[University of Ulm ] [Faculty of Computer Science] [Department of Computer Structures] 

COoperative REal-time systems
(CORE)

Motivation

Future computer systems will, to a large extent, monitor and control real-world processes. This results in an inevitable demand for timeliness and reliability, since real-world processes usually don't wait or stop because of a computer is slow or crashed.

Embedded computer systems must have a predictable behavior under anticipated load and fault assumptions. Moreover, it would sometimes be highly desirable if they retain a certain level of functionality even in unanticipated situations like overload or under pathological fault conditions.

Distributed systems inherently provide extensibility, immunity against single failures, and an adequate architecture to cope with spatially distributed real-world applications. They constitute a promising approach to adapt to the dynamically changing environment of an embedded application. To guarantee their functional and temporal behavior an integrated design is necessary, considering all system levels down to the hardware.

Research Topics

Current External Research Projects:

CORTEX (CO-operating Real-time senTient objects: architecture and EXperimental evaluation)
is a project funded by the European Commission under the contract number IST-2000-26031 in the IST-FET-Program  (IST: Information Society Technology, FET: Future and Emerging Technologies)

MINEMA (Middleware for Network Eccentric and Mobile Applications)
is a project funded by the European Science Foundation

ADOORATA (A Distributed Object-Oriented Architecture for Real-Time Automation)
is a project funded by the "Internationales Büro des BMBF bei dem DLR" (Gemany) and CNPq (Brazil) in the context of a Germany-Brazil cooperation.

Adaptivität und Lernen in Teams kooperierender mobiler Roboter
is a project funded by the DFG (Deutsche Forschungsgemeinschaft) in the context of the program "Kooperierende Teams mobiler Roboter in dynamischen Umgebungen (SPP 1125)". The project is performed together with the Department of Neurocomputing. The research in CORE focusses mainly on smart sensors and actuators to enable fine grained adaptivity in these devices locally and providing an adequate interaction and communication mechanism for these devices.
 
 


Courses in Real-Time Computing

TI-II Prozessorarchitektur und Organisation

Praktikum Java und Jini

Topics for Diploma Thesis

Eine kleine Geschichte der Echtzeit:

            J. Kaiser: "As Time Goes By - Das Konzept der Zeit, ihre Messung und ihre Rolle in Echtzeitsystemen",  1996

Publications

 Jörg Kaiser: "An Event Model for the Predictable Interaction of Smart Devices", Workshop on Dependable Embedded Systems, in conjunction with the IEEE 22nd International Symposium on Reliable Distributed Systems, Florence Italy, October 6-8, 2003

Jörg Kaiser, Cristiano Brudna, Carlos Mitidieri: "A Real-Time Event Channel Model for the CAN-Bus", 11th Annual Workshop on Parallel and Distributed Real-Time Systems, held in conjunction with the International Parallel and Distributed Processing Symposium IPDPS, 2003, April 22-26, 2003 in Nice, France

J. Kaiser, T. Fries: "ROCON – A Virtual Construction Kit, Visualization Tool and Remote Control System for Mechatronic Devices",
Proc. IEEE International Conference on Mechatronics and Machine Vision in Practice 2002, Chiang Mai, China, Thailand, September10-12, 2002

J. Kaiser, C. Brudna: "A Publisher/Subscriber Architecture Supporting Interoperability of the CAN-Bus and the Internet",
2002 IEEE Int. Workshop on Factory Communication Systems, Västeras, Schweden, August 28-30, 2002
 

N. Gura, A. Held, J. Kaiser: "Proactive Services in a Distributed Traffic Telematics Application"
GI/OCG-Jahrestagung 2001, Workshop: Mobile Communication over Wireless LAN: Research and Applications, Vienna, Austria, September 27-29, 2001

J. Kaiser, P. Schaeffer: "ICU – A smart optical sensor for direct robot control"
Proc. IEEE International Conference on Mechatronics and Machine Vision in Practic 2001, Hong Kong, China, August 27-29, 2001

J. Kaiser, C.E.Pereira, L.B. Becker, C. Villela, C. Mitidieri: "On Evaluating Interaction and Communication Schemes for Automation Apllications based on Real-Time Distributed Objects"
Proc. of the IEEE 4th International Symp. on Object-Oriented Real-Time Distributed Computing (ISORC 2001),  Magdeburg, Germany, May 2001

W. Jia, W. Zhou, J. Kaiser: "Efficient algorithm for mobile multicast using anycast group"
IEE Proc.-Commun., Vol. 148, No.1, February 2001

J. Kaiser, M.A. Livani, W. Jia: "Predictability of Message Transfer in CSMA-Networks",  4th International Conference on Algorithms and
Architectures for Parallel Processing (ICA3PP2000), Hong Kong, China, Dec. 11-13, 2000

J. Kaiser: "Real-Time Communication on the CAN-Bus for Distributed Applications with Decentralized Control", 4th  IFAC International Symposium on  Intelligent Components and Instruments for Control Applications, SICICA 2000, Buenos Aires, Argentina, Sept. 13-15, 2000

C. Brudna, C. Mitidieri, C. Pereira, J. Kaiser: "Methodology and Tool Support for Developing Distributed Real-Time Applications", IFAC Workshop Real-Time Programming (WRTP2000) and Algorithms and Architectures for Real-Time Control   (ARTC2000),Palma de Mallorca, May 17-19, 2000

Weijia Jia, Wanlei Zhou, M. A. Livani, Joerg Kaiser: "Anycast Group Algorithms for Mobile Multicast Communications", Proc. 11-th IASTED Int. Conference on Parallel and Distributed Computing and Systems (PDCS '99), Boston, MA, Nov. 1999.

T. Strzeletz, J. Kaiser, M.A. Livani: "Rocon - Eine Systemumgebung zur Steuerung und 3D-Visualisierung frei kombinierbarer aktorischer Roboterbausteine mit sensorischer Rückkopplung", accepted for PEARL 99 - Workshop über Multimediatechnik und Automatisierung, Boppard, Germany, Nov. 1999.

M.A. Livani: "SHARE: A Transparent Approach to Fault-tolerant Broadcast in CAN",Proc.6th International CAN Conference (ICC6), Torino, Italy, Nov. 1999.

 J. Kaiser, M. A. Livani: "Achieving Fault-Tolerant Ordered Broadcasts in CAN", Proc. of the Third European Dependable Computing Conference (EDCC-3), Prague, Sep. 1999.

M.A. Livani, J. Kaiser: "A Symmetric MAC Protocol for CSMA Busses in Dynamic Distributed Real-time Systems", Proc. of the Second Int. Conference on Parallel Computing Systems (PCS'99), Ensenada, Baja California, Mexico, Aug. 1999.

M.A. Livani, J. Kaiser: "A Total Ordering Scheme For Real-Time Multicasts In CAN", Proceedings of the Joint 24th IFAC/IFIP Workshop on Real Time Programming and the 3rd Int. Workshop on Active and Real-Time Database Systems, Schloß Dagstuhl, Germany, May 1999.

J. Kaiser, M. Mock: "Implementing the Real-Time Publisher/Subscriber Model on the Controller Area Network (CAN)", Proceedings of the 2nd Int. Symp. on Object-oriented Real-time distributed Computing (ISORC99), Saint-Malo, France, May 1999.

M.A. Livani, J. Kaiser: "Evaluation of a Hybrid Real-Time Bus Scheduling Mechanism for CAN",  7th Int. Workshop on Parallel and Distributed Real-Time Systems (WPDRTS ´99), San Juan, Puerto Rico, Apr. 1999. Also appeared in José Rolim et al. (Eds.): Lecture Notes in Computer Science, Vol. 1586, pp. 425-429, Springer Verlag Berlin, 1999.

J. Kaiser, E. Nett: "Echtzeitverhalten in dynamischen, verteilten Systemen", GI-Spektrum, Themenheft: Beherrschbarkeit in verteilten Systemen, Dec.1998.

W.J. Jia, J. Kaiser, M.A. Livani: "Light-Weight Real-time Reliable Group Communication Algorithm for CAN-Bus Industry Control Network", 10th International Conference on Parallel and Distributed Computing and Systems, Las Vegas, Oct. 1998.

M.A. Livani, J. Kaiser, W.J. Jia: "Scheduling Hard and Soft Real-Time Communication in the Controller Area Network (CAN)", 23rd IFAC/IFIP Workshop on Real Time Programming, Shantou, China, June 1998.

J. Kaiser, M.A. Livani: "Invocation of Real-Time Objects in a CAN Bus-System", 1st IEEE Int'l Symposium on Object-Oriented Real-Time Distributed Computing (ISORC'98), Kyoto, Japan, Apr. 1998.

M.A. Livani, J. Kaiser: "EDF Consensus on CAN Bus Access for Dynamic Real-Time Applications", in José Rolim (Ed.): Lecture Notes in Computer Science, Vol. 1388, pp.1088-1097, Springer Verlag, 1998.

J. Kaiser, M.A. Livani, W.J. Jia: "Membership and Order in a CAN-Bus Based Real-Time Communication System", Second Sino-German Workshop on Advanced Parallel Processing Technologies, Koblenz, Germany, Sep. 1997.

 Cooperation Partners

Daimler-Benz AG, Research and Technology, Ulm, Germany
Frauenhofer AiS, St. Augustin, Germany
University of Magdeburg
City University of Hong Kong
UFRGS, Porto Allegre, Brasil
FCUL, Lisbon, Portugal
TCD, Dublin, Ireland
University of Lancaster, UK
Jörg Kaiser, 31.8.99