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Feedback and Quality-of-Service in Embedded Systems

People | Publications

Using control-based approaches for modeling, analysis, and design of embedded computer and communications systems is currently receiving increased attention from the real-time systems community, as a promising foundation for controlling the uncertainty in large and complex real-time systems. Areas of growing interest include feedback architectures for adaptive real-time computing, theory for performance guarantees under uncertainty, integrated resource scheduling and feedback control, control-theoretical models of dynamic real-time systems, application of control theory for controlling timing behavior, and optimal, robust, or adaptive feedback control in real-time systems.

The use of control has the potential to increase flexibility, while preserving dependability and efficiency. For example, control techniques can be used to compensate for shortcomings and imperfections in the implementation platforms. The work within LUCAS in this area has so far been concentrated on control of web servers and on networked control systems.

Control approaches to resource allocation are especially interesting for networked control systems, where sensors, actuators, and controllers are distributed as nodes in a distributed system. This type of systems is becoming increasingly common in several industry branches, e.g., the automotive industry.

In addition to the feedback scheduling of networked control systems work within LUCAS we are also studying the real-time system software implications of this type of systems. Of particular interest are wireless ad-hoc networks, e.g. Bluetooth, and switched Ethernet-based approaches. Special focus is given to how wireless networks can be used for implementing feedback control systems and how the control system requirements influence the data and communication layers of Bluetooth.
A new real-time network concept, called ThrottleNet, based on switched Ethernet has been developed. The approach is able to give hard upper bound on network latencies for real-time traffic using ordinary COTS switches. ThrottleNet is currently being used in our robotics laboratory.

People
tekn. Anders Blomdell, Dr Anton Cervin, Dr. Magnus Gäfvert, Dr. Roger Henriksson, Dr. Dan Henriksson, Prof. Rolf Johansson, Dr. Bo Lincoln, Prof. Boris Magnusson, Dr. Klas Nilsson, Dr. Anders Nilsson, Lic. Eng. Martin Ohlin, Lic. Eng Tomas Olsson, Dr. Anders Robertsson, Prof. Björn Wittenmark, Prof. Karl-Erik Årzén

Contact: Prof. Karl-Erik Årzén

Funded projects	1999	2000	2001	2002	2003	2004	2005	2006	2007	2008	Funder
HRTC				x	x						EU
FLEXCON				x	x	x	x				SSF
ARTIST2						x	x	x	x		EU
RUNES							x	x	x		EU
CEmACS - Complex Embedded Automotive Control Systems							x	x	x		EU
SIARAS							x	x	x		EU

Publications

2006

Martin Ohlin Feedback Linux Scheduling and a Simulation Tool for Wireless Control Licentiate thesis ISRN LUTFD2/TFRT--3240--SE, Department of Automatic Control, Lund University, Sweden, June 2006
Sven Gestegård Robertz, Dan Henriksson, Anton Cervin Memory-Aware Feedback Scheduling of Control Tasks In Proceedings of the 11th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA06), Prague, Czech Republic, September 2006
Rosa Castañé, Pau Martí, Manel Velasco, Anton Cervin, Dan Henriksson Resource Management for Control Tasks Based on the Transient Dynamics of Closed-Loop Systems In Proceedings of the 18th Euromicro Conference on Real-Time Systems, Dresden, Germany, July 2006
Dan Henriksson Resource-Constrained Embedded Control and Computing Systems Ph D Thesis, ISSN 0280–5316, ISRN LUTFD2/TFR T --1074--SE

2005

Anton Cervin Analysis of Overrun Strategies in Periodic Control Tasks In Proc. 16th IFAC World Congress, Prague, Czech Republic, July 2005.
Anders Blomdell, Gunnar Bolmsjö, Torgny Brogårdh, Per Cederberg, Mats Isaksson, Rolf Johansson, Mathias Haage, Klas Nilsson, Magnus Olsson, Tomas Olsson Extending an Industrial Root Controller—Implementation and Applications of a Fast Open Sensor Interface IEEE Robotics & Automation Magazine, 12:3, pp. 85-94, September 2005.
Karl-Erik Årzén, Anton Cervin, Dan Henriksson Implementation-Aware Embedded Control Systems In D. Hristu-Varsakelis and W. S. Levine (Ed.): Handbook of Networked and Embedded Control Systems, 2005.
Dan Henriksson, Anton Cervin Optimal On-line Sampling Period Assignment for Real-Time Control Tasks Based on Plant State Information In Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005, Seville, Spain, December 2005.
Martin Andersson, Dan Henriksson, Anton Cervin, Karl-Erik Årzén Simulation of Wireless Networked Control Systems In Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005, Seville, Spain, December 2005.
Robert Nilsson, Dan Henriksson Test Case Generation for Flexible Real-Time Control Systems In Proceedings of the 10th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA05), Catania, Sicily, Italy, September 2005.

2004

Lui Sha, Tarek Abdelzaher, Karl-Erik Årzén, Anton Cervin, Theodore Baker, Alan Burns, Giorgio Buttazzo, Marco Caccamo, John Lehoczky, Aloysius K. Mok Real-Time Scheduling Theory: A Historical Perspective Real-Time Systems, 28:2–3, pp. 101–155, November 2004
Anders Robertsson, Björn Wittenmark, Maria Kihl, Mikael Andersson Admission Control for Web Server Systems - Design and Experimental Evaluation In Proc. of IEEE Conference on Decision and Control, pp. 531–536, Paradise Island, Bahamas, December 2004. Invited paper
Anders Robertsson, Björn Wittenmark, Maria Kihl, Mikael Andersson Design and evaluation of load control in web server systems In Proceeding of the 2004 American Control Conference, pp. 1980-1985, Boston, MA, June 2004.
Dan Henriksson, Ying Lu, Tarek Abdelzaher Improved Prediction for Web Server Delay Control In Proceedings of the 16th Euromicro Conference on Real-Time Systems (ECRTS 04), Catania, Sicily, Italy, June 2004.
Dan Henriksson, Tomas Olsson Maximizing the Use of Computational Resources in Multi-Camera Feedback Control In Proceedings of the 10th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS04), Toronto, Canada, May 2004.
Tarek Abdelzaher, Ying Lu, Ronghua Zhang, Dan Henriksson Practical Application of Control Theory to Web Services In Proceedings of the American Control Conference, Boston, MA, June 2004. Invited paper.
Javier Gámez García, Anders Robertsson, Juan Gómez Ortega, Rolf Johansson Sensor Fusion of Force and Acceleration for Robot Force Control In Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 28 - October 2, pp. 3009-3014, Sendai, Japan, September 2004.

2003

Robertsson, A., Wittenmark, B. and Kihl, M. Analysis and design of admission control in web-server systems In the Proceedings of the American Control Conf. (ACC’03), Denver, Colorado, USA, June 2003
Kihl, M., Robertsson, A., Wittenmark, B., Analysis of Admission Control Mechanisms using Non-linear Control Theory In Proceedings of IEEE Int Symp on Computer Communications (ICSS 2003), Kemer-Antalya, Turkey, June 2003
Lincoln, B., Dynamic Programming and Time-Varying Delay Systems PhD thesis ISRN LUTFD2/TFRT--1067--SE, . Department of Automatic Control, May 2003
Bate, I.,Nightingale, P., and Cervin, A., Establishing Timing Requirements and Control Attributesfor Control Loops in Real-Time Systems Proceedings of the 15th Euromicro Conference on Real-Time Systems, Porto, Portugal, 2003
Henriksson, D., Flexible Scheduling Methods and Tools for Real-Time Control Systems Lic Thesis, ISRN LUTFD2/TFRT-3233-SE, December 2003. Department of Automatic Control, Lund Institute of Technology, Sweden
Cervin, A., Integrated Control and Scheduling PhD thesis ISRN LUTFD2/TFRT--1065--SE, April 2003. Department of Automatic Control, Lund Institute of Technology, Sweden
Andersson, M., Kihl, M. and Robertsson, A. Modelling and Design of Admission Control Mechanisms for Web Servers using Non-linear Control Theory In the Proceedings of Information Technologies and Communications (ITCom 2003), Orlando, Florida, USA, September 2003
Kihl, M., Robertsson, A., Wittenmark, B., Performance modelling and control of server systems using non-linear control theory In 18th International Teletraffic Congress, Berlin, Germany, September 2003
Årzén, K.-E., Cervin, A., Henriksson., D., Resource-Constrained Embedded Control Systems CERTS2003 - Co-design in Embedded Real-time Systems Workshop, Porto, Portugal 2003

2002

Lincoln, B., A Simple Stability Criterion for Control Systems with Varying Delays In Proceedings of the 15th IFAC World Congress, 2002
Henriksson, D., Cervin, A., Åkesson, J., Årzén, K.-E., Feedback Scheduling of Model Predictive Controllers In Proceedings of the 8th IEEE Real-Time and Embedded Technology and Applications Symposium, San Jose, CA, 2002
Lincoln, B., Jitter Compensation in Digital Control Systems In Proceedings of the 2002 American Control Conference, 2002
Henriksson, D., Cervin, A., Åkesson, J., Årzén, K.-E., On Dynamic Real-Time Scheduling of Model Predictive Controllers In Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, 2002

2001

Cervin, A., Eker, J., Bernhardsson, B. and Årzén, K.-E. Feedback-Feedforward Scheduling of Control Tasks Real-Time Systems Journal, Accepted for publication in forthcoming special issue of control-theoretical approaches in real-time computing, 2001
Wittenmark, B., Sample-Induced Delays in Synchronous Multi-Rate Systems In Proceedings of European Control Conference, 2001

2000

Eker, J., Hagander, P. and Årzén, K.-E., A feedback scheduler for real time control tasks Control Engineering Practice, 8(12), pp. 1369 1378, 2000
Årzén, K.-E., Cervin, A., Eker, J., and Sha, L., An introduction to control and scheduling co-design In Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, December 2000

Last update: Wednesday, 04-Apr-2007 11:45:42 CEST