: NeCST Conceptual Model and EMBEDDED SYSTEMS : Fault Detection Evaluation Fault Detection Degradation Network Model Accommodation Accommodation Reconfiguration Evaluation Embedded Model Fault Detection Evaluation Reconfiguration Embedded Network Degradation Accommodation Embedded Model Fault Detection Reconfiguration Evaluation Accommodation Reconfiguration Degradation Degradation Embedded Remote Application Model Embedded Model Embedded Remote Application Network Devices Embedded Components 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 1. NeCST project: WP2 : User Requirements (HUT) WP3 : FDI/FTC in a distributed framework (UNIDE) Degradation Degradation WP4 : Autonomous operating conditions (UHULL) Reconfiguration Accommodation Application Embedded Embedded Model Application Model Degradation Reconfiguration Accommodation Fault Detection Evaluation Reconfiguration Accommodation Embedded Embedded Model Degradation Reconfiguration Fault Detection Evaluation Accommodation Fault Detection Fault Detection WP5 : Communication design and management (UHP) WP8 : Application to an industrial petroleum oil refinery (NESTE) WP7 : Communication design tool (SAE) WP10 : Exploitation strategies and dissemination (PREDICT) WP6 : Distributed software design (PREDICT) WP9 : Project assessment (UHP) Embedded Embedded Model Evaluation Evaluation Network Network Model 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Objectives Design of robust communication architectures – high quality of service in terms of temporal performances and availability, with respect to the needs of the distributed application Define procedures and algorithms – detect and accommodate network failures 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Network information (FDI) Measured - State of the connections at an equipment (broken link at a router, …) - Transmission time (from an equipment to another) - Queue length in a buffer Computed – Upper bound transmission delay (obtained from Network calculus) Configuration parameters – Network architecture – Message parameters management (priority, queuing policy, protocols… 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Network FDI : Instrumentation Information to measure: Connectivity Delay Queues size Jitter Clock non synchronisation … MIB/ SNMP 3. Distribution of the knowledge 2. Obtain local information 1. Test the connectivity Technologies: Active / Passive measurements (analyser) Management Protocol like SNMP Clock synchronisation (IEEE1588) 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Network FDI : Network state computation Principle : – Detect abnormal deviations of some network characteristics from their nominal values – The network state D is determined by the mean of the network calculus theory Network Traffic Network calculus algorithm Specific network parameters •Network configuration •Links capacity •Message priority D data rate burst level packets’ length output capacity 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Network FDI : Residual generation QoS required by applications Abnormal delay measured value Upper bond computed value + DELAYS + + + Measured delays value + + + + + + + + + + + + + + + + + + Frame’s number Traffic modification effect is adapted on line + DELAYS QoS required by applications Upper bond estimated Value variation + + + + + + + + + + + + + + + + + + Frame’s number + + + 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Network FDI Fault Classification – Negligible : QoS is not significantly degraded – Tolerable : The fault effect can be compensated. Modification of message priority in the device. – Significant : Node Failures 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Fault Tolerant Network Objective – Compensate effects of the faults on the system performances Process Faults Network Faults Network Accomodation.req Process Accomodation.req To Compensate Faults A12 Network Reconfiguration.req Process Reconfiguration.req Network Degradation.req Global FTC Algorithm Process Degradation.req 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Fault Tolerant Network Network reconfiguration procedure Distribute industrial devices on different Ethernet switches in order to reduce the load of the switches 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 2. WP5 Description : Embedded FDI/FTC Compensate local network fault to avoid traffic congestion Adapt the communication traffic in order to ensure a good QoS Fault Detection Evaluation Fault Detection Accommodation Accommodation Reconfiguration Degradation Fault Detection Reconfiguration Evaluation Network Model Embedded Model Evaluation Network Embedded Degradation Accommodation Embedded Model Fault Detection Reconfiguration Evaluation Accommodation Reconfiguration Embedded Remote Application Model Degradation Embedded Model Output trafic Embedded Degradation Entering traffic Remote Application Measurement of delays Flow modelling Estimation of maximum delay Accommodation in a switch network device 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 3. FDI/FTC over Network Platforms NeCST SIMULATION PLATFORM Ethernet Switch Ethernet Switch Local FDI/FTC on SIMULINK Local FDI/FTC on SIMULINK Local FDI/FTC on SIMULINK FDI/FTC on SIMULINK Fault Detection Evaluation Fault Detection Accommodation Accommodation Reconfiguration Degradation Fault Detection Reconfiguration Evaluation Embedded Model Evaluation Embedded Network Model Network Degradation Accommodation Embedded Model Fault Detection Reconfiguration Evaluation Accommodation Reconfiguration Degradation Degradation Embedded Remote Application Model Embedded Model Embedded Remote Application 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 3. FDI/FTC over Network Platforms NeCST SIMULATION PLATFORM Ethernet Switch Ethernet Switch Local FDI/FTC on SIMULINK Local FDI/FTC on SIMULINK Local FDI/FTC on SIMULINK FDI/FTC on SIMULINK Network Emulator Fault Detection Evaluation Fault Detection Accommodation Accommodation Reconfiguration Degradation Fault Detection Reconfiguration Evaluation Embedded Model Evaluation Embedded Network Model Network Degradation Accommodation Embedded Model Fault Detection Reconfiguration Evaluation Accommodation Reconfiguration Degradation Degradation Embedded Remote Application Model Embedded Model Embedded Remote Application 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 3. FDI/FTC over Network Platforms NeCST SIMULATION PLATFORM WP4: :PROSimulator Autonomy WP8 WP5 : Network WP7 : OPCDB Gateway Ethernet Switch Ethernet Switch Local FDI/FTC on SIMULINK Local FDI/FTC on SIMULINK Local FDI/FTC on SIMULINK FDI/FTC on SIMULINK WP6 : CASIP WP3 : FDI / FTC 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 3. FDI/FTC over Network Platforms 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 3. FDI/FTC over Network Platforms 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 3. FDI/FTC over Network Platforms 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 3. FDI/FTC over network Platforms NeCST EXPERIMENTAL PLATFORM Ethernet Switch Ethernet Switch Local FDI/FTC on SIMULINK Local FDI/FTC on SIMULINK Local FDI/FTC on SIMULINK FDI/FTC on SIMULINK 17 Juin 2005, Réunion STRQdS, PARIS, NeCST Embedded Systems Networked Control Systems Tolerant to faults 4. Conclusion First period was validated by EC Second Period : Integration and Evaluation of all WPs in the platforms NeCST Web Site : www.strep-necst.org 1st Workshop on NCS & FTC (6-7 Octobre 2005, Ajaccio)
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