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NETWORKED
EMBEDDED
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INDUSTRIAL INFORMATION TECHNOLOGY SERIES
Series Editor
RICHARD ZURAWSKI
Automotive Embedded Systems Handbook
Edited by Nicolas Navet and Françoise Simonot-Lion
Integration Technologies for Industrial Automated Systems
Edited by Richard Zurawski
Electronic Design Automation for Integrated Circuits Handbook
Edited by Luciano Lavagno, Grant Martin, and Lou Scheffer
Embedded Systems Handbook
Edited by Richard Zurawski
Industrial Communication Technology Handbook
Edited by Richard Zurawski
Embedded Systems Handbook, Second Edition
Edited by Richard Zurawski
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INDUSTRIAL INFORMATION TECHNOLOGY SERIES
EMBEDDED SYSTEMS HANDBOOK
S E C O N D E D I T I O N
NETWORKED
EMBEDDED
SYSTEMS
Edited by
Richard Zurawski
ISA Corporation
Richard Zurawski/Networked Embedded Systems K_C Finals Page iv -- #
CRC Press
Taylor & Francis Group
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Library of Congress Cataloging-in-Publication Data
Embedded systems handbook : embedded systems design and verification / edited by Richard Zurawski. -- 2nd ed.
p. cm. -- (Industrial information technology series ; 6) Includes bibliographical references and index.
ISBN-13: 978-1-4398-0755-2 (v. 1) ISBN-10: 1-4398-0755-8 (v. 1) ISBN-13: 978-1-4398-0761-3 (v. 2) ISBN-10: 1-4398-0761-2 (v. 2)
1. Embedded computer systems--Handbooks, manuals, etc. I. Zurawski, Richard. II. Title. III. Series. TK7895.E42E64 2009
004.16--dc22 2008049535
Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com
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Dedication
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Contents
Preface
. . . .
xiAcknowledgments
. . . .
xxviiEditor
. . . .
xxixContributors
. . . .
xxxiInternational Advisory Board
. . . .
xxxiiiPart I Network Embedded Systems: An Introduction
Networked Embedded Systems: An Overview Richard Zurawski . . . .
1-
Middleware Design and Implementation for Networked Embedded Systems
Venkita Subramonian and Christopher D. Gill . . . .
2-Part II Wireless Sensor Networks
Introduction to Wireless Sensor Networks Stefan Dulman and Paul J. M.
Havinga . . . .
3-
Architectures for Wireless Sensor Networks Stefan Dulman, S. Chatterjea, and
Paul J. M. Havinga . . . .
4-
Overview of Time Synchronization Issues in Sensor Networks Weilian Su .
5-
Resource-Aware Localization in Sensor Networks Frank Reichenbach, Jan
Blumenthal, and Dirk Timmermann . . . .
6-
Power-Efficient Routing in Wireless Sensor Networks Lucia Lo Bello and
Emanuele Toscano . . . .
7-
Energy-Efficient MAC Protocols for Wireless Sensor Networks Lucia Lo Bello,
Mario Collotta, and Emanuele Toscano . . . .
8-
Distributed Signal Processing in Sensor Networks Omid S. Jahromi and Parham
Aarabi . . . .
9-
Sensor Network Security Guenter Schaefer . . . .
10-Richard Zurawski/Networked Embedded Systems K_C Finals Page viii -- #
viii Contents
Wireless Sensor Networks Testing and Validation Matthias Woehrle, Jan Beutel,
and Lothar Thiele . . . .
11-
Developing and Testing of Software for Wireless Sensor Networks Jan
Blumen-thal, Frank Golatowski, Ralf Behnke, Steffen Prüter, and Dirk Timmermann . .
12-Part III Automotive Networked Embedded Systems
Trends in Automotive Communication Systems Nicolas Navet and Françoise
Simonot-Lion . . . .
13-
Time-Triggered Communication Roman Obermaisser . . . .
14-
Controller Area Networks for Embedded Systems Gianluca Cena and Adriano
Valenzano . . . .
15-
FlexRay Communication Technology Roman Nossal-Tueyeni and Dietmar
Millinger . . . .
16-
LIN Standard Antal Rajnak . . . .
17-
Standardized System Software for Automotive Applications Thomas M. Galla
18-
Volcano: Enabling Correctness by Design Antal Rajnak . . . .
19-Part IV Networked Embedded Systems in Industrial
Automation
Fieldbus Systems: Embedded Networks for Automation Thilo Sauter . . . .
20-
Real-Time Ethernet for Automation Applications Max Felser . . . .
21-
Configuration and Management of Networked Embedded Devices Wilfried
Elmenreich . . . .
22-
Networked Control Systems for Manufacturing: Parameterization,
Differentia-tion, EvaluaDifferentia-tion, and Application James R. Moyne and Dawn M. Tilbury . .
23-
Wireless LAN Technology for the Factory Floor: Challenges and Approaches
Andreas Willig . . . .
24-
Wireless Local and Wireless Personal Area Network Communication in
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Contents ix
Hybrid Wired/Wireless Real-Time Industrial Networks Gianluca Cena,
Adri-ano ValenzAdri-ano, and StefAdri-ano Vitturi . . . .
26-
Wireless Sensor Networks for Automation Jan-Erik Frey and Tomas Lennvall
27-
Design and Implementation of a Truly-Wireless Real-Time Sensor/Actuator
Interface for Discrete Manufacturing Automation Guntram Scheible, Dacfey
Dzung, Jan Endresen, and Jan-Erik Frey . . . .
28-Part V Networked Embedded Systems in Building
Automation and Control
Data Communications for Distributed Building Automation Wolfgang Kastner
and Georg Neugschwandtner . . . .
29-Contributor Index . . . CI- Subject Index . . . SI-
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Preface
Introduction
Application domains have had a considerable impact on the evolution of embedded systems in terms of required methodologies and supporting tools, and resulting technologies. Multimedia and net-work applications, the most frequently reported implementation case studies at scientific conferences on embedded systems, have had a profound influence on the evolution of embedded systems with the trend now toward multiprocessor systems-on-chip (MPSoCs), which combine the advantages of parallel processing with the high integration levels of systems-on-chip (SoCs). Many SoCs today incorporate tens of interconnected processors; as projected in the edition of the International
Technology Roadmap for Semiconductors, the number of processor cores on a chip will reach over
by . The design of MPSoCs invariably involves integration of heterogeneous hardware and software IP components, an activity which still lacks a clear theoretical underpinning, and is a focus of many academic and industry projects.
Embedded systems have also been used in automotive electronics, industrial automated systems, building automation and control (BAC), train automation, avionics, and other fields. For instance, trends have emerged for the SoCs to be used in the area of industrial automation to implement complex field-area intelligent devices that integrate the intelligent sensor/actuator functionality by providing on-chip signal conversion, data and signal processing, and communication functions. Similar trends can also be seen in the automotive electronic systems. On the factory floor, micro-controllers are nowadays embedded in field devices such as sensors and actuators. Modern vehicles employ as many as hundreds of microcontrollers. These areas, however, do not receive, for various reasons, as much attention at scientific meetings as the SoC design as it meets demands for com-puting power posed by digital signal processing (DSP), and network and multimedia processors, for instance.
Most of the mentioned application areas require real-time mode of operation. So do some mul-timedia devices and gadgets, for clear audio and smooth video. What, then, is the major difference between multimedia and automotive embedded applications, for instance? Braking and steering sys-tems in a vehicle, if implemented as Brake-by-Wire and Steer-by-Wire syssys-tems, or a control loop of a high-pressure valve in offshore exploration, are examples of safety-critical systems that require a high level of dependability. These systems must observe hard real-time constraints imposed by the system dynamics, that is, the end-to-end response times must be bounded for safety-critical systems. A vio-lation of this requirement may lead to considerable degradation in the performance of the control system, and other possibly catastrophic consequences. On the other hand, missing audio or video data may result in the user’s dissatisfaction with the performance of the system.
Furthermore, in most embedded applications, the nodes tend to be on some sort of a network. There is a clear trend nowadays toward networking embedded nodes. This introduces an additional constraint on the design of this kind of embedded systems: systems comprising a collection of embed-ded nodes communicating over a network and requiring, in most cases, a high level of dependability.
Thisextra constraint has to do with ensuring that the distributed application tasks execute in a
deter-ministic way (need for application tasks schedulability analysis involving distributed nodes and the communication network), in addition to other requirements such as system availability, reliability, and safety. In general, the design of this kind of networked embedded systems (NES) is a challenge in itself due to the distributed nature of processing elements, sharing common communication medium, and, frequently, safety-critical requirements.
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xii Preface
Thetype of protocol used to interconnect embedded nodes has a decisive impact on whether
the system can operate in a deterministic way. For instance, protocols based on random medium access control (MAC) such as carrier sense multiple access (CSMA) are not suitable for this type of operation. On the other hand, time-triggered protocols based on time division multiple access (TDMA) MAC access are particularly well suited for the safety-critical solutions, as they provide deterministic access to the medium. In this category, TTP/C and FlexRay protocols (FlexRay sup-ports a combination of both time-triggered and event-triggered transmissions) are the most notable representatives. Both TTP/C and FlexRay provide additional built-in dependability mechanisms and services which make them particularly suitable for safety-critical systems, such as replicated channels and redundant transmission mechanisms, bus guardians, fault-tolerant clock synchronization, and membership service.
Theabsence of NES from the academic curriculum is a troubling reality for the industry. The
focus is mostly on a single-node design. Specialized networks are seldom mentioned, and if at all, then controller area network (CAN) and FlexRay in the context of embedded automotive systems— a trendy area for examples—but in a superficial way. Specialized communication networks are seldom included in the curriculum of ECE programs. Whatever the reason for this, some engineering gradu-ates involved in the development of embedded systems in diverse application areas will learn the trade the hard way. A similar situation exists with conferences where applications outside multimedia and networking are seldom used as implementation case studies. A notable exception is the IEEE Inter-national Symposium on Industrial Embedded Systems that emphasizes research and implementation reports in diverse application areas.
To redress this situation, the second edition of the Embedded System Handbook pays consid-erable attention to the diverse application areas of embedded systems that have in the past few years witnessed an upsurge in research and development, implementation of new technologies, and deployment of actual solutions and technologies. These areas include automotive electronics, indus-trial automated systems, and BAC. The common denominator for these application areas is their distributed nature and use of specialized communication networks as a fabric for interconnecting embedded nodes.
In automotive electronic systems [], the electronic control units are networked by means of one of the automotive communication protocols for controlling one of the vehicle functions, for instance, electronic engine control, antilocking brake system, active suspension, and telematics. There are a number of reasons for the automotive industry’s interest in adopting field-area networks and mechatronic solutions, known by their generic name as X-by-Wire, aiming to replace mechanical or hydraulic systems by electrical/electronic systems. The main factors seem to be economic in nature, improved reliability of components, and increased functionality to be achieved with a combination of embedded hardware and software. Steer-by-Wire, Brake-by-Wire, or Throttle-by-Wire systems are examples of X-by-Wire systems. The dependability of X-by-Wire systems is one of the main requirements and constraints on the adoption of these kinds of systems. But, it seems that certain safety-critical systems such as Steer-by-Wire and Brake-by-Wire will be complemented with tradi-tional mechanical/hydraulic backups for reasons of safety. Another equally important requirement for X-by-Wire systems is to observe hard real-time constraints imposed by the system dynamics; the end-to-end response times must be bounded for safety-critical systems. A violation of this require-ment may lead to degradation in the performance of the control system, and other consequences as a result. Not all automotive electronic systems are safety critical, or require hard real-time response; system(s) to control seats, door locks, internal lights, etc., are some examples. With the automotive industry increasingly keen on adopting mechatronic solutions, it was felt that exploring in detail the design of in-vehicle electronic embedded systems would be of interest to the readers.
In industrial automation, specialized networks [] connect field devices such as sensors and actu-ators (with embedded controllers) with field controllers, programmable logic controllers, as well as man–machine interfaces. Ethernet, the backbone technology of office networks, is increasingly being adopted for communication in factories and plants at the field level. The random and native
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Preface xiii
CSMA/CD arbitration mechanism is being replaced by other solutions allowing for deterministic behavior required in real-time communication to support soft and hard real-time deadlines, time synchronization of activities required to control drives, and for exchange of small data records char-acteristic of monitoring and control actions. A variety of solutions have been proposed to achieve this goal []. The use of wireless links with field devices, such as sensors and actuators, allows for flexible installation and maintenance and mobile operation required in case of mobile robots, and alleviates problems associated with cabling []. The area of industrial automation is one of the fastest-growing application areas for embedded systems with thousands of microcontrollers and other electronic components embedded in field devices on the factory floor. This is also one of the most challeng-ing deployment areas for embedded systems due to unique requirements imposed by the industrial environment which considerably differ from those one may be familiar with from multimedia or networking. This application area has received considerable attention in the second edition.
Another fast-growing application area for embedded systems is building automation []. Building automation systems aim at the control of the internal environment, as well as the immediate exter-nal environment of a building or building complex. At present, the focus of research and technology development is on buildings that are used for commercial purposes such as offices, exhibition centers, and shopping complexes. Some of the main services offered by the building automation systems typ-ically include climate control to include heating, ventilation, and air conditioning; visual comfort to cover artificial lighting; control of daylight; safety services such as fire alarm and emergency sound system; security protection; control of utilities such as power, gas, and water supply; and internal transportation systems such as lifts and escalators.
Thisbooks aims at presenting a snapshot of the state-of-the-art embedded systems with an
empha-sis on their networking and applications. It conempha-sists of contributions written by leading experts from industry and academia directly involved in the creation and evolution of the ideas and tech-nologies discussed here. Many of the contributions are from the industry and industrial research establishments at the forefront of developments in embedded systems. The presented material is in the form of tutorials, research surveys, and technology overviews. The contributions are divided into parts for cohesive and comprehensive presentation. The reports on recent technology developments, deployments, and trends frequently cover material released to the profession for the very first time.
Organization
Embedded systems is a vast field encompassing various disciplines. Not every topic, however impor-tant, can be covered in a book of a reasonable volume and without superficial treatment. The topics need to be chosen carefully: material for research and reports on novel industrial developments and technologies need to be balanced out; a balance also needs to be struck in treating so-called “core” topics and new trends, and other aspects. The “time-to-market” is another important factor in making these decisions, along with the availability of qualified authors to cover the topics.
Thisbook is divided into two volumes: “Embedded Systems Design and Verification” (Volume I)
and “Networked Embedded Systems” (Volume II). Volume I provides a broad introduction to embed-ded systems design and verification. It covers both fundamental and advanced topics, as well as novel results and approaches, fairly comprehensively. Volume II focuses on NES and selected application areas. It covers the automotive field, industrial automation, and building automation. In addition, it covers wireless sensor networks (WSNs), although from an application-independent viewpoint.
Theaim of this volume was to introduce actual NES implementations in fast-evolving areas which,
for various reasons, have not received proper coverage in other publications. Different application areas, in addition to unique functional requirements, impose specific restrictions on performance, safety, and quality-of-service (QoS) requirements, thus necessitating adoption of different solutions which in turn give rise to a plethora of communication protocols and systems. For this reason, the
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xiv Preface
discussion of the internode communication aspects has been deferred to this part of the book where the communication aspects are discussed in the context of specific applications of NES.
One of the main objectives of any handbook is to give a well-structured and cohesive description of fundamentals of the area under treatment. It is hoped that Volume I has achieved this objective. Every effort was made to ensure each contribution in this volume contains an introductory material to assist beginners with the navigation through more advanced issues. This volume does not strive to replicate, or replace, university level material. Rather, it tries to address more advanced issues, and recent research and technology developments.
Thespecifics of the design automation of integrated circuits have been deliberately omitted in this
volume to keep it at a reasonable size in view of the publication of another handbook that covers these aspects comprehensively, namely, The Electronic Design Automation for Integrated Circuits Handbook, CRC Press, Boca Raton, Florida, , Editors: Lou Scheffer, Luciano Lavagno, and Grant Martin.
Thematerial covered in the second edition of the Embedded Systems Handbook will be of interest
to a wide spectrum of professionals and researchers from industry and academia, as well as gradu-ate students from the fields of electrical and computer engineering, computer science and software engineering, and mechatronics engineering.
Thisedition can be used as a reference (or prescribed text) for university (post) graduate courses.
It provides the “core” material on embedded systems. Part II, Volume II, is suitable for a course on WSNs while Parts III and IV, Volume II, can be used for a course on NES with a focus on automotive embedded systems or industrial embedded systems, respectively; this may be complemented with selected material from Volume I.
In the following, the important points of each chapter are presented to assist the reader in identi-fying material of interest, and to view the topics in a broader context. Where appropriate, a brief explanation of the topic under treatment is provided, particularly for chapters describing novel trends, and for novices in mind.
Volume I. Embedded Systems Design and Verification
Volume I is divided into three parts for quick subject matter identification. Part I, System-Level Design and Verification, provides a broad introduction to embedded systems design and verifi-cation covered in chapters: “Real-time in networked embedded systems,” “Design of embedded systems,” “Models of computation for distributed embedded systems,” “Embedded software model-ing and design,” “Languages for design and verification,” “Synchronous hypothesis and polychronous languages,” “Processor-centric architecture description languages,” “Network-ready, open source operating systems for embedded real-time applications,” “Determining bounds on execution times,” “Performance analysis of distributed embedded systems,” and “Power-aware embedded comput-ing.” Part II, Embedded Processors and System-on-Chip Design, gives a comprehensive overview of embedded processors, and various aspects of SoC, FPGA, and design issues. The material is covered in six chapters: “Processors for embedded systems,” “System-on-chip design,” “SoC communication architectures: From interconnection buses to packet-switched NoCs,” “Networks-on-chip: An inter-connect fabric for multiprocessor systems-on-chip,” “Hardware/software interfaces design for SoC,” and “FPGA synthesis and physical design.” Part III, Embedded Systems Security and Web Services, gives an overview of “Design issues in secure embedded systems” and “Web services for embedded devices.”
Part I. System-Level Design and Verification
An authoritative introduction to real-time systems is provided in the chapter “Real-time in networked embedded systems.” This chapter covers extensively the areas of design and analysis with some
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examples of analysis and tools; operating systems (an in-depth discussion of real-time embedded operating systems is presented in the chapter “Network-ready, open source operating systems for embedded real-time applications”); scheduling; communications to include descriptions of the ISO/OSI reference model, MAC protocols, networks, and topologies; component-based design; as well as testing and debugging. This is essential reading for anyone interested in the area of real-time systems.
A comprehensive introduction to a design methodology for embedded systems is presented in the chapter “Design of embedded systems.” This chapter gives an overview of the design issues and stages. It then presents, in some detail, the functional design; function/architecture and hardware/software codesign; and hardware/software co-verification and hardware simulation. Subsequently, it discusses selected software and hardware implementation issues. While discussing different stages of design and approaches, it also introduces and evaluates supporting tools. This chapter is essential reading for novices for it provides a framework for the discussion of the design issues covered in detail in the subsequent chapters in this part.
Models of computation (MoCs) are essentially abstract representations of computing systems, and facilitate the design and validation stages in the system development. An excellent introduction to the topic of MoCs, particularly for embedded systems, is presented in the chapter “Models of com-putation for distributed embedded systems.” This chapter introduces the origins of MoCs, and their evolution from models of sequential and parallel computation to attempts to model heterogeneous architectures. In the process it discusses, in relative detail, selected nonfunctional properties such as power consumption, component interaction in heterogeneous systems, and time. Subsequently, it reviews different MoCs to include continuous time models, discrete time models, synchronous models, untimed models, data flow process networks, Rendezvous-based models, and heterogeneous MoCs. This chapter also presents a new framework that accommodates MoCs with different timing abstractions, and shows how different time abstractions can serve different purposes and needs. The framework is subsequently used to study coexistence of different computational models, specifically the interfaces between two different MoCs and the refinement of one MoC into another.
Models and tools for embedded software are covered in the chapter “Embedded software modeling and design.” This chapter outlines challenges in the development of embedded software, and is fol-lowed by an introduction to formal models and languages, and to schedulability analysis. Commercial modeling languages, Unified Modeling Language and Specification and Description Language (SDL), are introduced in quite some detail together with the recent extensions to these two standards. This chapter concludes with an overview of the research work in the area of embedded software design, and methods and tools, such as Ptolemy and Metropolis.
An authoritative introduction to a broad range of design and verification languages used in embedded systems is presented in the chapter “Languages for design and verification.” This chapter surveys some of the most representative and widely used languages divided into four main categories: languages for hardware design, for hardware verification, for software, and domain-specific languages. It covers () hardware design languages: Verilog, VHDL, and SystemC; () hardware verification languages: OpenVera, the e language, Sugar/PSL, and SystemVerilog; () software languages: assembly languages for complex instruction set computers, reduced instruction set computers (RISCs), DSPs, and very-long instruction word processors; and for small (- and -bit) microcontrollers, the C and
C++Languages, Java, and real-time operating systems; and () domain-specific languages: Kahn
process networks, synchronous dataflow, Esterel, and SDL. Each group of languages is characterized for their specific application domains, and illustrated with ample code examples.
An in-depth introduction to synchronous languages is presented in the chapter “The synchronous hypothesis and polychronous languages.” Before introducing the synchronous languages, this chap-ter discusses the concept of synchronous hypothesis, the basic notion, mathematical models, and implementation issues. Subsequently, it gives an overview of the structural languages used for modeling and programming synchronous applications, namely, imperative languages Esterel and
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xvi Preface
SyncCharts that provide constructs to deal with control-dominated programs, and declarative lan-guages Lustre and Signal that are particularly suited for applications based on intensive data compu-tation and dataflow organization. The future trends section discusses loosely synchronized systems, as well as modeling and analysis of polychronous systems and multiclock/polychronous languages.
Thechapter “Processor-centric architecture description languages” (ADL) covers state-of-the-art
specification languages, tools, and methodologies for processor development used in industry and academia. The discussion of the languages is centered around a classification based on four cate-gories (based on the nature of the information), namely, structural, behavioral, mixed, and partial. Some specific ADLs are overviewed including Machine-Independent Microprogramming Language (MIMOLA); nML; Instruction Set Description Language (ISDL); Machine Description (MDES) and High-Level Machine Description (HMDES); EXPRESSION; and LISA. A substantial part of this chapter focuses on Tensilica Instruction Extension (TIE) ADL and provides a comprehensive intro-duction to the language illustrating its use with a case study involving design of an audio DSP called the HiFi Audio Engine.
An overview of the architectural choices for real-time and networking support adopted by many contemporary operating systems (within the framework of the IEEE .- international stan-dard) is presented in the chapter “Network-ready, open source operating systems for embedded real-time applications.” This chapter gives an overview of several widespread architectural choices for real-time support at the operating system level, and describes the real-time application interface (RTAI) approach in particular. It then summarizes the real-time and networking support specified by the IEEE .- international standard. Finally, it describes the internal structure of a commonly used open source network protocol stack to show how it can be extended to handle other protocols besides the TCP/IP suite it was originally designed for. The discussion centers on the CAN protocol. Many embedded systems, particularly hard real-time systems, impose strict restrictions on the execution time of tasks, which are required to complete within certain time bounds. For this class of systems, schedulability analyses require the upper bounds for the execution times of all tasks to be known to verify statically whether the system meets its timing requirements. The chapter “Deter-mining bounds on execution times” presents architecture of the aiT timing-analysis tool and an approach to timing analysis implemented in the tool. In the process, it discusses cache-behavior pre-diction, pipeline analysis, path analysis using integer linear programming, and other issues. The use of this approach is put in the context of upper bounds determination. In addition, this chapter gives a brief overview of other approaches to timing analysis. The validation of nonfunctional require-ments of selected implementation aspects such as deadlines, throughputs, buffer space, and power consumption comes under performance analysis.
Thechapter “Performance analysis of distributed embedded systems” discusses issues behind
per-formance analysis, and its role in the design process. It also surveys a few selected approaches to performance analysis for distributed embedded systems such as simulation-based methods, holistic scheduling analysis, and compositional methods. Subsequently, this chapter introduces the modu-lar performance analysis approach and accompanying performance networks, as stated by authors, influenced by the worst-case analysis of communication networks. The presented approach allows to obtain upper and lower bounds on quantities such as end-to-end delay and buffer space; it also covers all possible corner cases independent of their probability.
Embedded nodes, or devices, are frequently battery powered. The growing power dissipation, with the increase in density of integrated circuits and clock frequency, has a direct impact on the cost of packaging and cooling, as well as reliability and lifetime. These and other factors make the design for low power consumption a high priority for embedded systems. The chapter “Power-aware embed-ded computing” presents a survey of design techniques and methodologies aimed at reducing both static and dynamic power dissipation. This chapter discusses energy and power modeling to include instruction-level and function-level power models, microarchitectural power models, memory and bus models, and battery models. Subsequently, it discusses system/application-level optimizations
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Preface xvii
that explore different task implementations exhibiting different power/energy versus QoS charac-teristics. Energy-efficient processing subsystems: voltage and frequency scaling, dynamic resource scaling, and processor core selection are addressed next in this chapter. Finally, this chapter discusses energy-efficient memory subsystems: cache hierarchy tuning; novel horizontal and vertical cache par-titioning schemes; dynamic scaling of memory elements; software-controlled memories; scratch-pad memories; improving access patterns to on-chip memory; special-purpose memory subsystems for media streaming; and code compression and interconnect optimizations.
Part II. Embedded Processors and System-on-Chip Design
An extensive overview of microprocessors in the context of embedded systems is given in the chapter “Processors for embedded systems.” This chapter presents a brief history of embedded microproces-sors and covers issues such as software-driven evolution, performance of microprocesmicroproces-sors, reduced instruction set computing (RISC) machines, processor cores, and the embedded SoC. After dis-cussing symmetric multiprocessing (SMP) and asymmetric multiprocessing (AMP), this chapter covers some of the most widely used embedded processor architectures followed by a comprehensive presentation of the software development tools for embedded processors. Finally, it overviews bench-marking processors for embedded systems where the use of standard benchmarks and instruction set simulators to evaluate processor cores are discussed. This is particularly relevant to the design of embedded SoC devices where the processor cores may not yet be available in hardware, or be based on user-specified processor configuration and extension.
A comprehensive introduction to the SoC concept, in general, and design issues is provided in the chapter “System-on-chip design.” This chapter discusses basics of SoC; IP cores, and virtual components; introduces the concept of architectural platforms and surveys selected industry offer-ings; provides a comprehensive overview of the SoC design process; and discusses configurable and extensible processors, as well as IP integration quality and certification methods and standards.
On-chip communication architectures are presented in the chapter “SoC communication archi-tectures: From interconnection buses to packet-switched NoCs.” This chapter provides an in-depth description and analysis of the three most relevant, from industrial and research viewpoints, archi-tectures to include ARM developed Advanced Micro-Controller Bus Architecture (AMBA) and new interconnect schemes AMBA Advanced eXtensible Interface (AXI), Advanced High-performance Bus (AHB) interface, AMBA APB interface, and AMBA ATB interface; Sonics SMART intercon-nects (SonicsLX, SonicsMX, and S); IBM developed CoreConnect Processor Local Bus (PLB), On-Chip Peripheral Bus (OPB), and Device Control Register (DCR) Bus; and STMicroelectronics developed STBus. In addition, it surveys other architectures such as WishBone, Peripheral Intercon-nect Bus (PI-Bus), Avalon, and CoreFrame. This chapter also offers some analysis of selected com-munication architectures. It concludes with a brief discussion of the packet-switched interconnection networks, or Network-on-Chip (NoC), introducing XPipes (a SystemC library of parameterizable, synthesizable NoC components), and giving an overview of the research trends.
Basic principles and guidelines for the NoC design are introduced in the chapter “Networks-on-chip: An interconnect fabric for multiprocessor systems-on-chip.” This chapter discusses the rationale for the design paradigm shift of SoC communication architectures from shared busses to NoCs, and briefly surveys related work. Subsequently, it presents details of NoC building blocks to include switch, network interface, and switch-to-switch links. The design principles and the trade-offs are discussed in the context of different implementation variants, supported by the case studies from real-life NoC prototypes. This chapter concludes with a brief overview of NoC design challenges.
Thechapter “Hardware/software interfaces design for SoC” presents a component-based design
automation approach for MPSoC platforms. It briefly surveys basic concepts of MPSoC design and discusses some related approaches, namely, system-level, platform-based, and component-based.
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It provides a comprehensive overview of hardware/software IP integration issues such as bus-based and core-based approaches, integrating software IP, communication synthesis, and IP derivation. The focal point of this chapter is a new component-based design methodology and design environment for the integration of heterogeneous hardware and software IP components. The presented methodol-ogy, which adopts automatic communication synthesis approach and uses a high-level API, generates both hardware and software wrappers, as well as a dedicated Operating System for programmable components. The IP integration capabilities of the approach and accompanying software tools are illustrated by redesigning a part of a VDSL modem.
Programmable logic devices, complex programmable logic devices (CPLDs), and field-programmable gate arrays (FPGAs) have evolved from implementing small glue-logic designs to large complete systems that are now the majority of design starts: FPGAs for the higher density design and CPLDs for smaller designs and designs that require nonvolatility targeting. The chapter “FPGA synthesis and physical design” gives an introduction to the architecture of field-programmable date arrays and an overview of the FPGA CAD flow. It then surveys current algorithms for FPGA synthesis, placement, and routing, as well as commercial tools.
Part III. Embedded Systems Security and Web Services
There is a growing trend for networking of embedded systems. Representative examples of such sys-tems can be found in automotive, train, and industrial automation domains. Many of these syssys-tems need to be connected to other networks such as LAN, WAN, and the Internet. For instance, there is a growing demand for remote access to process data at the factory floor. This, however, exposes systems to potential security attacks, which may compromise the integrity of the system and cause damage.
Thelimited resources of embedded systems pose considerable challenges for the implementation of
effective security policies which, in general, are resource demanding. An excellent introduction to the security issues in embedded systems is presented in the chapter “Design issues in secure embed-ded systems.” This chapter outlines security requirements in computing systems, classifies abilities of attackers, and discusses security implementation levels. Security constraints in embedded systems design discussed include energy considerations, processing power limitations, flexibility and avail-ability requirements, and cost of implementation. Subsequently, this chapter presents the main issues in the design of secure embedded systems. It also covers, in detail, attacks and countermeasures of cryptographic algorithm implementations in embedded systems.
Thechapter “Web services for embedded devices” introduces the devices profile for Web services
(DPWS). DPWS provides a service-oriented approach for hardware components by enabling Web service capabilities on resource-constraint devices. DPWS addresses announcement and discovery of devices and their services, eventing as a publish/subscribe mechanism, and secure connectivity between devices. This chapter gives a brief introduction to device-centric service-oriented architec-tures (SOAs), followed by a comprehensive description of DPWS. It also covers software development toolkits and platforms such as the Web services for devices (WSD), service-oriented architecture for devices (SOAD), UPnP and DPWS base driver for OSGI, as well as DPWS in Microsoft Vista. The use of DPWS is illustrated by the example of a business-to-business (BB) maintenance scenario to repair a faulty industrial robot.
Volume II. Networked Embedded Systems
Volume II focuses on selected application areas of NES. It covers automotive field, industrial automation, and building automation. In addition, this volume also covers WSNs, although from an application-independent viewpoint. The aim of this volume was to introduce actual NES
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implementations in fast-evolving areas that, for various reasons, have not received proper cover-age in other publications. Different application areas, in addition to unique functional requirements, impose specific restrictions on performance, safety, and QoS requirements, thus necessitating adop-tion of different soluadop-tions that in turn give rise to a plethora of communicaadop-tion protocols and systems. For this reason, the discussion of the internode communication aspects has been deferred to this vol-ume where the communication aspects are discussed in the context of specific application domains of NES.
Part I. Networked Embedded Systems: An Introduction
A general overview of NES is presented in the chapter “Networked embedded systems: An overview.” It gives an introduction to the concept of NES, their design, internode communication, and other development issues. This chapter also discusses various application areas for NES such as automotive, industrial automation, and building automation.
Thetopic of middleware for distributed NES is addressed in the chapter “Middleware design and
implementation for networked embedded systems.” This chapter discusses the role of middleware in NES, and the challenges in design and implementation such as remote communication, location inde-pendence, reusing existing infrastructure, providing real-time assurances, providing a robust DOC middleware, reducing middleware footprint, and supporting simulation environments. The focal point of this chapter is the section describing the design and implementation of nORB (a small foot-print real-time object request broker tailored to a specific embedded sensor/actuator applications), and the rationale behind the adopted approach.
Part II. Wireless Sensor Networks
Thedistributed WSN is a relatively new and exciting proposition for collecting sensory data in a
variety of environments. The design of this kind of networks poses a particular challenge due to limited computational power and memory size, bandwidth restrictions, power consumption restric-tion if battery powered (typically the case), communicarestric-tion requirements, and unattended mode of operation in case of inaccessible and/or hostile environments. This part provides a fairly com-prehensive discussion of the design issues related to, in particular, self-organizing ad-hoc WSNs. It introduces fundamental concepts behind sensor networks; discusses architectures; time synchro-nization; energy-efficient distributed localization, routing, and MAC; distributed signal processing; security; testing, and validation; and surveys selected software development approaches, solutions, and tools for large-scale WSNs.
A comprehensive overview of the area of WSNs is provided in the chapter “Introduction to wireless sensor networks.” This chapter introduces fundamental concepts, selected application areas, design challenges, and other relevant issues. It also lists companies involved in the development of sensor networks, as well as sensor networks-related research projects.
The chapter “Architectures for wireless sensor networks” provides an excellent introduction to the various aspects of the architecture of WSNs. It starts with a description of a sensor node architec-ture and its elements: sensor platform, processing unit, communication interface, and power source. It then presents two WSN architectures developed around the layered protocol stack approach, and EYES European project approach. In this context, it introduces a new flexible architecture design approach with environmental dynamics in mind, and aimed at offering maximum flexibility while still adhering to the basic design concept of sensor networks. This chapter concludes with a compre-hensive discussion of the distributed data extraction techniques, providing a summary of distributed data extraction techniques for WSNs for the actual projects.
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Thetime synchronization issues in sensor networks are discussed in the chapter “Overview of time
synchronization issues in sensor networks.” This chapter introduces basics of time synchronization for sensor networks. It also describes design challenges and requirements in developing time syn-chronization protocols such as the need to be robust and energy aware, the ability to operate correctly in the absence of time servers (server-less), and the need to be lightweight and offer a tunable ser-vice. This chapter also overviews factors influencing time synchronization such as temperature, phase noise, frequency noise, asymmetric delays, and clock glitches. Subsequently, different time synchro-nization protocols are discussed, namely, the network time protocol (NTP), timing-sync protocol for sensor networks (TPSN), H-sensor broadcast synchronization (HBS), time synchronization for high latency (TSHL), reference-broadcast synchronization (RBS), adaptive clock synchronization, time-diffusion synchronization protocol (TDP), rate-based diffusion algorithm, and adaptive-rate synchronization protocol (ARSP).
Thelocalization issues in WSNs are discussed in the chapter “Resource-aware localization in sensor
networks.” This chapter explains the need to know localization of nodes in a network, introduces distance estimation approaches, and covers positioning and navigation systems as well as localization algorithms. Subsequently, localization algorithms are discussed and evaluated, and are grouped in the following categories: classical methods, proximity based, optimization methods, iterative methods, and pattern matching.
Thechapter “Power-efficient routing in wireless sensor networks” provides a comprehensive
sur-vey and critical evaluation of energy-efficient routing protocols used in WSNs. This chapter begins by highlighting differences between routing in distributed sensor networks and WSNs. The overview of energy-saving routing protocols for WSNs centers on optimization-based routing protocols, data-centric routing protocols, cluster-based routing protocols, location-based routing protocols, and QoS-enabled routing protocols. In addition, the topology control protocols are discussed.
Thechapter “Energy-efficient MAC protocols for wireless sensor networks” provides an overview
of energy-efficient MAC protocols for WSNs. This chapter begins with a discussion of selected design issues of the MAC protocols for energy-efficient WSNs. It then gives a comprehensive overview of a number of MAC protocols, including solutions for mobility support and multichannel WSNs. Finally, it outlines current trends and open issues.
Due to their limited resources, sensor nodes frequently provide incomplete information on the objects of their observation. Thus, the complete information has to be reconstructed from data obtained from many nodes frequently providing redundant data. The distributed data fusion is one of the major challenges in sensor networks. The chapter “Distributed signal processing in sensor net-works” introduces a novel mathematical model for distributed information fusion which focuses on solving a benchmark signal processing problem (spectrum estimation) using sensor networks.
The chapter “Sensor network security” offers a comprehensive overview of the security issues and
solutions. This chapter presents an introduction to selected security challenges in WSNs, such as avoiding and coping with sensor node compromise, maintaining availability of sensor network ser-vices, and ensuring confidentiality and integrity of data. Implications of the denial-of-service (DoS) attack, as well as attacks on routing, are then discussed, along with measures and approaches that have been proposed so far against these attacks. Subsequently, it discusses in detail the SNEP and µTESLA protocols for confidentiality and integrity of data, the LEAP protocol, as well as probabilistic key management and its many variants for key management. This chapter concludes with a discussion of secure data aggregation.
The chapter “Wireless sensor networks testing and validation” covers validation and testing
methodologies, as well as tools needed to provide support that are essential to arrive at a function-ally correct, robust, and long-lasting system at the time of deployment. It explains issues involved in testing of WSNs followed by validation including test platforms and software testing methodologies. An integrated test and instrumentation architecture that augments WSN test beds by incorporating
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the environment and giving exact and detailed insight into the reaction to changing parameters and resource usage is then introduced.
Thechapter “Developing and testing of software for wireless sensor networks” presents basic
con-cepts related to software development of WSNs, as well as selected software solutions. The solutions include TinyOS, a component-based operating system, and related software packages such as MATÉ, a byte-code interpreter; TinyDB, a query processing system for extracting information from a net-work of TinyOS sensor nodes; SensorWare, a software framenet-work for WSNs that provides querying, dissemination, and fusion of sensor data, as well as coordination of actuators; Middleware Link-ing Applications and Networks (MiLAN), a middleware concept that aims to exploit information redundancy provided by sensor nodes; EnviroTrack, a TinyOS-based application that provides a convenient way to program sensor network applications that track activities in their physical envi-ronment; SeNeTs, a middleware architecture for WSNs designed to support the pre-deployment phase; Contiki, a lightweight and flexible operating system for -bit computers and integrated micro-controllers. This chapter also discusses software solutions for simulation, emulation, and test of large-scale sensor networks: TinyOS SIMulator (TOSSIM), a simulator based on the TinyOS frame-work; EmStar, a software environment for developing and deploying applications for sensor networks consisting of -bit embedded Microserver platforms; SeNeTs, a test and validation environment; and Java-based J-Sim.
Part III. Automotive Networked Embedded Systems
Theautomotive industry is aggressively adopting mechatronic solutions to replace, or duplicate,
existing mechanical/hydraulic systems. The embedded electronic systems together with dedicated communication networks and protocols play a pivotal role in this transition. This part contains seven chapters that offer a comprehensive overview of the area presenting topics such as networks and pro-tocols, operating systems and other middleware, scheduling, safety and fault tolerance, and actual development tools used by the automotive industry.
Thispart begins with the chapter “Trends in automotive communication systems” that introduces
the area of in-vehicle embedded systems and, in particular, the requirements imposed on the com-munication systems. Then, a comprehensive review of the most widely used, as well as emerging, automotive networks is presented to include priority busses (CAN and J), time-triggered net-works (TTP/C, TTP/A, TTCAN), low cost automotive netnet-works (LIN and TTP/A), and multimedia networks (MOST and IDB ). This is followed by an overview of the industry initiatives related to middleware technologies, with a focus on OSEK/VDX and AUTOSAR.
Thechapter “Time-triggered communication” presents an overview of time-triggered
commu-nication, solutions, and technologies put in the context of automotive applications. It introduces dependability concepts and fundamental services provided by time-triggered communication pro-tocols, such as clock synchronization, periodic exchange of messages carrying state information, fault isolation mechanisms, and diagnostic services. Subsequently, the chapter overviews four impor-tant representatives of time-triggered communication protocols: TTP/C, TTP/A, TTCAN, and TT Ethernet.
A comprehensive introduction to CANs is presented in the chapter “Controller area network.” This chapter overviews some of the main features of the CAN protocol, with a focus on advantages and drawbacks affecting application domains, particularly NESs. CANopen, especially suited to NESs, is subsequently covered to include CANopen device profile for generic I/O modules.
Thenewly emerging standard and technology for automotive safety-critical communication is
pre-sented in the chapter “FlexRay communication technology.” This chapter overviews aspects such as media access, clock synchronization, startup, coding and physical layer, bus guardian, protocol services, and system configuration.
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TheLocal Interconnect Network (LIN) communication standard, enabling fast and cost-efficient
implementation of low-cost multiplex systems for local interconnect networks in vehicles, is presented in the chapter “LIN standard.” This chapter introduces the LIN’s physical layer and the LIN protocol. It then focuses on the design process and workflow, and covers aspects such as require-ment capture (signal definitions and timing requirerequire-ments), network configuration and design, and network verification, put in the context of Mentor Graphics LIN tool-chain.
The chapter “Standardized basic system software for automotive applications” presents an overview of the automotive software infrastructure standardization efforts and initiatives. This chapter begins with an overview of the automotive hardware architecture. Subsequently, it focuses on the soft-ware modules specified by OSEK/VDX and HIS working groups, followed by ISO and AUTOSAR initiatives. Some background and technical information are provided on the Japanese JasPar, the counterpart to AUTOSAR.
The Volcano concept and technology for the design and implementation of in-vehicle networks using the standardized CAN and LIN communication protocols are presented in the chapter “Vol-cano technology—Enabling correctness by design.” This chapter provides an insight in the design and development process of an automotive communication network
Part IV. Networked Embedded Systems in Industrial Automation
Field-Area Networks in Industrial Automation
The advances in design of embedded systems, tools availability, and falling fabrication costs of
semiconductor devices and systems allowed for infusion of intelligence into field devices such as sensors and actuators. The controllers used with these devices provide on-chip signal conversion, data and signal processing, and communication functions. The increased functionality, processing, and communication capabilities of controllers have been largely instrumental in the emergence of a widespread trend for networking of field devices around specialized networks, frequently referred to as field-area networks. One of the main reasons for the emergence of field-area networks in the first place was an evolutionary need to replace point-to-point wiring connections by a single bus, thus paving the road to the emergence of distributed systems and, subsequently, NES with the infusion of intelligence into the field devices.
Thepart begins with a comprehensive introduction to specialized field-area networks presented
in the chapter “Fieldbus systems—Embedded networks for automation.” This chapter presents evo-lution of the fieldbus systems; overviews communication fundamentals and introduces the ISO/OSI layered model; covers fieldbus characteristics in comparison with the OSI model; discusses intercon-nections in the heterogeneous network environment; and introduces industrial Ethernet. Selected fieldbus systems, categorized by the application domain, are summarized at the end. This chapter is a compulsory reading for novices to understand the concepts behind fieldbuses.
The chapter “Real-time Ethernet for automation applications” provides a comprehensive introduc-tion to the standardizaintroduc-tion process and actual implementaintroduc-tion of real-time Ethernet. Standardizaintroduc-tion process and initiatives, real-time Ethernet requirements, and practical realizations are covered first.
Thepractical realizations discussed include top of TCP/IP, top of Ethernet, and modified Ethernet
solutions. Then, this chapter gives an overview of specific solutions in each of those categories.
Theissues involved in the configuration (setting up a fieldbus system in the first place) and
man-agement (diagnosis and monitoring, and adding new devices to the network) of fieldbus systems are presented in the chapter “Configuration and management of networked embedded devices.”
Thischapter starts by outlining requirements on configuration and management. It then discusses
the approach based on the profile concept, as well as several mechanisms following an electronic datasheet approach, namely, the Electronic Device Description Language (EDDL), the Field Device
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Tool/Device Type Manager (FDT/DTM), the Transducer Electronic Datasheets (TEDS), and the Smart Transducer Descriptions (STD) of the Interface File System (IFS). It also examines several application development approaches and their influence on the system configuration.
The chapter “Networked control systems for manufacturing: Parameterization, differentiation,
evaluation and application” covers extensively the application of networked control systems in manufacturing with an emphasis on control, diagnostics, and safety. It explores the parameteriza-tion of networks with respect to balancing QoS capabilities; introduces common network protocol approaches and differentiates them with respect to functional characteristics; presents a method for networked control system evaluation that includes theoretical, experimental, and analytical compo-nents; and explores network applications in manufacturing with a focus on control, diagnostics, and safety in general, and at different levels of the factory control hierarchy. Future trends emphasize migration trend toward wireless networking technology.
Wireless Network Technologies in Industrial Automation
Although the use of wireline-based field-area networks is dominant, wireless technology offers a range of incentives in a number of application areas. In industrial automation, for instance, wireless device (sensor/actuator) networks can provide support for mobile operation required for mobile robots, monitoring and control of equipment in hazardous and difficult to access environ-ments, etc. The use of wireless technologies in industrial automation is covered in five chapters that cover the use of wireless local and wireless personal area network technologies on the factory floor, hybrid wired/wireless networks in industrial real-time applications, a wireless sensor/actuator (WISA) network developed by ABB and deployed in a manufacturing environment, and WSNs for automation.
Theissues involving the use of wireless technologies and mobile communication in the industrial
environment (factory floor) are discussed in the chapter “Wireless LAN technology for the factory floor: Challenges and approaches.” This is comprehensive material dealing with topics such as error characteristics of wireless links and lower layer wireless protocols for industrial applications. It also briefly discusses hybrid systems extending selected fieldbus technologies (such as PROFIBUS and CAN) with wireless technologies.
The chapter “Wireless local and wireless personal area network communication in industrial envi-ronments” presents a comprehensive overview of the commercial-off-the-shelf wireless technologies to include IEEE ../Bluetooth, IEEE ../ZigBee, and IEEE . variants. The suitability of these technologies for industrial deployment is evaluated to include aspects such as application scenarios and environments, coexistence of wireless technologies, and implementation of wireless fieldbus services.
Hybrid configurations of communication networks resulting from wireless extensions of con-ventional, wired, industrial networks and their evaluation are presented in the chapter “Hybrid wired/wireless real-time industrial networks.” The focus is on four popular solutions, namely, Profibus DP and DeviceNet, and two real-time Ethernet networks: Profinet IO and EtherNet/IP; and the IEEE . family of WLAN standards and IEEE .. WSNs as wireless extensions. They are some of the most promising technologies for use in industrial automation and control applications, and a lot of devices are already available off-the-shelf at relatively low cost.
The chapter “Wireless sensor networks for automation” gives a comprehensive introduction to WSNs technology in embedded applications on the factory floor and other industrial automated systems. This chapter gives an overview of WSNs in industrial applications; development chal-lenges; communication standards including ZeegBee, WirelessHART, and ISA; low-power design; packaging of sensors and ICs; software/hardware modularity in design, and power supplies. This is essential reading for anyone interested in wireless sensor technology in factory and industrial automated applications.
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A comprehensive case study of a factory-floor deployed WSN is presented in the chapter “Design and implementation of a truly wireless real-time sensor/actuator interface for discrete manufacturing automation.” The system, known as WISA has been implemented by ABB in a manufacturing cell to network proximity switches. The sensor/actuators communication hardware is based on a standard Bluetooth . GHz radio transceiver and low-power electronics that handle the wireless communi-cation link. The sensors communicate with a wireless base station via antennas mounted in the cell. For the base station, a specialized RF front end was developed to provide collision-free air access by allocating a fixed TDMA time slot to each sensor/actuator. Frequency hopping (FH) was employed to counter both frequency-selective fading and interference effects, and operates in combination with automatic retransmission requests (ARQ). The parameters of this TDMA/FH scheme were chosen to satisfy the requirements of up to sensor/actuators per base station. Each wireless node has a response or cycle time of ms, to make full use of the available radio band of MHz width. The FH sequences are cell-specific and were chosen to have low cross-correlations to permit parallel opera-tion of many cells on the same factory floor with low self-interference. The base staopera-tion can handle up to WISAs and is connected to the control system via a (wireline) field bus. To increase capacity, a number of base stations can operate in the same area. WISA provides wireless power supply to the sensors, based on magnetic coupling.
Part V. Networked Embedded Systems in Building
Automation and Control
Another fast-growing application area for NES is BAC. BAC systems aim at the control of the internal environment, as well as the immediate external environment of a building or building complex. At present, the focus of research and technology development is on buildings that are used for commer-cial purposes such as offices, exhibition centers, and shopping complexes. However, the interest in (family type) home automation is on the rise.
A general overview of the building control and automation area and the supporting commu-nication infrastructure is presented in the chapter “Data commucommu-nications for distributed building automation.” This chapter provides an extensive description of building service domains and the concepts of BAC, and introduces building automation hierarchy together with the communication infrastructure. The discussion of control networks for building automation covers aspects such as selected QoS requirements and related mechanisms, horizontal and vertical communication, net-work architecture, and internetnet-working. As with industrial fieldbus systems, there are a number of bodies involved in the standardization of technologies for building automation. This chapter overviews some of the standardization activities, standards, as well as networking and integration technologies. Open systems BACnet, LonWorks, and EIB/KNX, wireless IEEE .. and ZigBee, and Web Services are introduced at the end of this chapter, together with a brief introduction to home automation.
References
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Special Issue: Industrial Communication Systems, R. Zurawski, Ed., Proceedings of the IEEE, (), June
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. J.-P. Thomesse, Fieldbus technology in industrial automation, Special Issue: Industrial Communication
Systems, R. Zurawski, Ed., Proceedings of the IEEE, (), June , –.
. M. Felser, Real-time Ethernet—Industry perspective, Special Issue: Industrial Communication Systems, R. Zurawski, Ed., Proceedings of the IEEE, (), June , –.
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. A. Willig, K. Matheus, and A. Wolisz, Wireless technology in industrial networks, Special Issue:
Indus-trial Communication Systems, R. Zurawski, Ed., Proceedings of the IEEE, (), June , –.
. W. Kastner, G. Neugschwandtner, S. Soucek, and H. M. Newman, Communication systems for building automation and control, Special Issue: Industrial Communication Systems, R. Zurawski, Ed., Proceedings
of the IEEE, (), June , –.
Locating Topics
To assist readers with locating material, a complete table of contents is presented at the front of the book. Each chapter begins with its own table of contents. Two indexes are provided at the end of the book. The index of authors contributing to the book together with the titles of the contributions, and a detailed subject index.
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Acknowledgments
I would like to thank all authors for the effort to prepare the contributions and tremendous coop-eration. I would like to express gratitude to my publisher Nora Konopka and other CRC Press staff involved in the book production. My love goes to my wife who tolerated the countless hours I spent on preparing this book.
Richard Zurawski
