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IAS
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IAS
Material
IAS
MOFIAS:
Mobile Online Feedback System for Lectures of the IAS
Access: http://m.ias.uni-stuttgart.de
2015 IAS, Universitt Stuttgart
IAS
Live-Stream
The complete presentation (pictures and sound) will be streamed live over
the internet during the lecture.
We recommend to use VLC player to play the stream.
Questions / comments can be sent to the lecturer from outside the lecture
room.
Access: http://visstreamworld.hlrs.de/ias-vorlesung
IAS
Literature
Rudolf Lauber, Peter Ghner:
Prozessautomatisierung I
3rd Edition
Springer-Verlag Berlin Heidelberg 1999
ISBN 3-540-65318-X
Price: 59,95 EUR
In German
IAS
Lectures
Nr. Date
Subject
1*
2
3*
16.04.15
21.04.15
23.04.15
4
5
28.04.15
05.05.15
6*
7
8
9
10
11
12
13
07.05.15
12.05.15
19.05.15
02.06.15
09.06.15
16.06.15
23.06.15
30.06.15
IAS
Exercises
Nr. Date
Subject
1
2
3
4
5
6
7
8
9
10
11
12*
30.04.15
21.05.15
11.06.15
18.06.15
25.06.15
02.07.15
07.07.15
09.07.15
14.07.15
16.07.15
21.07.15
23.07.15
IAS
IAS
Real Time
Programming
Networks and
Processes
Software
Engineering
for Real-Time
Systems
Introduction to
Distributed
Systems
10
IAS
Automation Computers
Automation structures
Automation Hierarchies
Distributed Automation Systems
Automation structures with redundancy
3 Process Peripherals
3.1
3.2
3.3
3.4
3.5
3.6
Interfaces between the technical process and the automation computer system
Sensors and Actuators
Representation of process data in automation computers
Input / output of analog signals
Input / output of binary and digital signals
Field bus systems
13
14
30
37
49
57
62
73
80
89
90
116
125
132
137
150
151
160
172
178
203
209
11
IAS
Problem definition
Real-time programming methods
Tasks
Synchronization of tasks
Communication between tasks
Scheduling methods
Definition
Organization tasks of a real-time operating system
Development of a mini-real-time operating system
Software system design of the mini real-time operating system
Examples for real-time operating systems
Examples for real-time operating systems
Basic Terms
Programming Programmable Logic Controllers (PLC)
Universal Programming Languages for Industrial Automation
Concepts of parallel programming
250
251
269
288
299
313
318
340
341
348
359
374
403
409
424
425
439
447
463
12
IAS
13
IAS
1.2
1.3
1.4
1.5
1.6
Technical Systems
1.7
1.8
14
IAS
Manufacturing of Automation
Equipment (2006)
Others
;
EU-25
(without
GER);
20%
Germany;
Usage of Automation in
Production (2006)
Others;
EU-25
(without
GER);
20%
Germany;
15
IAS
Definition 1:
A technical process is a process during which material, energy or
information is altered in its state. This modification of state can imply
the transition from an initial state to a final state.
Initial state of
material, energy
or information
TECHNICAL
PROCESS
in a technical system
Final state of
material, energy
or information
16
IAS
Examples
Initial State
Technical Process
Technical System
Final State
Low ambient
temperature
Heating of a house
Dirty
laundry
Washing process
Unsorted parcels
Energy of fossil or
nuclear fuels
Power plant
Parts to be
stored
Storage process
Train at location A
Traffic process
Monomere substance
Chemical reaction
Untested device
Test process
Test laboratory
Tested device
Drilling process
Drilling machine
Pollutants
Pollution monitoring
Washing machine
Fresh laundry
Electric energy
Information on pollution
concentrations are indicated
in monitoring center
17
IAS
Definition 2:
DIN 66201
A process is the entirety of all interacting processes within a
system that transforms and stores material, energy or information.
A technical process is a process in which its physical parameters
are recorded and influenced by technical means.
effecting
variables
material,
energy or
information
inflow
output
values
TECHNICAL PROCESS
material, energy,
or information
outflow
in a technical system
18
IAS
material, energy
or information
inflow
measured
signals
Technical System
material, energy
or information
outflow
(device,machine
or technical plant)
process
influencing
information
process
outcome
information
Technical
Process
process
input
process
output
19
IAS
Example
actuating signals
Technical Plant
measured signals
substance A
substance B
substance C
Technical Process
feed
substance A
feed
substance B
fill
reaction
empty
outflow
reactions
product
substance C
20
IAS
Industrial automation
= process
automation
automat
automation
= technical systems
acting on itself
= to enable machines,
installations and facilities
to operate autonomously
21
IAS
Industrial automation
process operators
22
IAS
People
(process operators)
for managing and operating
the technical
process as well as
intervening in
exceptional situations
process
influence
process
outcome
computer and
communication system
consisting of e.g.,
programmable logic
controllers (PLC), industrials PCs,
micro controllers,
bus systems, etc.
control
signals to the
technical
process
signals
from the
technical
process
technical system
(technical product or
technical plant), in which
a technical process
is implemented
23
IAS
Process informatics
Real-time processing
24
IAS
Hardware/software system
External events
Priority of processing
25
IAS
Timeliness
react right on time
Simultaneousness
concurrent reaction to various events
Dependability
reliable, safe, available
Predictability
all reactions must be predictable and deterministic
26
IAS
people
time
time
external
influences
sensor signals
computer and
communication
system
control signals
technical process
in a
technical plant
27
IAS
28
IAS
Answer
Early data is bad data
Delayed data is bad data
As fast as possible data is correct data
Timely and precise data is bad data
No data is as bad as wrong data
29
IAS
1.2
1.3
1.4
1.5
1.6
Technical systems
1.7
1.8
30
IAS
Degree of automation
The meaning and value of an automation system depends on the technical
process (accessible / inaccessible) and the general conditions (economically
reasonable / uneconomic).
The degree of automation describes the extend to which the processes are
automated. Span: from manual to fully autonomous
Attention: As per today human can intervene even in a fully automated
system.
Types of operation
31
IAS
process
management
applications
process
personnel
control and
regulation devices
display device and
graphical recorder
manual
device
technical plant
32
IAS
General management
orders
operation
report
operation
protocol input
Off-line
computer
process
management
instructions
process
personnel
control and
regulation devices
display and
graphical recorder
manual
device
technical plant
2015 IAS, Universitt Stuttgart
33
IAS
operation
monitoring
orders
operation
report
control room
instructions
processpersonnel
control and
regulation devices
computer
system
manual
device
technical plant
2015 IAS, Universitt Stuttgart
34
IAS
operation
report
emergency
control
emergency
instruments
technical plant
35
IAS
Answer
Off-line operation shows the highest degree of automation
On-line / closed-loop operation requires a high number of operation
personnel
On-line / open-loop operation is best suited for a medium degree of
automation
In case of off-line operation the computer is used as an assistance for
calculations and analysis.
36
IAS
1.2
1.3
1.4
1.5
1.6
Technical systems
1.7
1.8
37
IAS
Product automation
industrial automation systems, in which the technical process takes place
within a device or within a single machine
Plant automation
industrial automation systems, in which the technical process is composed of
multiple sub processes that are often specially distributed or wide spread over
plants
38
Examples
cameras
navigation systems
mobiles, telephones
machine tools
automobiles (with sub-systems
engine control, ABS, ESP, navigation)
Product automation
IAS
alarm systems
railway traffic systems (long distance
trains, locomotives, metros)
Plant automation
power plants
heating systems
39
IAS
40
IAS
micro controller
process results
display
set values
manipulated variables
user
or
operator
technical product
41
IAS
Washing program,
spin speed
Microcontroller
(e.g. Siemens C167)
Motor speed,
heating control
Temperature value,
actual spin speed
Washing machine
42
IAS
1991
The Computer
For the 21st
Century
Definition:
Cyber-Physical
Systems
2006
NSF
Workshop
2010
acatech
A cyber-physical system
(CPS) is a system of
collaborating computational
elements controlling physical
entities.
[]
-- Wikipedia EN, 11.03. 2014
Mark Weiser
Xerox PARC
43
IAS
44
IAS
microcontroller
bus-system
microcontroller
1
microcontroller
2
microcontroller
n
subsystem
1
subsystem
2
subsystem
n
technical product
2015 IAS, Universitt Stuttgart
45
IAS
PLCs, PCs and process control systems are used as automation computer
systems
Large number of sensors and actuators
Medium to high degree of automation
One-of-a-king system
Engineering and software costs are critical for overall costs
46
IAS
master
computer
PC
level 3
PC
plant bus
level 2
PLC
PLC
PLC
field bus
field bus
level 1
subsystem
subsystem
subsystem
technical plant
2015 IAS, Universitt Stuttgart
47
IAS
Answer
48
IAS
1.2
1.3
1.4
1.5
1.6
Technical systems
1.7
1.8
49
IAS
technical components
of an industrial
automation system
technical system to
be automated
(automation object)
technical
product
facilities for
user - process
communication
technical
plant
hardwired
individual
devices
interface to the
technical process:
sensors and actuators
automation
computer system
communication
system
communication
system close to the
process (field bus)
hardware system
(device system)
computer
hardware
process
periphery
automation
software system
user
software
system
software
50
IAS
Sensors
Actuators
51
IAS
micro controller
process results
display
user
or
operator
technical product
Complex products
communication between subsystems via bus system
examples: CAN bus, Interbus-S
user
or
operator
microcontroller
bus system
microcontroller
1
microcontroller
2
microcontroller
n
subsystem
1
subsystem
2
subsystem
n
technical product
52
IAS
Factory bus
monitoring,
operating,
protocolling
master
computer
PC
level 3
PC
plant bus
level2
PLC
PLC
PLC
field bus
Field bus
field bus
level1
subsystem
subsystem
subsystem
technical plant
53
IAS
Executive programs
(application software)
54
IAS
System software
programs for
acquisition of
process variables
programs for
organization of
application
programs
programs for
process
monitoring
programs for
process
control
programs for
process
regulation
programs for
process
optimization and
management
programs for
process safety
and security
operating system
Application software
programs for
organizing data traffic
with
external memories
programs for the
dialogue between
human and computer
compilation programs
run-time
programs
55
IAS
ordinary PC
industrial PC with the same performance
2000,-
5000,-
Answer
56
IAS
1.2
1.3
1.4
1.5
1.6
Technical systems
1.7
1.8
57
IAS
field of action
levels of distribution
long-term
distribution policy
levels of
industrial automation
business management
level
distribution planning
distribution tactics
sales
level of measuring
controlling and regulating
process variables
(process variable level)
market
technical process in a
technical system
58
IAS
Levels
Supervisory and
Process Control
min
MByte
KByte
0.1 s
Byte
ms
Bit
Sample rate
Data Volume
59
IAS
Automation functions
Levels
company
Levelsof
ofathe
enterprise
business
Enterprise
Resource
management
Managementlevel
Automation
functions
Type
of Automation
cost analysis,
statistical evaluations
Production
production and
and
Operations
operation
management
level
management
Supervisory
process control
and
level
Process Control
process monitoring,
start-up and shut-down,
malfunction handling, process
guidance, process security
Variables of the
process variable
Process
level
(I/O Signals)
measuring, controlling,
manipulating, regulating
interlocking, emergency
handling of process variables,
shut-down, protection
field level
level
Field
IAS
Answer
On the upper hierarchy levels only little amounts of data are exchanged.
Actions on I/O signals of the prcess take effect within the scope of
minutes.
The lower the level, the more critical the time requirements.
61
IAS
1.6
Technical systems
1.7
1.8
62
IAS
63
IAS
64
IAS
continuous processes
65
IAS
Characteristics
Process variables
Examples
generation processes,
transformation processes,
movements, etc.
Mathematic
models
66
IAS
Characteristics
Process variables
Examples
Models
67
IAS
Characteristics
Process variables
Examples
Models
68
IAS
69
IAS
Technical processes
Process types
energy-related
processes
continuous processes,
sequential processes
chemical
processes
continuous processes,
sequential processes
production
processes
continuous processes,
sequential processes,
object-related processes
material-handling
processes
continuous processes,
sequential processes,
object-related processes
70
IAS
Examples:
Generation of electric energy in a turbo generator
continuous process
sequential process (start-up sequence)
Batch processes
single process steps are continuous processes
sequence of steps is a sequential process
71
IAS
Answer
72
IAS
1.2
1.3
1.4
1.5
1.6
Technical systems
1.7
1.8
73
IAS
Flow diagram
Similar to block diagrams used in control engineering
Processes and process steps are represented as rectangles
Arrows represent the information or material flow
Bundles of connections are shown as double lines with arrow
Example:
additive
crush
additive
crushed
solvent
raw
material
reaction
dissolve
solvent
2015 IAS, Universitt Stuttgart
material
dissolved
intermediate
product
separate
final product
74
IAS
crushing
raw material
dissolving
solvent
reaction
separation
final product
additive
350 kg/h
x
raw material
800 kg/h
M1
M2
z1
heating steam
3 bar
solvent
W1
solvent
1000 kg/h
heating
steam
B1
solvent
700 kg/h
1 bar
108 C
B2
1 bar
20 C
1 bar
20 C
final product
1450 kg/h
depot
P1
P2
75
IAS
F1
additive
350 kg/h
solvent
700 kg/h
V302
V304
V206
V303
M
3h
FRC
raw material
800 kg/h
1.01
M1
Z1
M2
V105
TRC
1.02
W1
M
3h
LRC
V112
V111
solvent
1000 kg/h
V204
K1
V305
FRC
M
3h
2.01
B1
TRC
1.02
M
3h
W2
LRC
LRC
1.03
1.04
M
3h
M
3h
P1
V106
A1
B2
W3
V306
V301
LRC+
1.04
P2
V107
V106
V302
V116
V303
V110
condensate
1.04
final product
1450 kg/h
76
IAS
Information/material-oriented representation
Information/materials as circles
Processes/functions as linking arrows
Example:
additive
additive
crushed
solvent
intermediate
product
material
material
dissolved
final
product
solvent
77
IAS
Example:
additive
sub
process
crush
additive
crushed
solvent
reaction
raw
material
sub
process
dissolving
material
dissolved
intermediate
product
separate
final
product
solvent
78
IAS
Answer
In the flow diagram processes and process steps are represented as
rectangles.
In the information/material-oriented representation processes are
represented as circles.
The flow diagram and the information/material-oriented representation use
the same notation.
The information/material-oriented representation is rather used for
organizational processes than for technical processes.
79
IAS
1.2
1.3
1.4
1.5
1.6
Technical systems
1.7
1.8
80
IAS
81
IAS
82
IAS
Source: Internet
83
IAS
Source: Internet
84
IAS
at 31.12.1910
age in years
Men
Women
Source: Internet
Men
thousands of people
thousands of people
thousands of people
Women
thousands of people
85
IAS
Trend: globalisation
gravitation
thermodynamic
globalisation
Source: Internet
You
are
here
!
!
86
IAS
87
IAS
88
IAS
89
IAS
Automation computers
2.2
Automation structures
2.3
Automation hierarchies
2.4
2.5
90
IAS
Micro controller
91
IAS
1980
kByte
1990
20
kByte
2000
2000
kByte
2009
64
MByte
92
IAS
Goals of PLC
Goal groups
users without computer science studies
"electrician"
93
IAS
program memory
digital and
analog
digital and
analog
output
internal bus
input
RAM
timer
clock
actuator signals
sensor signals
central processing
unit (CPU)
interface to
programming
device
94
IAS
PLC
process
image
in
output
memory
technical
process in a
technical
system
automation
program
process
image
in
input
memory
95
IAS
output
process image
from
output memory
execute
program
load process
image in
input
memory
reaction time
reaction
on process
event
process
event
start of
1st
cycle
2015 IAS, Universitt Stuttgart
start of
2nd
cycle
start of
3rd
cycle
start of
4th
cycle
96
IAS
Disadvantage:
97
IAS
Execution of
initialization
program
Load process
image
wait on event
Execution of cyclic
program
Execution of
time-driven
program
Execution of
event-driven
program
Output of process
image
98
IAS
Soft-PLC
Setup:
PLC Runtime environment on PC system
Standard- or real-time operating system
Process coupling over digital and analogue in-/outputs
PLCPLCProgram 1 Program n
Userprogram
PLCRuntime Environment
Operating System
PC-System
Process
coupling
99
IAS
Soft-PLC
Advantages:
Disadvantages:
Reliability
100
IAS
composition of
Microcontroller
101
IAS
Microcontroller 80C167
16-bit
CPU
2 kBytes
RAM
2kBytes
RAMextension
ROM
Watchdog
Timer
clock
direct
memory
access
serial
input/
output
interfaces
pulse
input/
output
interrupt
controller
external
data bus
CAN
bus
interface
56 interrupt
inputs
external
data bus
programmable
digital
input/
outputs
111 digital
inputs/outputs
10-bit
ADconverter
with
multiplexor
16 analog
inputs
2 channels
32 inputs/ outputs
CAN bus
102
IAS
Differentiation
Microprocessor
processor on a micro electronic chip
Microcomputer
all components on a micro electronic chip i.e., processor,
Microcontroller
103
IAS
Basic terms
Microprocessor:
Data memory:
Fixed memory:
104
IAS
Industrial PC (IPC)
Pluggable circuit boards for connection of
electrical process signals
Process visualization
105
IAS
Environmental conditions
Harsh environmental conditions
temperature variations
shocks and vibrations
dust and humidity
electrical or electromagnetic disturbances
106
IAS
107
IAS
control
panel
remote maintenance
modem
field bus
printer
...
modules for
input and
output of
signals
108
IAS
remote maintenance
industrial
PC
modem / ethernet
serial connection
over LAN or field
bus
printer
PLC
109
IAS
Configuration by operator
No compatibility problems
High availability
Defined responsibility
Long lifetime
110
IAS
Process engineering
Building automation
Production engineering
Components of a PCS
Communication systems
Engineering station
111
IAS
engineering
station
field level
component (FLC)
field level
component (FLC)
field level
component (FLC)
sensors and
actuators
field bus
field device
112
IAS
Engineering Station
Tasks
Configuration
Programming
Maintenance
Tools
113
IAS
FoxboroEchardt
Siemens
Honeywell
Yokogawa
Remark
AdvantOCS
AdvaSoft
Procontrol P
Symphony
Contronic P
SIMATIC PCS 7
Teleperm M
Teleperm XP
PlantScape
TDC 3000
114
IAS
115
IAS
2.1
Automation computers
2.2
Automation structures
2.3
Automation hierarchies
2.4
2.5
116
IAS
spatially concentrated
spatially distributed
functionally centralized
functionally distributed
117
IAS
field
measuredvalue
transformer
jumper
board,
galvanic
disconnector,
automation
device
display
monitoring signals
control room
subdistributor
multi-color
screen for
process
management
118
IAS
CM
CM
field
CM
field bus
CM
plant bus
PLC
CM: connection
module for sensors
and actuators
PLC
display
master
computer
control room
field bus
multi-color
screen for
process
management
119
IAS
central automation
computer
subprocess 1
subprocess 2
subprocess n
120
IAS
automation
computer
1
automation
computer
2
automation
computer
n
subprocess 1
subprocess 2
subprocess n
121
IAS
Operability / Usability
122
IAS
centralized structure
distributed structure
CCC
CDC
DCC
DDC
CCD
CDD
DCD
DDD
123
IAS
124
IAS
2.1
Automation computers
2.2
Automation structures
2.3
Automation hierarchies
2.4
2.5
125
IAS
coordination
unit
1
distributed
automation
unit
1
subprocess 1
coordination
unit
2
distributed
coordination
unit
m
distributed
automation
unit
2
automation
unit
n
subprocess 2
subprocess n
field
level
requirements on availability
master
unit
central
coordination
master level
level
technical process
(overall process)
2015 IAS, Universitt Stuttgart
126
IAS
127
IAS
av
ai
field level
2015 IAS, Universitt Stuttgart
la
bi
d
re
i
u
lit
y
o
pr
q
re
coordination level
optimization
sin
s
ce
cit
a
p
ca
performance
value
calculation
en
ts
o
Higher
control
locking
higher
regulation
ire
regulations
qu
single controls
re
protection, safety
monitoring
requirements on availability
master level
128
IAS
129
IAS
Example
Realization of an automation hierarchy with a bus-oriented distributed process
master
computer system
level
master
computer
user computer
coordination
level
coordination
computer
1
coordination
computer
2
process bus
decentralized
automation
computer
1
decentralized
automation
computer
2
decentralized
automation
computer
n
field
level
field bus
CM
CM
subprocess 1
CM
CM
subprocess 2
CM
CM
CM
CM coupler module
sub-process
n
technical process
130
IAS
131
IAS
2.1
Automation computers
2.2
Automation structures
2.3
Automation hierarchies
2.4
2.5
132
IAS
Simple upgradeability
133
IAS
134
IAS
135
IAS
Problem:
Definition of priorities in the realization of the partially contradicting criteria
e.g.: high availability and reliability through redundant bus systems causes
high cabling costs
2015 IAS, Universitt Stuttgart
136
IAS
2.1
Automation computers
2.2
Automation structures
2.3
Automation hierarchies
2.4
2.5
137
IAS
Types of redundancy
Always: operating personnel monitoring parallel to process computer!
Hardware redundancy
redundant hardware
Software redundancy
redundant software
Time redundancy
multiple inquiry of the same measured value in certain intervals
138
IAS
Levels of fault-tolerance
complete fault-tolerance
139
IAS
Types of redundancy
Static redundancy
all redundant modules are permanently in operation
Dynamic redundancy
redundant modules are only used after a failure occurs
blind redundancy
redundant modules do not act in fault-free cases
function-participating redundancy
redundant modules run stand-by-functions in fault-free cases
140
IAS
Hardware redundancy
Goal:
Detection of hardware failures
Operation principle:
m-of-n-redundancy
majority ruling
no faults, until multiple defects occur
Realization of redundancy
double computer structures
triple computer structures
141
IAS
computer 1
computer 2
comparator
2 -out-of- 2
alarm signal
output signals
(e.g. manipulated variables)
142
IAS
input signals
main
computer
stand-by
computer
alarm
signal
output signals
143
IAS
input signals
computer 1
computer 2
M
alarm
signal
necessary
output signals
144
IAS
computer 1
computer 2
computer 3
comparator
2-out-of-3
output signals
145
IAS
Software redundancy
Objective:
detection of errors in software
Starting point:
software has errors
146
IAS
Diverse software
Diversity = Heterogeneity of software with identical functionality
Comparison difficult
147
IAS
computer 1
computer 2
computer 1
computer 2
computer 3
comparator
2-out-of- 3
comparator
2-out-of- 2
alarm signal
output signals
output signals
Answer
148
IAS
149
IAS
Process Peripherals
Learning targets
150
IAS
Process Peripherals
3.1
3.2
3.3
3.4
3.5
3.6
151
3.1 Interfaces between the technical process and the automation computer system
IAS
Input/Output Interfaces
Transmission of process signals between the technical process and the
automation computer system
152
3.1 Interfaces between the technical process and the automation computer system
IAS
153
3.1 Interfaces between the technical process and the automation computer system
Overview
Facilities for the
coupling of automation
computers with the
technical process as
well as with interfaces
IAS
Process bus
Interface to the higher
levels of the computer
hierarchy
Automation
computer
(e.g. PLC, PC)
Process signal
input/ output
Computer input/
output interface
(computer system
bus)
Bus coupler
Bus coupler
Process peripherals
interface (electrical or
optical signals )
Field bus
interface
Field bus
......
in/
output
node
in/
output
node
Sensor/ actuator bus
......
Sensors/ actuators
Interface
(electrical or
optical signals)
Bc
Bc
Bc
Bc
154
3.1 Interfaces between the technical process and the automation computer system
IAS
155
3.1 Interfaces between the technical process and the automation computer system
IAS
Characteristics of AS i
User defined network structure
Transmission principle
single-master-system with cyclic polling
one fixed address per slave
max. 31 slaves per line
up to 4 sensors/actuators per slave
Transmission medium
not protected and not twisted two-wire line
common use of cabeling for data and energy
156
3.1 Interfaces between the technical process and the automation computer system
IAS
AS i - principle structure
1 Master node
Variant 1: nodes integrated in controlling
Variant 2: separate locking module (e.g. for PLC)
Supervises bus communication
Slave nodes
Variant 1: Sensor/actuators with integrated AS i slave chip
Variant 2: Separate connection module
AS i Master node
Control
AS i Master chip
AS i - line
Power
supply unit
AS i Slave chip
AS i Slave chip
Connection module
Sensor/Actuator
S/ A
S/ A
S/ A S/ A
AS i Slave nodes
157
3.1 Interfaces between the technical process and the automation computer system
IAS
example
sequence
Pause
60mA
0
2V
Ub
2V
receiver
Detection of positive and negative impulses
Recovery of the original bit sequence
2015 IAS, Universitt Stuttgart
Pause
158
IAS
Answer
Simple handling with wiring and start-up is irrelevant
The reaction time should be minimal.
Compatibility to sensors/actuators of different manufacturers should be
provided.
Connection costs are negligible.
159
IAS
Process Peripherals
3.1
3.2
3.3
3.4
3.5
3.6
160
IAS
Sensors
Tasks
Self-test
Intelligent
Self-calibration
Sensors
161
IAS
Sensor element
Task
Transformation of a non-electrical, physical variable into an electrical
or optical value
Variation in resistance
Variation of inductance
Variation of capacity
Piezoelectrical effect
Thermo-electrical effect
Photo-electrical effect
Eddy current effect
Radiation absorption
162
IAS
Intelligent sensor
"Intelligent" sensor
physical
input
variable
mechanical
converter
element
micro
processor
sensor
element
amplifier
bus
adaption
sensor
bus
analog to
digital
converter
calibration
163
IAS
binary sensors
digital sensors
Sensor system
164
IAS
Binary sensors
Yes/No information
Digital sensors
Opinions:
Direct conversion
Conversion of the non-electrical signal with encoder disc
(rotating movement) or encoder ruler (linear
movement) into a digital signal
Indirect conversion
Conversion of non-electrical signal into an amplitude analog
signal, then from analog to digital conversion
165
IAS
166
IAS
Advantages:
167
IAS
sensor element
output variable
temperature
thermo element
metal resistor
semiconductor resistor
(negative temperature coefficient resistor)
ceramic resistor
(positive temperature coefficient resistor)
mV
variation in resistance
variation in resistance
variation in resistance
impulse generator
impulse counter
silicon piezo-resistor
silicon capacitor
ring piston meter
inductive rate of flow measurer
hall-element out of silicon
V
pulse sequence
angle encoder
pulse generator
lithium chloride moisture sensor
digital value
pulse sequence
mV
photo diode
photo resistor
A
variation in resistance
pressure
force
rotational speed
acceleration
flow
approach
angle
moisture
light intensity
variation in resistance
variation in resistance
variation in resistance
variation of inductivity
charge
variation in resistance
variation in capacity
pulse sequence
mV
mV
168
IAS
Actuators
Tasks
Conversion of the information obtained from the automation computer system
into manipulating interventions in the technical process
actuator
(e.g. on a sensor/
actuator bus or
field bus )
control operation
(e.g. path, force, angle
rotational speed)
auxiliary energy
169
IAS
actuator
electronic mechanical
movement
hydraulic cylinder
pneumatic cylinder
pneumatic actuator
piezoelectric effect
magnetostrictive effect
piezoelectric actuators,
electrostrictive actuators
magnetostrictive actuators
electrorheologic effect
electrorheologic actuators
magnetorheologic effect
magnetorheologic actuators
chemical actuators
bimetal effect
memory metals
hydraulic actuator
170
IAS
171
IAS
Process Peripherals
3.1
3.2
3.3
3.4
3.5
3.6
172
IAS
173
IAS
representation error
(% of maximum
value)
bits
0.39%
0.10%
0.025%
0.006%
0.0015%
Important:
8
10
12
14
16
decimal
0 ...
0 ...
0 ...
0 ...
0 ...
necessary
word
length
(in bytes)
255
1 023
4 095
16 383
65 535
1
2
2
2
2
174
IAS
15
14
13
12
11
10
214 213
octal #:
137338
hexadecimal #:
17DB16
Important:
23
2 2 21 20
175
IAS
bit position
Important: A word length of 16 bits is normally sufficient for representing binary process
variables and pulse shaped process variables.
Question:
176
IAS
177
IAS
Process Peripherals
3.1
3.2
3.3
3.4
3.5
3.6
178
IAS
179
IAS
Fundamental structure
data
computersystem
bus
addresses
control signals
bus coupling
n
n
analog to
digital
converter
address
decoding
D
1
A
1 2
preamplifier
1
2
2
2
switching
element 2
feeder
lines
2
2
sensors
process periphery
interface
sensor interface
180
IAS
data
computersystem
bus
addresses
control signals
1. Through-switching of
the selected analog
signal to the ADC
and conversion
2. Input of the
converted
value via the
data bus
bus coupling
analog to
digital
converter
address
decoding
D
1
A
1 2
preamplifier
1
2
2
2
switching
element 2
feeder
sensors
2
2
process periphery
interface
sensor interface
181
IAS
182
IAS
1
u (kT )
T
kT
( k 1)T
u (t )dt
183
IAS
u( kT )
1
T
kT
( k 1) T
u(t )dt
u (t)
(k-1) T
kT
(k+1) T
184
IAS
Instantaneous
value converter
Advantage
High conversion
speed
104 ... 10 8 values/s
Counter method,
step method,
direct method
Voltage time or
voltage frequency converter
185
IAS
analog
input
signal
in
US
comparator
-
D/A-converter
1 2
digital
output signal
(n-bit-word)
counter
&
clock
2015 IAS, Universitt Stuttgart
186
IAS
Principle procedure
analog
input
signal
U in
+
US
comparator
-
D/A-converter
1 2
US
US
analog
input
voltage
U in
digital
output signal
(n-bit-word)
counter
&
t1
clock
187
IAS
Input voltage
Clock frequency f
188
IAS
analog
input
signal
U in
+
comparator
-
control
clock
output register
digital
output signal
189
IAS
Principle procedure
US
Uin
dual values
digital signal
190
IAS
T = n/f
Limitation through
settling time (speed) of the DACs
switching speed of comparators
191
IAS
comparators
+
Uin
K2 n-1
reference
voltage
UR
~
+
K2
Code
converter
2
n-bit-word
resistor
network
K1
192
IAS
Principle procedure
Conversion time
108 values/sec
193
IAS
R
IC
URef
integrator
UC
+
comparator
-
control
logic
2015 IAS, Universitt Stuttgart
counter
UK
digital
signal
clock
194
IAS
Principle procedure
R
IC
URef
integrater
UC
+
comparator
-
control
logic
counter
UK
digital
signal
clock
195
IAS
output
integrator
U C1
t0
UK
output
comparator
Advantages
t0
t1
t2
t3
196
IAS
Analog output
data
computer
system
bus
addresses
Conversion of the
digital, time-discrete
values from the
automation computer
into continuous
signals
control signals
n
Addressdecoding
1
&
&
n
n
buffer
intermediate storage
n
D
D
A
switching element
n
n
&
Structure of an
analog output
module
D/A-converter
output stages
process
periphery
interface
feeder
lines
sensor-/ actuatorinterface
actuator
controller
197
IAS
198
IAS
Most of the DACs are using a direct method with resistance network
199
IAS
MSB
R
2R
RR
4R
+
-
LSB
Sn-1
U out
R 2 n-1
Disadvantages:
very different potentials on the switches
(Bipolar transistors or field-effect transistors)
required precision of the very different resistors is hard to fulfill
2015 IAS, Universitt Stuttgart
200
IAS
UREF
UREF
S0
UREF /2
UREF /4
UREF /8
R 0 = 2R
R 1 = 2R
R 2 = 2R
R 3 = 2R
i0
i1
i2
i3
S1
S2
2R
S3
RR
+
isum
i0
U Ref
2R
i1
U Ref
4R
i2
U Ref
8R
i3
U Ref
16R
Uout
201
IAS
Answer
The value in the middle of an interval is sampled every time.
Error voltage with frequency of the supply voltage is always suppressed.
The converter can only be used for fast changing signals.
Every time a complete period of the supply net frequency is integrated
A comparatively low effort is necessary for the technical realization.
202
IAS
Process Peripherals
3.1
3.2
3.3
3.4
3.5
3.6
203
IAS
Digital input
Input of single binary process signals, e.g.: limit switch, photo sensors
204
IAS
data
computersystembus
addresses
control signal
n
n
address
decoding
>1
n
1
2.Switching-through
of the addressed binary
signals to the data bus
&
&
&
n
n
process peripheral
interface
feeder
sensor
interface
205
IAS
Digital output
data
computersystembus
addresses
Structure of a digital
output module
control signals
n
address
decoding
Output of a group of
binary signals
n
n
&
&
&
switching element
intermediate
storage
n
output stages
n
process
peripheral
interfaces
feeder
sensor-/ actuatorinterfaces
binary signal
actuators
206
IAS
Voltage output
Current output
Output of potential-free contact positions
Intermediate storage
207
IAS
Answer
Static digital input values do not change during operation.
208
IAS
Process Peripherals
3.1
3.2
3.3
3.4
3.5
3.6
209
IAS
Application fields:
plant automation
production automation
210
IAS
211
IAS
Terminology
Field area:
process
Field devices:
212
IAS
c) net
topology
DAU
DAU
CAU
DAU
DAU
DAU
CAU
DAU
DAU
DAU
DAU
DAU
b) ring
topology
d) bus
topology
D
AU
CAU
AU
DAU
DAU
DAU
AU
AU
CAU
DAU
213
IAS
bus topology
only one participant at a time is able to send, simultaneous information
reception from all participants
214
IAS
Parallel bus
bundles of wires
Serial bus
increase of reliability
215
IAS
Answer
the bus topology causes the lowest cable expense
the bus topology is faster than the net topology
a net topology is able to broadcast a larger amount of data in parallel than
a bus topology
a bus topology has a shorter reaction time than a net topology
it is easier to expand a net topology than a star topology
a bus topology is only suitable for decentralized systems
2015 IAS, Universitt Stuttgart
216
IAS
AS-Interface
11 actuator/sensor manufacturers,
simple interface of binary field devices
INTERBUS-S
Phoenix Contact
Application in manufacturing automation
cooperative project field bus
European field bus standard
CAN
FlexRay
Industrial Ethernet
2015 IAS, Universitt Stuttgart
217
IAS
sensors/
actuators with
bus interface
I/O nodes
central
computer
area
field bus
interface
field bus
field
area
field bus
automation
computer
automation
computer
I/O
Node
I/O
Node
field bus
(sensor/ actuatorbus)
sensor/
actuator
interface
218
IAS
controlled
(deterministic)
central
bus allocation
Master/Slave
decentral
bus allocation
Tokenring,
TDMA
random
(non-deterministic)
CSMA
(Carrier Sense Multiple Access)
CD
CA
Ethernet
CAN
219
IAS
Advantages:
- Simple organization
- Guaranteed max. time
Master
Disadvantages:
Slave 1
Slave 2
...
Slave n
220
IAS
Advantages:
- good, predictable real time
behavior
221
IAS
TDMA-Method (1)
register in
register in
participant 1 participant 2
2015 IAS, Universitt Stuttgart
register in
participant n
222
IAS
TDMA-Method (2)
Advantages
Disadvantages
223
IAS
Carrier Sense
(line idle)
?
yes
sending
no
224
IAS
Advantages
low bus load
short latency time in low load situations
Disadvantage
long waiting periods in high load situations
225
IAS
Priority rules
Address-Arbitration
Participant with lowest or highest address asserts in case of
simultaneous attempts of transmission.
226
IAS
Airbag
ABS
Motor management
Air conditioning systems
elevator control
supervision
alarm systems
air-conditioning system
Industrial automation
production plants
machine tools
227
IAS
Characteristics of CAN
228
IAS
Bit stuffing and de-stuffing. After 5 bits with the same logic state
one bit of the opposite logic state is added.
stuffing by the sender
de-stuffing by the receiver
229
IAS
Data frame
Interframe
Space
>3
Data-Frame
11
0 ... 8
Bytes
15
>3
End of Frame
ACK Delimiter ACK-Field
ACK Slot
CRC Delimiter CRC-Field
CRC Sequence
Data Field
Control Field
RTR Bit Arbitrations Field
Identifier
Start of Frame
230
IAS
Determinism
Safety properties easier to verify
231
IAS
redundant unit
node
node
node
node
AC
AC
AC
AC
CC
CC
CC
CC
Static hardware redundancy: two or more nodes are doing the same task
232
IAS
TU Wien, TTTech
FlexRay-Consortium (BMW, Daimler, Bosch, Motorola, Philips)
233
IAS
Message schedule
Example: Message schedule for TTP
TDMA-cycle 0
TDMA-cycle 1
FSU6
FSU5
N
0
FSU2
FSU3
TDMA-cycle 3
FSU4
FSU1
TDMA-cycle 2
N
1
TSlot
TDMA-cycle
(TTDMA = 2ms)
time
Legend:
Normal-frame
Initialization-frame
234
IAS
FlexRay
Development by a consortium (Daimler, BMW, Motorola, Philips) for safety
and time-critical applications in automobile
ESP
driver assistance systems
Properties:
235
IAS
t/T
Cycle
1
static segment
dynamic segment
slot
minislot
236
IAS
PROFIBUS
Field bus family
PROFIBUS - DP
PROFIBUS - FMS
PROFIBUS - PA
(Decentralized Periphery)
(Field Message Specification)
(Process Automation)
237
IAS
PLC
PLC
Profibus
M
sensor
sensor
drive
actuator
sensor
drive
measured
value-
V
supplier
238
IAS
Interbus-S
Objective:
Transfer cyclically data in the sensor-actuator-area without large overhead.
Topology
active ring
Master-Slave method, fixed telegram length, deterministic ring
transfer rate: 500 kBits/s
max. 4096 I/O-points
extension of the bus: 400 m (between 2 neighbored field bus users)
total extension 13 km
Physical addressing
The assignment of the data to the single participants is not carried out via
the assignment of a bus address but automatically by the physical
placement of the participants in the system
2015 IAS, Universitt Stuttgart
239
IAS
240
IAS
Protocol
send register
receive register
actuators
actuators
actuators
paticipant 1
sensors
participant 2
sensors
participant 3
241
IAS
Strategic Level
Dispositive
Level
Tactical
Level
Operative
Level
technical process
2015 IAS, Universitt Stuttgart
Real-time ability
Reliability
Robustness against electrostatic,
mechanical, physical and chemical
influences
242
IAS
Industrial Ethernet:
Objective:
Application of Ethernet (IEEE 802.3) on field level
Challenges:
- Non deterministic bus access
- Long latency time caused by network topology
- Small mechanical robustness
243
IAS
Gateway
AT-Computer
AT-Computer
AT-Computer
AT-Computer
AT-Computer
AT-Computer
AT-Cell
IAS
245
IAS
Ethernet Header
Data 1
Telegram 1
Data 2
Telegram 2
Data n
CRC
Telegram n
246
IAS
fml.mw.tum.de
usinenouvelle.com
chip-.de
yitran.com
Logistic
Networks
247
IAS
248
IAS
249
IAS
Real-Time Programming
Learning targets
250
IAS
Real-time programming
4.1
Problem definition
4.2
4.3
Tasks
4.4
Synchronization of tasks
4.5
4.6
Scheduling methods
251
IAS
Real-time computing
252
IAS
NON-REAL-TIME Computing:
Input data
Data
Processing
Output data
REAL-TIME Computing:
Time
Time
Input data
Time
Data
Processing
Output data
253
IAS
Real-Time Programming
Creation of programs in such a way that the time requirements on the
compilation of input data, on the processing and on the delivery of output data
are fulfilled.
Real-time:
254
IAS
Time dependent
input data
process
Example:
Automation
system
Automation
system
Technical
process
255
IAS
Information systems
Real-time systems
data-driven system
I/O-intensive
computation-intensive
machine-independent
machine-dependent
256
IAS
Time
2015 IAS, Universitt Stuttgart
257
IAS
258
IAS
1
0
t1
t2
t3
t4
t2
259
IAS
1
0
t1
1
0
t1
260
IAS
Absolute time
requirements
Relative time
requirements
Execution of a function at
a fixed time
Analysis of substances
in chemistry
Execution of a function
within a tolerance time
range
Recording of controlled
variables
Measured value
supervision on sliding
boundaries
Execution of a function
within an interval up to a
latest time
Recording of data
telegrams
Recording of cargo
indicator labels
Execution of a function
within an interval starting
from an earliest time
Sequence control in
batch processes
Recording of signals
of a light barrier
261
IAS
Examples:
262
IAS
Realization of concurrency
Prerequisite:
Processes in the environment are slow in comparison to
the computation of the programs on the computer
263
IAS
264
IAS
265
IAS
Dialog systems
266
IAS
267
IAS
Answer
hard real-time
system
soft real-time
system
268
IAS
Real-time programming
4.1
Problem definition
4.2
4.3
Tasks
4.4
Synchronization of tasks
4.5
4.6
Scheduling methods
269
IAS
Different methods
Synchronous programming:
Planning of the time sequence in advance of the execution of
programs
270
IAS
Patient
Automation Program
Liveplanning
271
IAS
272
IAS
controlled system 1
"heating circuit flat"
u2 (t)
controlled system 2
"heating circuit office"
room temperature
flat
y1 (t)
room
temperature
office
y2 (t)
preheatingtemperature
u3 (t)
controlled system 3 y3 (t)
"boiler"
analog-output
analog-input
process-signal-in/output
real-time
clock
2015 IAS, Universitt Stuttgart
automation
computer
operating
terminal
273
IAS
Ti
T1
T2
2T
T3
5T
274
IAS
Subprogram
Identifier
(name)
Sampling time
(cycle time)
CONTROL 1
T1 = T
CONTROL 2
T2 = 2T
CONTROL 3
T3 = 5T
275
IAS
invoke all T2 = 2T
CONTROL2
invoke all T3 = 5T
CONTROL3
Wait loop
276
IAS
Z2 := 1
Z3 := 1
initialize Z2 and Z3
CONTROL1
no
Z2=2
?
yes
CONTROL2
Z2 := Z2 + 1
Z2 := 1
no
Z3=5
?
yes
CONTROL3
Z3 := Z3 + 1
Z3 := 1
Wait loop
277
IAS
CONTROL2
CONTROL1
Control program
t/T
0
Assumption:
3
4
5
6
7
8
Interrupt signal of the real-time clock
10
278
IAS
279
IAS
280
IAS
281
IAS
u2(t)
u3 (t)
Analog-Output
Controlled
system
1
y1 (t)
Controlled
system
2
Warning
lamp
y2 (t)
Controlled
system
3
u1 (t)
y3 (t)
Analog-Input
Digital
Output
Digital
Input
Process unit
Realtime
clock
2015 IAS, Universitt Stuttgart
Automation
computer
system
Operating terminal
Printer
282
IAS
Subprogram
Sampling
time
Priority
number
Priority
ALARM
Reaction
on burner failure
with alarm
message
highest
CONTROL 1
Temperature
control unit for
heating circuit 1
T1 = T
second
highest
CONTROL 2
Temperature
control unit for
heating circuit 2
T2 = 2T
third
highest
CONTROL 3
Temperature
control unit for
heating circuit 3
T3 = 5T
lowest
Identifier-Name
283
IAS
Desired course
CONTROL3
(Priority 4)
CONTROL2
(Priority 3)
CONTROL1
(Priority 2)
ALARM
(Priority 1)
T
Burner
failure
signal
real-time clock
b)
Actual course
T3(1)
CONTROL3
CONTROL2
T1(1)
T2(3)
T2(2)
T2(1)
T1(2)
T1(3)
T2(4)
T1(4)
CONTROL1
ALARM
Operating
system
t
0
2T
3T
4T
5T
6T
7T
8T
284
IAS
Actual execution can delay and not meet the targeted time frame
285
IAS
Event-driven architectures
Time-driven architectures
easy to analyze
286
IAS
Answer
287
IAS
Real-time programming
4.1
Problem definition
4.2
4.3
Tasks
4.4
Synchronization of tasks
4.5
4.6
Scheduling methods
288
4.3 Tasks
IAS
Distinction
sequence of a program)
Task
Invocation of subprograms
Invocation of a task
289
4.3 Tasks
IAS
Task
A task is the procedure of execution of a sequential program controlled by a
real time operating system
Task starts with entry in a list of the real-time operating system and
ends with the deletion from that list
Task does not exist only during the execution of the commands,
290
4.3 Tasks
IAS
Thread
Owner of resources
Element of a task
291
4.3 Tasks
IAS
292
4.3 Tasks
IAS
sk
Planning of tasks
f ta
no
o
i
t
e
Del
"dormant"
"runnable"
"suspended"
"running"
293
4.3 Tasks
IAS
The task
Control 3
is:
running
(active)
suspended
runnable
(ready)
dormant
0
2T
3T
4T
5T
6T
7T
294
4.3 Tasks
IAS
Arrival time
R:
Request time
S:
Start time
C:
Completion time
D:
Deadline
E(t):
Execution time
P:
Period time
L(t):
Laxity
F(t):
Flow time
RF(t):
295
4.3 Tasks
IAS
period time P
A: Arrival time
R: Request time
S: Start time
C: Completion time
D: Deadline
states of a task
laxity L(t)
Enew(t)
suspended"
runnable"
"dormant"
A
C
time of viewing
D
t
296
4.3 Tasks
IAS
Enew (t):
297
IAS
Answer
298
IAS
Real-time programming
4.1
Problem definition
4.2
4.3
Tasks
4.4
Synchronization of tasks
4.5
4.6
Scheduling methods
299
IAS
Two actions of two different tasks are called concurrent if they can
run simultaneously (outer parallelism)
Two actions of one task are called simultaneous, if they can run
at the same time
300
IAS
301
IAS
Example
the dependencies of tasks
due to shared resources
Shared resources:
report printer
analog-input
Task
MEASUREMENTS
Task
PROCESS SUPERVISION
Use analoginput
Use of driver
program
program for
for
report printer
Input and
conversion of
measurements
Output error
message on
report printer
Use of driver
program for
report printer
Use analoginput
Printmeasurements
and time
Input and
monitor process
variables
302
IAS
Problems of dependency
Deadlock:
Two or more tasks block themselves mutually
Permanent blocking (livelock, starvation)
A conspiracy of tasks block a task
303
IAS
304
IAS
305
IAS
Synchronization means
306
IAS
Synchronization methods
Semaphore
Critical regions
Rendezvous concept
307
IAS
Semaphore concept
Synchronization of tasks through signals (Dijkstra)
Semaphore variable:
V(Si):
P(Si):
308
IAS
tra
in
tra
track magnet
P(S1)
track magnet
P(S1)
signal
S1
V(S1)
track magnet
in
tra
tra
2015 IAS, Universitt Stuttgart
in
track magnet
V(S1)
0
1
309
IAS
AA
nn
aai i
TTrr
Track
Track magnet
magnet
TTrr
aai i
nn
BB
trains
thetrains
ofthe
Direction
Directionof
P(S1)
P(S1)
P(S2)
P(S2)
Signal
Signal
S1
S1
1
0
0
0
1
0
V(S1)
V(S1)
Track
Track magnet
magnet
Track
Track magnet
magnet
TTrr
aai i
nn
AA
V(S2)
V(S2)
Signal
Signal
S2
S2
BB
nn
aai i
TTrr
310
S2 = 0
P (S1)
S1 = 0
V(S2)
S2 = 1
Task B
S1 = 1
Task A
Example:
IAS
P (S1)
S1 = 0
V(S2)
S2 = 1
P (S2)
S2 = 0
V(S1)
S1 = 1
P (S2)
S2 = 0
311
IAS
312
IAS
Real-time programming
4.1
Problem definition
4.2
4.3
Tasks
4.4
Synchronization of tasks
4.5
4.6
Scheduling methods
313
IAS
Definition
Synchronization =
Fulfillment of time related and logical conditions in the parallel run of tasks
Communication =
Exchange of data between parallel running tasks
314
IAS
Sending of messages
315
IAS
Synchronous communication
Sending and receiving processes communicate
at a certain predefined position in the program flow
Asynchronous communication
Data are buffered
316
IAS
317
IAS
Real-time programming
4.1
Problem definition
4.2
4.3
Tasks
4.4
Synchronization of tasks
4.5
4.6
Scheduling methods
318
IAS
Scheduling problem
319
IAS
Scheduling:
Allocation of the processor to runnable tasks according to a predefined
algorithm (Scheduling-method)
Problem:
1.
2.
320
IAS
Static scheduling
Planning of the execution sequence of the tasks is done before the
actual execution (dispatching table)
Consideration of information on task set, deadlines, execution
times, sequential relations, resources
Dispatcher carries out the allocation according to dispatching table
Runtime overhead minimal
Deterministic behavior
Dynamic scheduling
Organization of the execution sequence during the execution of
the tasks
321
IAS
Preemptive scheduling
running task can be interrupted
Non-preemptive scheduling
running task cannot be interrupted
processor-deallocation by the task itself
322
IAS
Scheduling methods
Round-Robin-Method (Time-Slice-Method)
Rate-Monotonic scheduling
Earliest-Deadline-First method
323
IAS
FIFO scheduling
Non-preemptive scheduling
The processor is allocated to the task with the longest delayed planning
Simple implementation
Task D runnable
t
The tasks are executed in the order in which they become runnable
D
t
324
IAS
Round-Robin-Method (Time-Slice-Method)
325
IAS
Example: Round-Robin-Method
Each time slice has 10ms and the tasks were arranged in the following
order: A-B-C-D.
Execution time of the tasks:
Task A:
Task B:
Task C:
Task D:
25ms
20ms
30ms
20ms
10 20
2015 IAS, Universitt Stuttgart
A C
t/ms
326
IAS
Simple implementation
327
IAS
Priority
1
B
C
D
E
1
2
3
3
Highest
Priority
A*
E
t
328
IAS
Rate-Monotonic Scheduling
Pre-emptive strategy
329
IAS
Execution
time
Period
Priority
A
B
C
D
10 ms
20 ms
10 ms
20 ms
40 ms
50 ms
80 ms
100 ms
1
2
3
4
A1
0
B1
10
20
C1 A2
30
40
B2
50
60
D1a A3 C2
70
80
90
B3
A4 D1b
t / ms
330
IAS
Earliest-Deadline-First-Method
(Minimal-remaining-flow-time-method)
Preemptive method
331
IAS
Example: Earliest-Deadline-First-Method
Task
Execution Time
Tmin
Tmax
10 ms
0 ms
40 ms
10 ms
0 ms
30 ms
30 ms
30 ms
100 ms
40 ms
50 ms
200 ms
10 ms
70 ms
90 ms
Tmin:
earliest time to start
Tmax:
latest time to finish
= deadline
Execution sequence:
D*
D
t/ms
10
20
30
40
50
60
70
80
90
100
110
120
332
IAS
333
4.6 Scheduling-Methods
IAS
Execution Time
Activation
TD
30 ms
0 ms
40 ms
10 ms
0 ms
30 ms
30 ms
30 ms
100 ms
40 ms
50 ms
200 ms
10 ms
70 ms
90 ms
TD: Deadline
Execution Sequence
Aa
10
20
Ab
30
D
t/ms
40
50
60
70
80
90
100
110
120
334
IAS
Schedulability test
A schedulability test is a mechanism to proof whenever a set of tasks can be
scheduled in such a manner that the deadlines are not missed.
necessary condition
sufficient condition
335
IAS
n
i 1
Ci
Ti
Where:
Ci : Execution time of task i
Ti : Period of task i
n: Number of tasks
336
IAS
n
i 1
U 1*
Ci
Ti
U n*
0,828
U 3*
0,779
U*
ln 2
1 , n 1, 2,...
Where:
1,0
*
2
n 2
1
n
0,693
337
IAS
Answer
Remark:
The shortest-job-first method determines a schedule, that minimizes the
average flow-time.
2015 IAS, Universitt Stuttgart
338
IAS
339
IAS
Learning targets
to know how the mini real-time operating system is working and how it can
be extended
340
IAS
5.1
Definition
5.2
5.3
5.4
5.5
341
5.1 Definition
IAS
Operating system
342
5.1 Definition
IAS
Size
343
5.1 Definition
IAS
Resources
Objects necessary for the execution of the computation tasks and for
which allocation the computation task has to wait
Device units
Processors
Memory
Peripheral devices like printers
System programs
344
5.1 Definition
IAS
Compatible to UNIX-System V
IEEE 1003.1 defines extended real-time functionalities
Used in process control systems
Real-time - kernels
UNIX-compatible micro-kernel with
Memory management,
Interrupt handling,
Scheduler,
Task management,
Interfaces on basis of TCP/IP
Optimally adapted to real-time requirements
Well optimized code for different platforms
345
5.1 Definition
IAS
Very efficient
Flexibly configurable
Oriented on UNIX (structure / appearance)
346
5.1 Definition
IAS
Answer
Creation of new tasks if requested by the operating system.
Creation of new tasks if requested by other tasks.
Removal of tasks from the system.
Enabling the communication between tasks.
347
Industrial Automation
5.1
Definition
5.2
5.3
5.4
5.5
IAS
348
IAS
349
IAS
computation
process 2
computation
process n
Resources
resources 1
resources 2
resources n
Management of
resources :
register,
instruct,
planning,
terminate,
etc.
announce,
create,
request,
occupy,
release,
etc.
350
IAS
351
IAS
Interrupt handling
increasing
priority
Interrupt 1
control program
ISR 1
control program
t
352
IAS
Interrupt handling
Prioritization of interrupts
353
IAS
Memory management
The cost of memory space is proportional to the access speed
354
IAS
Input/output control
Different kinds of input/output devices
Distinction in speed
Distinction in data formats
355
IAS
Error Handling
Classification of errors (1)
356
IAS
357
IAS
358
Industrial Automation
5.1
Definition
5.2
5.3
5.4
5.5
IAS
359
IAS
Objective
Development process
Implementation
360
IAS
requirement
specification
technical
solution
concept
functional
specification
preliminary
design of the
program
system
block
diagram
final design
of the
program
system
flow
diagram
implementation
programs
in a programming
language
361
IAS
362
IAS
No resource management
Input/output times are negligibly short
363
IAS
Sub-solution
364
IAS
Subsolution 2:
state management
of the tasks
instruction of the
computer
processes at the
times T1, ..., Tm,
and ending of the
instruction
Substart of
solution 3: the tasks
start of the
instructed
task
according to
priorities
365
IAS
Assumption:
=>
Ti >> T
Ti = ai T
ai Integral cycle time factors (i=1,2,...,m)
2.
366
Sub-solution 1:
creation of
cycle time
IAS
a1 =
T2 = a2 T
a2 =
Tm = am T
am =
T1
T
T2
T
Tm
T
zm = a m
clock
impulse
at each arrival of clock impulse with interval T:
decremention of the variable zi (decrement by 1), i.e. formation of :
z1 := z1 - 1
z2 := z2 - 1
zm := zm-1
367
IAS
Sub-solution 1:
creation of
cycle time
as soon as a variable turns zi = 0 the corresponding cycle time
Ti is reached. Therefore this result is transfered to the solution
component 2, that is in charge of instructing the process i (putting
the state into "ready").
to/ from
subsolution 2
368
IAS
ready
running
369
Sub-solution 2:
State
From submanagement solution 1
of the
to
computation Back
subsolution 1
processes
From subsolution 1,
if all
interval
variables
are
processed
IAS
Message to solution
component 3 (start of the
concerning task)
Start message
to
subsolution 3
End message
from
subsolution 3
370
IAS
371
IAS
Start message
from
sub-solution 2
End message
to
sub-solution 2
372
IAS
Answer
The current state of the task has to be determined.
It has to be checked whether the task has the highest priority.
The start address of the task has to be determined.
373
IAS
5.1
Definition
5.2
5.3
5.4
5.5
374
IAS
375
IAS
TIME
ADMINISTRATION
TASK
ADMINISTRATION
Level 1
PROCESSOR
ADMINISTRATION
Level 2
376
IAS
TIME
TASK
PROCESSOR
ADMINISTRATION ADMINISTRATION ADMINISTRATION
CLOCK
IMPULSE
Start of a computer
process
End of a computer
process
Symbols
Kick-off (control flow)
Data transfer (data flow)
Program resp. program routine
List of data, e.g. single values (data)
377
IAS
z3
zm
378
IAS
m spaces
am
379
IAS
CLOCK
IMPULSE
CYCLE
TIME
ADMINISTRATION
Kick-off
TASK ADMINISTRATION
TIME
COUNTER
380
IAS
m spaces
B1
Start address 1
B2
Start address 2
B3
Start address 3
B4
Start address 4
Bm
Start address m
Status bits Bi
Bi = 0: ready
Bi = 1: dormant
381
IAS
TASK
ADMINISTRATION
ACTIVATION
SEARCH
LEVEL 2
DEACTIVATION
LEVEL 3
382
IAS
from/ to
TIME
ADMINISTRATION
ACTIVATION
SEARCH
ADMINISTRATION
BLOCK
to the PROCESSOR
ADMINISTRATION
Selection of the
start address by
the PROCESSOR
ADMINISTRATION
DEACTIVATION
383
ACTIVATION:
DEACTIVATION:
SEARCH:
IAS
384
IAS
CLOCK
IMPULSE
SEARCH
ADMINISTRATION
BLOCK
CYCLE
TIME COUNTER
TIME ADMINISTRATION
ACTIVATION
PROCESSOR ADMINISTRATION
TIME
DEACTIVATION
TASK ADMINISTRATION
385
IAS
TIME
ADMINISTRATION
l=1
I = M?
yes
no
l=I+1
search
2015 IAS, Universitt Stuttgart
386
IAS
yes
Inquiry if computer
process is available at
all
no
Set STATUS BIT (I) IN
ADMINISTRATION
BLOCK (I) = 0
ERROR
MESSAGE
Reentry
387
IAS
Deactivation
Search
SEARCH
I=1
DEACTIVATION (I)
yes
no
I = M?
yes
SEARCH
no
I= I+1
PROCESSOR
ADMINISTRATION (I)
388
IAS
PROCESSOR
ADMINISTRATION (I)
Start computer
process over start
adress in
ADMINISTRATION
BLOCK (I),
i.e. invoke as subprogram
DEACTIVATION (I)
389
IAS
390
IAS
Program counter
Accumulator
Status register
Working register
391
IAS
MINI-REAL-TIME OPERATING
SYSTEM
(Extension1)
INTERRUPT
ADMINISTRATION
TIME
ADMINISTRATION
TASK
ADMINISTRATION
PROCESSOR
ADMINISTRATION
392
B1
Base address 1
Start address (program counter contents)
Register contents 1
Task 1
IAS
Register contents 2
Register contents k
B2
Base address 2
Start address (program counter contents)
Register contents 1
Task 2
Register contents 2
Register contents k
B m Base address m
Start address (program counter contents)
Register contents 1
Task m
Register contents 2
Register contents k
393
IAS
After the computer process is finished, its base address is loaded into
the cell START ADDRESS and the register contents in the
ADMINISTRATION BLOCK are to be initialized.
394
IAS
SEARCH
ADMINIS
TRATION
BLOCK
CLOCK
IMPULSE
CYCLE
INTERRUPT
ADMINISTRATION
ACTIVATION
TIME
TIME
COUNTER
TIME
ADMINISTRATION
DEACTIVATION
TASK
ADMINISTRATION
PROCESSOR
ADMINISTRATION
395
IAS
register rescue
in case of clock impulse interrupts triggering of TIME
ADMINISTRATION
in case of alarm interrupts invoking of the ACTIVATION, in order to
put the corresponding response program in the state ready
kick-off SEARCH
396
IAS
external Interrupts
CLOCK
IMPULSE
INTERRUPT
ACTIVATION
TIME
SEARCH
Computer process code
Second extension:
ADMINISTRATION
BLOCK
INTERRUPT1
INTERRUPT2
CYCLE
TIME
COUNTER
DEACTIV
ATION
INTERRUPT K
INTERRUPT
ADMINISTRATION
TIME
ADMINISTRATION
TASK
ADMINISTRATION
PROCESSOR
ADMINISTRATION
397
IAS
Task:
Organization of slow input/output operations
Task is stopped.
Processor is able to work on other tasks.
Finishing the input/output operations allows the continuation
of accompanying tasks.
398
IAS
MINI-REAL-TIME
OPERATING SYSTEM
(Extension 3)
IN/OUTPUT
ADMINISTRATION
INTERRUPT
ADMINISTRATION
TIME
ADMINISTRATION
TASK
ADMINISTRATION
PROCESSOR
ADMINISTRATION
399
IAS
The multiple activation of a tasks, i.e. new activation before the actual
end of a task is impossible.
400
IAS
401
IAS
Why does the mini operating system presented in the lecture work in its
first extension with less than 4 states?
b)
Which states of the state model of computation tasks are not needed?
Why?
402
Industrial Automation
5.1
Definition
5.2
5.3
5.4
5.5
5.6
Multi-core processors
IAS
403
IAS
I/Oand
Interupt
Manager
MemoryManager
Devicedriver
Hardware-Abstraktionsschicht (HAL)
hardware
Further
equipment
Units
404
IAS
Market survey
Criteria of the selection of real-time operating systems
405
IAS
ERCOS
Lynx-OS
Company
ETAS
GmbH
Lynx
Microware
ENEA
ARS
Real-Time
DATA AB Integrated
System
Systems
inc.
Type
Embedded
Target
8016x,
architecture PowerPC
680x0,
80x86,
PowerPC,
88000,
i860,
MIPS,
SPARC,
RS6000
OS/9
OSE Delta
pSOS
PXROS
QNX
VRTX32
VxWorks
Windows CE
HighTec
EDVSysteme
QNX
Software
Systems
LTD
Microtec
Research
WindRiver
Microsoft
RTOS
Embedded
680x0,
680x0,
80x86,
PowerPC,
PowerPC, CPU32,
CPU32
AMD29k
680x0,
80x86,
8016x,
PowerPC,
CPU32,
i960,
Hitachi
SH, MIPS
80x86,
8016x,
PowerPC
680x0,
80x86,
SPARC,
CPU32,
AMD29k,
i960
680x0,
80x86,
PowerPC,
CPU32,
i960,
MIPS,
SPARC,
AMD29k,
Hitachi SH
Pentium
80x86, i486
PowerPC
MIPS
Hitachi S4,
ARM
QNX
UNIX,
SUN,
Windows
UNIX,
Win95,
NT
Windows CE
Win 95
NT
Hostsystem
UNIX,
Win95,
NT
UNIX
UNIX,
Windows
Language
ANSI-C,
OLT
Specificati
on
Language
ANSI-C,
C++,
Pascal,
Ada,
Modula,
Fortran
ANSI-C,
C++
C, C++
ASM,
ANSI-C,
C++,
Pascal,
Ada
ANSI-C,
C++
Watcom
C, C++,
Inline
ASM
ASM,
ANSI-C,
C++
ANSI-C,
C++, Java,
Ada
Visual C++
Visual Basic
Visual J++
Data
system
no
UNIX,
FAT, NFS,
Real-Time
Filesystem
FAT
UNIX,
FAT
UNIX,
FAT, NFS,
Real-Time
Filesystem
UNIX,
FAT
UNIX,
FAT,
ISO9660
UNIX,
FAT
UNIX,
FAT
FAT
UNIX,
UNIX,
UNIX,
Windows,
SUN,
SUN,
NT
Windows, Windows,
NT, OS/2 NT, OS/2
i386,i486,
Pentium,
80286(16
bit)
406
ERCOS
Network
Field bus
Others
CAN
IAS
Lynx-OS
OS/9
OSE Delta
pSOS
PXROS
QNX
VRTX32
VxWorks
Windows
CE
TCP/IP,
NFS
TCP/IP,
OS/9-net,
NeWLink
TCP/IP,
PPP,
SNMP
TCP/IP,
Netware,
OSI 1-7,
SNMP
CMIP,
X.25
TCP/IP,
NFS
TCP/IP,
NFS,
SNMP,
Streams
TCP/IP,
Netware
TCP/IP,
NFS,
SNMP,
Streams
TCP/IP,
PPP bzw.
SLIP
CAN
CAN,
PROFIBUS
CAN,
PROFIBUS,
Interbus-S
CAN,
PROFIBUS, LON
ROM-able ROM-able, ROM-able, ROM-able, ROM-able, ROM-able, ROM-able, ROM-able ROM-able, ROM-able
Multiproces
MultiMultiMultiMultiMultiMultisor, selfprocessor
processor processor, processor processor,
processor,
hosted
fehlertolera
POSIX
POSIX
nt
1003
1003
compliant
compliant
Scheduling preemptive, preemptive, preemptive, preemptive, preemptive, preemptive, preemptive, preemptive, preemptive, preemptive,
copriority
copriority
priority
priority
priority
priority
priority
operative, controlled, operative,
controlled, controlled controlled, controlled, controlled, controlled
priority
Roundpriority
RoundRoundRoundRoundcontrolled
Robin
controlled,
Robin
Robin
Robin
Robin
RoundRobin
Task
switch
time
< 54 s
8016x (20
MHz)
4,7 s
Pentium
166,
11,1us
486DX4
(100MHz),
74
17 s
100 s
407
IAS
408
Industrial Automation
5.1
Definition
5.2
5.3
5.4
5.5
5.6
Multi-core processors
IAS
409
IAS
program execution
alternate
execution on a
core
concurrent or parallel
execution on multiple
cores
410
Citation: http://searchdatacenter.techtarget.com/definition/multi-core-processor
IAS
Multi-core processors
Definition:
A multi-core processor is an integrated circuit to which two or more
processors have been attached for enhanced performance, reduced
power consumption, and more efficient simultaneous processing of
multiple tasks.
Advantages
Performance increase by concurrent or parallel applications
Opportunity for further development of hardware with stagnating clock
frequency in order to increase the performance of the software
Reduction in electricity consumption (lower clock speed)
Disadvantages
complicated programming, adaptation to core structure necessary
adaptation of existing hardware/software required
computing power due to cascaded cache structure is not always
deterministic
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IAS
Amdahl's law
Model for the acceleration of programs by parallelized execution. It was
developed by Gene Amdahl in 1967. The increase of the performance is
defined as the maximum acceleration of a thread, which can be reached
through the use of multiple cores.
412
IAS
413
IAS
number of cores
Parallel ratio:
414
IAS
Task 2
Task 3
Task 4
Operating System
T1
T1
T2
CPU 1
CPU 2
CPU 3
IOs
Cache
T3
T4
CPU 4
Scheduler ensures an as
even as possible distribution
of processes.
Operating system manages
inputs and outputs, and
interrupts
*T1 = Task 1
415
IAS
416
IAS
Task 1
Memory
Task 2
OS 1
OS 2
T1
T2
CPU 1
I/O
Cache
Memory
Memory
Task 3
Task 4
OS 3
OS 4
T3
T4
CPU 2
CPU 3
CPU 4
I/O
I/O
I/O
Cache
Cache
Cache
Fixed assignment of
tasks to the sub-systems
(e.g. embedded
systems)
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IAS
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IAS
core
LEVEL1-Cache
LEVEL1-Cache
LEVEL2-Cache
LEVEL2-Cache
LEVEL3-Cache
Memory
2015 IAS, Universitt Stuttgart
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IAS
source: cis.upenn.edu
SPE
SPE
SPE
SPE
SPE
SPE
SPE
SPU
SPU
SPU
SPU
SPU
SPU
SPU
SPU
LM
LM
LM
LM
LM
LM
LM
LM
DMA
DMA
DMA
DMA
DMA
DMA
DMA
DMA
PPE
L
2
L
1
Power
Core
MemoryController
BUS-interfaceController
SPE = Synergistic Processing Element, SPU = Synergistic Processing Unit with SIMD (Single Instruction Multiple
Data), LM = Local Memory, DMA = Direct Memory Access (with Memory Flow Controller), L1/L2 = Caches
420
IAS
15
14 bus systems
2
1995
(W219)
2002
(W211)
2009 2013
(W221) (W212
MOPF)
421
IAS
422
IAS
Task A
Task B
Load-Balancing in the
internet of things and
services
swarm intelligence
423
IAS
424
IAS
Basic Terms
6.2
6.3
6.4
425
IAS
Assembler
Software package
Universal real-time programming language
426
IAS
high:
focus on the understandability for the user
low:
focus on the hardware characteristics of a computer
427
IAS
Program generators
Language level
Application-specific
programming languages
Universal programming
languages
Macro assembler
languages
Assembler languages
Machine languages
Microprogramming
languages
Machineindependent
programming languages
Machineoriented
programming languages
Machine
languages
428
IAS
Microprogramming languages
Machine languages
Assembler languages
429
IAS
Distinction
Macro definition
Macro call
Macro expansion
Classification of macros
Standard macros:
predefined (fix)
User macros:
430
IAS
lower maintainability
missing portability
no:
431
IAS
Purpose:
Generation of system programs
Compiler
Operating systems
Editors
Driver programs
Objective:
1. Utilization of the hardware characteristics
2. Portability
Example:
C
Universal higher programming languages
Purpose :
Generation of general/common programs
Objective :
1. Simple formulation
2. Extensive compiler checks
3. Portability
Example :
Ada, Java, Smalltalk
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IAS
Development
of programming languages
Eclipse
2005
2000
Java 2
Ada2005
Java
Ada95
C#
1995
Python
Ruby
PEARL 90
1990
C++
Eiffel
1985
TKL/TK
1980
Ada
Small
talk 80
Mehrrechner PEARL
C
1975
PEARL
1970
Pascal
Simula
1965
PL/1
CORAL 66
BASIC
1960
COBOL
FORTRAN
1955
ALGOL 68
ALGOL60
Legend:
object-oriented programming
language
real-time programming
language
higher level programming
languages
433
IAS
Application-specific languages
Synonyms: Descriptive languages, non-procedural higher languages, very high
level languages
SFC
LD
IL
EXAPT
ATLAS
Advantages/disadvantages:
434
IAS
Advantage:
435
IAS
Prerequisite:
436
IAS
100%
Higher level
programming languages
for technical, scientific
and commercial
applications
Higher level
programming languages
for process automation
0%
1950
1960
1970
1980
1990
2000
437
IAS
Answer
Machine languages are well suited for application programming.
The programming language C is an universal programming language.
The PLC Ladder Diagram (LD) is a machine language.
Program generators require high programming skills.
Programming languages with a low language level focus on the hardware
characteristics of a computer.
All universal programming languages are machine-independent
programming languages.
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IAS
Basic Terms
6.2
6.3
6.4
439
IAS
graphical representation
state - oriented
Instruction List
IL
A I 5.3
A I 2.6
O Q
2.1
ON M
23.1
= Q 2.4
Structured
Text
ST
Function block
Diagram (FBD)
I5.3
I2.6
IF A&B = 1
THEN ...
ELSE ...
Ladder Diagram
LD I5.3 I2.6
Q2.4
( )
&
>=1
flow - oriented
Q2.1
Q2.1
M23.1
Sequential Flow
Chart (SFC)
S1
T1
S2
Q2.4
T8
S8
M23.1
T2
T9
440
IAS
Example:
Exit 1 (exit1) and exit 2 (exit2) are only true, if either entry 3 (entry3) is true or
if both entries 1 (entry1) and 2 (entry2) are simultaneously true
441
IAS
Operator Operand
Comment(opt.)
442
IAS
alarmlamp(S:=on, R:=off);
control statements
e.g.:
IF alarm
THEN alarmlamp(S:=on, R:=off);
END_IF;
additional language constructs for time processing and process data access
suitable for programming large systems
Realization of the example using ST
443
IAS
normally
closed
contact
relay coil
444
IAS
445
IAS
Answer
446
IAS
Basic Terms
6.2
6.3
6.4
447
IAS
C++:
Concurrent C:
448
IAS
Language concepts of C
Combination of data :
vectors, structures
Control structures:
Input/Output:
Library functions
449
IAS
Class
Data structure with data and methods (member function)
Constructor
Creation of an instance of a class (object)
Destructor
Release of class objects
Overloading of functions
Encapsulation of data
Inheritance
Polymorphism
Triggering of different processing steps by messages
450
IAS
451
IAS
452
IAS
Object-oriented concepts
Lightweight processes
453
IAS
Differences to C++
No typedef clauses
No functions
No multiple inheritance
No goto
No overloading of operators
454
IAS
C Code
Application
AOT Compiler
C Compiler
Objectcode
Objectcode
Application
Application
OS
OS
target system
target system
Application
Application
Java API
Java API
JVM
JIT Compiler
Java API
Java OS
OS
target system
OS
target system
Java target
system
JIT Just-In-Time-Compiler
AOT Ahead-Of-Time-Compiler
455
IAS
2. Step
development system
target system
development system
- interpretation
- just-in-time compilation
- direct execution on Java
Hardware
- ahead-of-time
compilation
- translation to C
portability:
on bytecode level
memory
consumption:
runtime environment
necessary class libraries
Runtime:
interpretation / just-in-time
compilation
direct execution
456
IAS
multimedia presentations
(video, sound, animation)
intranet applications
real-time applications
457
IAS
Parallelism
no process support
lightweight processes
Round Robin Method
Synchronization
monitors
semaphore variables
Inter-process communication
only for lightweight processes on common data
Bit operations
comparable with C/ C++
458
IAS
Real-Time Java
Extension in the Java language, to realize real-time requirements
Extensions (1)
1. Scheduling:
Ensure the timely or predictable execution of sequences of schedulable
objects
2. Memory management:
Extend the memory model in order to allow real-time code to deliver
deterministic behaviour
3. Synchronisation:
Specification of the dispatching algorithms; avoidance to the priority
inversion problem; support to priority inheritance and priority ceiling
policies.
4. Asynchronous Event Handling:
Ensure that the program can cope with a large number (ten of thousands)
of simultaneous events
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IAS
Extensions (2)
5. Asynchronous Transfer of Control (ATC):
Possibility to transfer the control from a thread upon an asynchronous
event, e.g. a timer going off
460
IAS
461
IAS
Answer
The execution of the garbage collection mechanism has to be triggered
manually.
Used resources should be released in the destructor of a class.
The same system conditions can lead to different timely behavior due to
the garbage collection mechanism.
462
IAS
Basic Terms
6.2
6.3
6.4
463
IAS
Last fall, contractor Lockheed Martin delivered an update to the Federal Aviation Administration's next-generation flight
data air traffic control system ' ahead of schedule and under budget, which is something you don't often hear about
in government circles.
Military developers stuck with the venerable C programming language they knew well, or they moved to the up-andcoming C++. A few years later, Java took hold, as did Web application languages such as JavaScript.
However, Ada never vanished completely. In fact, in certain communities, notably aviation software, it has remained the
programming language of choice.
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IAS
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IAS
Task unit
Task as a concurrent, parallel running sequences of commands
Task as an encapsulated unit
Declarations made within a task are not visible outside it
466
IAS
Realization of tasks
Declaration and implementation of tasks in a package or directly in the
program unit
Packet
packet integration;
Task1;
Task2;
main routine
Task3;
Commands in Task3;
Packet body
commands in Task1;
Commands in Task2;
planning of T3
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IAS
task-type monitorValue;
commands in
monitorValue;
Integration of General
Task objects
declaration
main routine
M1 of task-type monitorValue;
M2 of task-type monitorValue;
M3 of task-type monitorValue;
Task type
specification /
implementation
468
IAS
Synchronization of tasks
Synchronization concepts in Ada 95
Logical synchronization
Establish a timely sequence of the tasks execution
469
IAS
Caller
Receiver
Caller waits
for confirmation
by recipient
470
IAS
Commands in Task1;
Commands in Task2;
Commands in Task3;
Own calling
point;
Own calling
point;
Own calling
point;
Call of tasks T2
calling point;
Call of tasks T3
calling point;
Call of tasks T1
calling point;
Further commands;
Further commands;
Further commands;
471
Dynamic run of
the multitask
program
example
T1
IAS
T2
T3
accept sync;
accept sync;
Waiting
Waiting
T2.sync;
accept sync;
Waiting
T3.sync;
T1.sync;
472
IAS
Protected
operations
Request
from a task
Monitor
Shared
variable
simultaneous requests
473
IAS
functions;
call agreement;
474
IAS
Synchronous communication
Extension of the rendezvous synchronization with data exchange
Mutual wait
Data exchange during the rendezvous
Data only valid within the rendezvous
Asynchronous communication
475
IAS
Time operations
Possible delay of the execution
476
IAS
T2 with agreements;
Call of a function;
Delay of 10*1 ms;
loop
Current time
read_sensor
execution
running
blocked
32
t
15
5
5
22
Task T1 activates read_sensor after a 10ms time delay
10 12
20
477
IAS
478
IAS
Implementation
Commands in Task 1;
T1 calls T2
Base priority
T1 calls T2s
entry point;
Commands in Task 2;
T2 executes
here with
T1s priority
Dynamic base
priority change
2015 IAS, Universitt Stuttgart
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IAS
480
IAS
Crossword Puzzle
481
IAS
Crossword Puzzle
Across
3
4
6
9
12
14
15
18
20
21
22
24
27
29
30
31
32
35
37
39
41
42
43
44
482
IAS
Crossword Puzzle
Down
1
2
3
5
6
7
8
10
11
13
15
16
17
19
23
25
26
28
30
33
34
36
38
40
483
IAS
Index (1)
acatech
Activation
Actuator
Actuator sensor interface
Amdahl's law
Analog to digital conversion
Assembler
asymmetric multiprocessor systems (AMP)
Asynchronous communication
Asynchronous programming
Automation hierarchy
43
384
*169*
155
412
*180*
430, *431*
417
316
270, *281*
126
CAN
Centralized structure
Concurrency
Concurrent
cyber-physisches System
Cycle time
*227*
120
262
300
43
364, 369
Deactivation
Deadline
384
295
484
IAS
Index (2)
Deadlock
Decentralized structure
Delay
Delay until
Determinism
Deterministic
Digital input
Digital output
Distributed automation system
Diversity software
Dual slope method
Dynamic scheduling
*303*
121
476
476
*264*
265
204
206
133
147
194
321
*331*
356
286
478
295
Fault tolerance
Field area
139
*212*
485
IAS
Index (3)
Field bus system
Field devices
FIFO
Firmware
First extension (RTOS)
Fixed priorities
Flow time
Function Block Diagram
*212*
*212*
*324*
429
390
*327*
295
*445*
Garbage collection
457
Handshake method
Hard real-time
Heterogener Multicore-Prozessor
homogeneous multicore processor
*470*
257
420
419
IEC 1131
Industrial PC
Instruction List
Intelligent sensor
Interbus-S
440
105
*442*
163
*239*
486
IAS
Index (4)
Interface
Internet of the Things
Interrupt handling
Interrupt vector
152
423
*352*
353
Kernel
345
Ladder Diagram
Laxity
Least laxity
Livelock
*444*
295
*333*
*303*
Machine independent
Machine language
Machine oriented
Macro assembler
Memory management
Microcontroller
Microprogramming
428
428
428
*430*
354
*101*
*429*
Non-preemptive
322
487
IAS
Index (5)
Object orientation
Operating system
452, 453
342
Parallel
Parallel bus
Period time
Planning
Preemptive
Priority
Priority Ceiling Protocol
Priority inheritance
Process control system
Process signal
PROFIBUS
Program generation
Programmable Logic Controller
Programming paradigm
Protected unit
300
215
295
293
322
295
480
479
110
173
*237*
426
92
427
*473*, 474
Rate monotonic
Real time Java
*329*
459
488
IAS
Index (6)
Real-time computing
Redundancy
Rendezvous concept
Resources
Round-Robin
*252*
138
469, *470*, 471
344
*325*
Sampling time
Schedulability test
Scheduling
Search
Second extension (RTOS)
Semaphore
Sensor
Sequential
Serial bus
Shared variable
Simultaneous
Soft real-time
Software redundancy
Static scheduling
Structured Text
283
*335*
320
384
396
*308*
*161*
300
215
315
300
257
146
321
*443*
489
IAS
Index (7)
Swarm
swarm intelligence
Symmetric multiprocessing systems (SMP)
Synchronization
Synchronous communication
Synchronous programming
System process
44
423
415
306
316, *475*
270, *272*
351
Task
Task state
Task states
Task type
Third extension (RTOS)
Thread
Time controlled architecture
Time-driven
Topologies of communication
*290*, 291
293
292
468
398
291
232
286
213
Ubiquitous Computing
43
490