A new real-time message scheduling tool for control networks

  title={A new real-time message scheduling tool for control networks},
  author={Margaret Naughton and Donal Heffernan},
  journal={Ind. Robot},
Purpose – This paper aims to describe the development of a new software tool for the scheduling of real‐time control messages in a time‐triggered control network. The prime application area for such a solution is in real‐time robotic controllers and other similar machine control systems.Design/methodology/approach – The design of a scheduling tool, called SMART‐Plan, is described. The tool is based on a “least slack time” scheduling policy. A prototype tool for the time‐triggered controller… 

On the Benefits of Relaxing the Periodicity Assumption for Networked Control Systems over CAN

An aperiodic strategy is proposed in this paper for the dynamic allocation of bandwidth according to the current state of the plants and the available resources.



TTCAN: a new time-triggered controller area network

Vehicle Internal Architecture BASEMENT Real-Time System: The Scheduling Tool

This report presents the development of a scheduling tool that accepts as input precedence graphs describing the processes to be scheduled and produces as output schedules for the nodes of a particular BASEMENT configuration.

Scheduling for a TTCAN network with a stochastic optimization algorithm

A scheduling tool for TTCAN networks is presented that generates a valid scheduling table using a stochastic optimization algorithm and attempts to optimize the scheduling table so it will generate solutions with low jitter.


The paper concludes by considering error recovery, and presents a framework into which different failure models can be incorporated and analysed (in terms of the impact failures have on message latencies).

Impact of fieldbus on communication in robotic systems

The paper shows the real advantages that can be obtained by using a distributed common-bus communication system in time-critical process control applications, highlighting its impact on the architecture of control systems from the point of view of both hardware and software.

Time‐triggered Ethernet based on IEEE 1588 clock synchronisation

A novel project is described where clusters of real‐time transducer networks are developed and the control is tightly synchronised using the IEEE 1588 clock synchronisation standard, realising a “Time‐triggered Ethernet” solution.

Vehicle Internal Architecture BASEMENT Real-Time System: The Simulator Tool

The model consists of entities which a ect each other by exchanging events, and changes in the system state are caused by events, which can however sometimes result in very complex programs.

Time driven operating systems: a case study on the MARS kernel

MARS-2 is based on a microkernel operating system architecture in contrast to the monolithic kernel of MARS-1, which uses both hardware and software mechanisms to increase the self-checking coverage to a sufficiently high degree.

A Comparison of TTP/C and FlexRay

FlexRay and TTP/C were designed against the same set of automotive requirements, but that there is a difference in goals: the inherent conflict between flexibility and safety is tilted towards flexibility in FlexRay and safety in T TP/C.