A Real-Time Multicast Routing Scheme for Multi-Hop Switched Fieldbuses Lixiong Chen*, Xue Liu † , Qixin Wang ‡ , Yufei Wang ‡ *Dept. of ECE, † School of CS, McGill Univ. ‡ Dept. of Computing, The Hong Kong Polytechnic Univ. March 30, 2011
Content Demand Background Problem Definition and Complexity Heuristic Algorithm Evaluation Related Work
Fieldbus is fundamentally different from the Internet, hence requires different solutions. Specialized networks used in industrial, mining, medical, vehicular, avionic environments Fieldbus: The Internet: Hard Real-Time Best Effort Periodic Stable Traffic Random Bursty Traffic Bounded w/ Global Info Unbounded w/o Global Info
Fieldbus is evolving from shared medium to multi-hop switched due to scalability needs. Concord 1976
Fieldbus is evolving from shared medium to multi-hop switched due to scalability needs. A380 2007, Several Hundreds of computing nodes
Fieldbus is evolving from shared medium to multi-hop switched due to scalability needs. Tele-robotic underground mining saves lives > 5000 annual death toll 2000ft 2000ft (609.6m) (609.6m)
Fieldbus is evolving from shared medium to multi-hop switched due to scalability needs. Telepresence
Fieldbus is evolving from shared medium to multi-hop switched due to scalability needs. Robotic Manufacturing
Shared medium multi-hop switched: real- time multicast becomes a problem. x ( t ) A x ( t ) B u ( t ) n 1 n n n 1 n m m 1 u ( t ) K x ( t ) m 1 m n n 1 Modern control assumes MIMO Real-Time Multicast btw Sensors-Controllers-Actuators/Observers
Shared medium multi-hop switched: real- time multicast becomes a problem. ( ) ( ) ( ) x t A x t B u t 1 1 1 n n n n n m m ( ) ( ) u t K x t 1 1 m m n n Shared Medium Real-Time Multicast: Easy Multi-Hop Switched Real-Time Multicast: ?
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Input Ports I1 I2 I3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Output Ports I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Per-Flow-Queueing I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA cells I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA I1 O1 O2 I2 cell cell cell cell cell cell O3 I3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Synchronous periodic cell forwarding Cell-Time I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Matching I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Why Matching? An input/output can only send/receive one cell per cell-time I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Internal Matching: if an input has multiple per-flow-q for the same output, only one is picked every cell-time. I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA I1 O1 I2 O2 I3 O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA TDMA scheduling frame of M cell-time, e.g., M = 5 Fit all real-time flows’ periods into frame, e.g., (11, 3) (5, 2), i.e., (10, 4) Demand Cell time: 1 2 3 4 5 a cell to send to O 1 I 1: a cell to send to O 2 I 2: a cell to send to O 3 I 3: a cell to send to O 4 I 4:
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Schedule Theorem 1: If demand matrix’ Cell time: 1 2 3 4 5 every color ≤ M cell, then I 1: have config. time scheduler I 2: with O ( N 4 ) time cost [wang10]. I 3: I 4: Demand Cell time: 1 2 3 4 5 Scheduling a cell to send to O 1 Algorithm I 1: a cell to send to O 2 I 2: a cell to send to O 3 I 3: a cell to send to O 4 I 4:
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Support for Multicast I1 O1 I2 O2 I3 c O3
De facto standard (real-time) fieldbus switch architecture: crossbar per-flow-q TDMA Support for Multicast I1 O1 I2 O2 c I3 c O3 c
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H M { } m i M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H M { } m i M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H Graph of the switched M { } m real-time i network (fieldbus) M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H Graph of the switched M Switches { } m real-time (nodes) of i network the network (fieldbus) M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H Graph of the Edges of the switched M network Switches { } m real-time (nodes) of i network the network (fieldbus) M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H M { } m i M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H M { } m i M A (real-time) ( ( , ), ) q G V E multicast group
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H M { } m i M A (real-time) Source ( ( , ), ) q G V E multicast group End
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses Destination ( , ) G V E Ends m ( , , , , ) s D w T H M { } m i M A (real-time) Source ( ( , ), ) q G V E multicast group End
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses Destination ( , ) G V E Ends m ( , , , , ) s D w T H M { } m i Cells to multicast M A (real-time) Source every ( ( , ), ) q G V E multicast group End period
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses Destination Period (unit: ( , ) G V E Ends cell-time) m ( , , , , ) s D w T H M { } m i Cells to multicast M A (real-time) Source every ( ( , ), ) q G V E multicast group End period
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses Destination Period (unit: Deadline (relative, ( , ) G V E Ends cell-time) unit: cell-time) m ( , , , , ) s D w T H M { } m i Cells to multicast M A (real-time) Source every ( ( , ), ) q G V E multicast group End period
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H M { } m i M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E The set of all real-time multicast groups m ( , , , , ) s D w T H M { } m i M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E The set of all real-time The i th real-time multicast groups multicast group m ( , , , , ) s D w T H M { } m i M ( ( , ), ) q G V E
Real-Time Multicast Scheduling (RTMS) problem in multi-hop switched fieldbuses ( , ) G V E m ( , , , , ) s D w T H M { } m i M ( ( , ), ) q G V E
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