Etherware: domainware for wireless control networks

Baliga, G.; Graham, Steve; Sha, Lui; Kumar, P. R.

doi:10.1109/isorc.2004.1300341

Cited by 20 publications

(6 citation statements)

References 6 publications

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“…Since realtime CORBA does not consider communication delays, it is mostly specified for real-time applications that run on a single node. Another middleware that focuses on wireless control networks is Etherware [20]. Etherware makes use of event-based communication over User Datagram Protocol (UDP).…”

Section: B Related Workmentioning

confidence: 99%

An Architecture for Experiments in Connected and Automated Vehicles

Kloock¹,

Scheffe²,

Greß³

et al. 2023

Preprint

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<p>Rapid prototyping of Connected and Automated Vehicles (CAV) is challenging because of the physical distribution of vehicles. Furthermore, experiments with CAV may be subject to external influences which prevent reproducibility. This article presents an architecture for the experimental testing of CAVs with a focus on decision-making. Our architecture for experiments of CAV is strictly modular and hierarchical, and therefore it supports an easy and rapid exchange of every single controller as well as of optimization libraries. Additionally, the architecture synchronizes the whole network of sensors, computation devices, and actuators. Thus, it achieves deterministic and reproducible results, even for time-variant network topologies. Using this architecture, we are able to include active and passive vehicles and vehicles with heterogeneous dynamics in the experiments. The architecture also allows for handling communication uncertainties, e.g., data packet drop and time delay. The resulting architecture supports performing different in-the-loop tests and experiments. We demonstrate the architecture in the Cyber-Physical Mobility Lab (CPM Lab) using 20 vehicles in 1:18 scale. The architecture can be applied to other domains.</p>

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Section: B Related Workmentioning

confidence: 99%

An Architecture for Experiments in Connected and Automated Vehicles

Kloock¹,

Scheffe²,

Greß³

et al. 2023

Preprint

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“…Sampling rate selection for wireless control systems was studied in [27]. Etherware in [9,17] introduced a middleware architecture for wireless control comprised of state observers, MPC and actuation buffers. Etherware was designed based on a WiFi network and did not investigate the issue of routing in industrial wireless mesh networks.…”

Section: Related Workmentioning

confidence: 99%

Wireless Routing and Control: A Cyber-Physical Case Study

Li¹,

Ma²,

Westenbroek

et al. 2016

2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS)

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Wireless sensor-actuator networks (WSANs) are being adopted in process industries because of their advantages in lowering deployment and maintenance costs. While there has been significant theoretical advancement in networked control design, only limited empirical results that combine control design with realistic WSAN standards exist. This paper presents a cyberphysical case study on a wireless process control system that integrates state-of-the-art network control design and a WSAN based on the WirelessHART standard. The case study systematically explores the interactions between wireless routing and control design in the process control plant. The network supports alternative routing strategies, including single-path source routing and multi-path graph routing. To mitigate the effect of data loss in the WSAN, the control design integrates an observer based on an Extended Kalman Filter with a model predictive controller and an actuator buffer of recent control inputs. We observe that sensing and actuation can have different levels of resilience to packet loss under this network control design. We then propose a flexible routing approach where the routing strategy for sensing and actuation can be configured separately. Finally, we show that an asymmetric routing configuration with different routing strategies for sensing and actuation can effectively improve control performance under significant packet loss. Our results highlight the importance of co-joining the design of wireless network protocols and control in wireless control systems. * The first two authors contributed equally to this work.

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“…Networked control systems have received tremendous attentions [9]. Discrete-time Kalman filters have been proposed for state estimation based on intermittent observation [26].…”

Section: Related Workmentioning

confidence: 99%

Incorporating emergency alarms in reliable wireless process control

Nie

et al. 2015

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems

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Recent years have witnessed adoption of wireless sensoractuator networks (WSANs) in process control. Many realworld process control systems must handle various emergency alarms under stringent timing constraints in addition to regular control loops. However, despite considerable theoretical results on wireless control, the problem of incorporating emergency alarms in wireless control has received little attention. This paper presents, to the best of our knowledge, the first systematic approach to incorporate emergency alarms into wireless process control. The challenge in emergency communication lies in the fact that emergencies occur occasionally, but must be delivered within their deadlines when they occur. The contributions of this work are threefold: (1) we propose efficient real-time emergency communication protocols based on slot stealing and event-based communication; (2) we build an open-source WirelessHART protocol stack in the Wireless Cyber-Physical Simulator (WCPS) for holistic simulations of wireless control systems; (3) we conduct systematic studies on a coupled water tank system controlled over a 6-hop 21-node WSAN. Our results demonstrate our real-time emergency communication approach enables timely emergency handling, while allowing regular feedback control loops to effectively share resources in WSANs during normal operations.

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Etherware: domainware for wireless control networks

Cited by 20 publications

References 6 publications

An Architecture for Experiments in Connected and Automated Vehicles

An Architecture for Experiments in Connected and Automated Vehicles

Wireless Routing and Control: A Cyber-Physical Case Study

Incorporating emergency alarms in reliable wireless process control

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