Journals A-Z
All Subjects
Free Journals
sciepub.com
Journal of Embedded Systems
ISSN (Print): 2376-7987 ISSN (Online): 2376-7979 Website: https://www.sciepub.com/journal/jes Editor-in-chief: Naima kaabouch
Open Access
Journal Browser
Go
Issue 1, Volume 5
Article Metrics
  • 17061
    Views
  • 17852
    Saves
  • 0
    Citations
  • 1
    Likes
Export Article
Journal of Embedded Systems. 2018, 5(1), 1-6
DOI: 10.12691/jes-5-1-1
Open AccessArticle

Impact of Reducing Bit Stuffing Jitter on the Control Performance of a CAN-Based Distributed Furnace System

Mouaaz Nahas1,

1Department of Electrical Engineering, College of Engineering and Islamic Architecture, Umm Al-Qura University, Makkah, Saudi Arabia

Pub. Date: April 19, 2018
View Full Text Full Text PDF (231 KB) Full Text ePUB(298 KB)

Cite this paper:
Mouaaz Nahas. Impact of Reducing Bit Stuffing Jitter on the Control Performance of a CAN-Based Distributed Furnace System. Journal of Embedded Systems. 2018; 5(1):1-6. doi: 10.12691/jes-5-1-1

Abstract

The Controller Area Network (CAN) protocol is widely used in distributed real-time, resource-constrained embedded systems. CAN uses “Non Return to Zero” (NRZ) coding and employs a bit-stuffing mechanism for clock synchronization. Such a mechanism causes a variation in the CAN frame length which may have a detrimental impact on the control behaviour of safety-critical systems employing this protocol. To address this issue, two techniques known as “byte-based XOR masking” and “software bit stuffing” were developed and achieved a jitter reduction of up to 20% and 40%, respectively, when employed in practical designs. This paper investigates the effectiveness of such techniques in a real-time control application; that is a simple furnace system case study based on a “hardware-in-the-loop” (HIL) testbed facility. The results show that reducing bit stuffing jitter has the potential to improve the control performance of distributed real-time systems employing CAN protocol.

Keywords:
jitter bit stuffing scheduler time-triggered shared-clock furnace system hardware-in-the-loop

Creative CommonsThis work is licensed under a Creative Commons Attribution 4.0 International License. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/

Figures

Figure of 4

References:

[1]  M. Farsi and M. B. M. Barbosa, CANopen implementation: applications to industrial networks. Baldock, Hertfordshire, England; Philadelphia, PA: Research Studies Press, 1999.
 
[2]  M. D. Natale, H. Zeng, P. Giusto, and A. Ghosal, Understanding and Using the Controller Area Network Communication Protocol: Theory and Practice. Springer Science & Business Media, 2012.
 
[3]  Bosch, CAN Specification Version 2.0. Bosch, 1991.
 
[4]  R. Obermaisser, Time-Triggered Communication. CRC Press, 2011.
 
[5]  M. Nahas, M. J. Pont, and M. Short, “Reducing message-length variations in resource-constrained embedded systems implemented using the Controller Area Network (CAN) protocol,” Journal of Systems Architecture, May 2009, vol. 55, no. 5-6, pp. 344-354.
 
[6]  F. Abugchem, M. Short, and D. Xu, “An experimental HIL study on the jitter sensitivity of an adaptive control system,” in 2013 IEEE 18th Conference on Emerging Technologies Factory Automation (ETFA), 2013, pp. 1-8.
 
[7]  F. Cottet and L. David, “A Solution to the Time Jitter Removal in Deadline Based Scheduling of Real-time Applications,” presented at the 5th IEEE Real-Time Technology and Applications Symposium - WIP, Vancouver, Canada, 1999, pp. 33-38.
 
[8]  Q. Huynh-Thu and M. Ghanbari, “Impact of jitter and jerkiness on perceived video quality,” in Proc. Workshop on Video Processing and Quality Metrics, 2006.
 
[9]  A. J. Jerri, “The Shannon sampling theorem #8212; Its various extensions and applications: A tutorial review,” Proceedings of the IEEE, Nov. 1977, vol. 65, no. 11, pp. 1565-1596.
 
[10]  P. Marti, J. M. Fuertes, G. Fohler, and K. Ramamritham, “Jitter compensation for real-time control systems,” in 22nd IEEE Real-Time Systems Symposium, 2001. (RTSS 2001). Proceedings, 2001, pp. 39-48.
 
[11]  M. Nahas, M. Short, and M. J. Pont, “The impact of bit stuffing on the real-time performance of a distributed control system,” presented at the Proceeding of the 10th International CAN conference iCC, Rome, Italy, 2005, pp. 10-1-10-7.
 
[12]  F. M. Proctor and W. P. Shackleford, “Real-time operating system timing jitter and its impact on motor control,” in Intelligent Systems and Advanced Manufacturing, 2001, pp. 10016.
 
[13]  F. Smirnov, M. Gla\s s, F. Reimann, and J. Teich, “Formal reliability analysis of switched Ethernet automotive networks under transient transmission errors,” in Design Automation Conference (DAC), 2016 53nd ACM/EDAC/IEEE, 2016, pp. 1-6.
 
[14]  F.-Y. Wu and Y.-M. Chen, “Impact of PWM Duty Cycle Jitter on Switching-Mode Power Converter Efficiency,” IEEE Transactions on Power Electronics, 2017.
 
[15]  T. Nolte, H. Hansson, and C. Norstrom, “Minimizing CAN response-time jitter by message manipulation,” in Eighth IEEE Real-Time and Embedded Technology and Applications Symposium, 2002. Proceedings, 2002, pp. 197-206.
 
[16]  T. Nolte, H. Hansson, C. Norström, and S. Punnekkat, “Using bit-stuffing distributions in CAN analysis,” presented at the IEEE Real-Time Embedded Systems Workshop, London, 2001.
 
[17]  M. Nahas and M. J. Pont, “Using XOR operations to reduce variations in the transmission time of CAN messages: A pilot study,” in Proceedings of the Second UK Embedded Forum, Birmingham, UK, 2005, pp. 4-17.
 
[18]  M. J. Pont, Patterns for time-triggered embedded systems: building reliable applications with the 8051 family of microcontrollers. Harlow: Addison-Wesley, 2001.
 
[19]  M. Nahas, “Applying Eight-to-Eleven Modulation to reduce message-length variations in distributed embedded systems using the Controller Area Network (CAN) protocol,” Canadian Journal on Electrical and Electronics Engineering, vol. 2, no. 7, pp. 282-293, 2011.
 
[20]  G. Cena, I. C. Bertolotti, T. Hu, and A. Valenzano, “A mechanism to prevent stuff bits in CAN for achieving jitterless communication,” IEEE Transactions on Industrial Informatics, 2015, vol. 11, no. 1, pp. 83-93.
 
[21]  M. M. Hassan, “Third Bit Complement (TBC) Mechanism to Reduce Bit Stuffing Jitter in Controller Area Network (CAN),” International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (An ISO 3297: 2007 Certified Organization), vol. 4, no. 5, 2015.
 
[22]  T. R. Jena, A. K. Swain, and K. Mahapatra, “A novel bit stuffing technique for Controller Area Network (CAN) protocol,” in Advances in Energy Conversion Technologies (ICAECT), 2014 International Conference on, 2014, pp. 113-117.
 
[23]  S. K. Kabilesh and B. V. Kumar, “Design and simulation of modified selective XOR algorithm for payload attrition in CAN,” in 2016 3rd International Conference on Advanced Computing and Communication Systems (ICACCS), 2016, vol. 1, pp. 1-6.
 
[24]  H. J. Lad and V. G. Joshi, “Hybrid message conversion technique to reduce jitter in CAN based distributed embedded system,” in Emerging Technology Trends in Electronics, Communication and Networking (ET2ECN), 2014 2nd International Conference on, 2014, pp. 1-6.
 
[25]  K. R. Priyanga, K. Venkatesan, and others, “A fixed length payload encoding for can,” International Journal of Advanced Research in Electronics and Communication Engineering (IJARECE), 2014, vol. 3, no. 12.
 
[26]  G. Cena, I. C. Bertolotti, T. Hu, and A. Valenzano, “Fixed-length payload encoding for low-jitter controller area network communication,” IEEE Transactions on Industrial Informatics, 2013, vol. 9, no. 4, pp. 2155-2164.
 
[27]  D. Ayavoo, “The development of reliable x-by-wire systems: assessingt he effectiveness of a’simulation first’approach,” PhD Thesis, University of Leicester, 2006.
 
[28]  M. Short and M. J. Pont, “Fault-Tolerant Time-Triggered Communication Using CAN,” IEEE Transactions on Industrial Informatics, May 2007, vol. 3, no. 2, pp. 131-142.
 
[29]  M. Bacic, “On hardware-in-the-loop simulation,” in Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC’05. 44th IEEE Conference on, 2005, pp. 3194-3198.
 
[30]  M. Schlager, Hardware-in-the-Loop Simulation. Omniscriptum Gmbh & Company Kg., 2008.
 
[31]  I. Briggs, M. Murtagh, R. Kee, G. McCulloug, and R. Douglas, “Sustainable non-automotive vehicles: The simulation challenges,” Renewable and Sustainable Energy Reviews, 2017, vol. 68, pp. 840-851.
 
[32]  K. Enisz, D. Fodor, I. Szalay, and L. Kovacs, “Reconfigurable real-time hardware-in-the-loop environment for automotive electronic control unit testing and verification,” IEEE Instrumentation & Measurement Magazine, vol. 17, no. 4, pp. 31-36, 2014.
 
[33]  V. Josef, G. Robert, K. Petr, L. František, and M. Karel, “Hardware-In-the-Loop simulation for automotive parking assistant control units,” in Mechatronics-Mechatronika (ME), 2014 16th International Conference on, 2014, pp. 325-330.
 
[34]  M. Kloc, R. Weigel, and A. Koelpin, “Making real-time hardware-in-the-loop testing of automotive electronic control units wireless,” in Advanced Technologies for Communications (ATC), 2016 International Conference on, 2016, pp. 407-412.
 
[35]  J. Schroeder, C. Berger, and T. Herpel, “Challenges from integration testing using interconnected hardware-in-the-loop test rigs at an automotive oem: An industrial experience report,” in Proceedings of the First International Workshop on Automotive Software Architecture, 2015, pp. 39-42.
 
[36]  M. Short and M. J. Pont, “Assessment of high-integrity embedded automotive control systems using hardware in the loop simulation,” Journal of Systems and Software, Jul. 2008, vol. 81, no. 7, pp. 1163-1183.
 
[37]  Z.-G. Zhao, L.-J. Zhou, J.-T. Zhang, Q. Zhu, and J.-K. Hedrick, “Distributed and self-adaptive vehicle speed estimation in the composite braking case for four-wheel drive hybrid electric car,” Vehicle System Dynamics, pp. 1-24, 2017.
 
[38]  M. Nahas, “Developing a Novel Shared-Clock Scheduling Protocol for Highly-Predictable Distributed Real-Time Embedded Systems,” American Journal of Intelligent Systems, Dec. 2012, vol. 2, no. 5, pp. 118-128.
 
[39]  M. Nahas, “Implementation of highly-predictable time-triggered cooperative scheduler using simple super loop architecture,” International Journal of Electrical & Computer Sciences, 2011, vol. 11, pp. 33-38.
 
[40]  M. Nahas, “Employing Two ‘Sandwich Delay’ Mechanisms to Enhance Predictability of Embedded Systems Which Use Time-Triggered Co-Operative Architectures,” Journal of Software Engineering and Applications, 2011, vol. 4, no. 7, pp. 417-425.
 
[41]  W. Joseph M, “Control arrangement for controlled atmosphere furnace,” US3237928 A, 01-Mar-1966.
 
[42]  D. E. Seborg, D. A. Mellichamp, T. F. Edgar, and F. J. Doyle III, Process dynamics and control. John Wiley & Sons, 2010.
 
[43]  M. Nahas and A. M. Nahhas, Ways for implementing highly-predictable embedded systems using time-triggered co-operative (TTC) architectures. INTECH Open Access Publisher, 2012.
 
[44]  “Datasheet PDF Template - 4daqsc202-204_ETC_212-213.pdf.” [Online]. Available: http://www.ni.com/pdf/products/us/4daqsc202-204_ETC_212-213.pdf. [Accessed: 30-Aug-2017].
 
[45]  “LabVIEW System Design Software - National Instruments. [Online]. Available: http://www.ni.com/labview/. [Accessed: 30-Aug -2017].
 
[46]  M. Nahas, M. J. Pont, and A. Jain, “Reducing task jitter in shared-clock embedded systems using CAN,” in Proceedings of the UK Embedded Forum 2004, Birmingham, UK, 2004, pp. 184-194.
 
[47]  G. C. Buttazzo, Hard real-time computing systems: predictable scheduling algorithms and applications. New York: Springer, 2005.
 
Manuscript template