Simple and integrated heuristic algorithms for scheduling tasks with time and resource constraints
Journal of Systems and Software
IEEE Spectrum
Real-Time Communication in Multihop Networks
IEEE Transactions on Parallel and Distributed Systems
Non-preemptive scheduling of messages on controller area network for real-time control applications
RTAS '95 Proceedings of the Real-Time Technology and Applications Symposium
EMERALDS: a microkernel for embedded real-time systems
RTAS '96 Proceedings of the 2nd IEEE Real-Time Technology and Applications Symposium (RTAS '96)
Fibre-Ribbon Ring Network with Inherent Support for Earliest Deadline First Message Scheduling
IPDPS '02 Proceedings of the 16th International Parallel and Distributed Processing Symposium
Data-logging and supervisory control in wireless sensor networks
International Journal of Sensor Networks
An event/action based sensor network protocol for real-time distributed control
WiCOM'09 Proceedings of the 5th International Conference on Wireless communications, networking and mobile computing
Schedulability analysis for CAN-based networked control systems with dynamic bandwidth management
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
| Hi-index | 14.98 |
The Controller Area Network (CAN) is being widely used in real-time control applications such as automobiles, aircraft, and automated factories. In this paper, we present the mixed traffic scheduler (MTS) for CAN, which provides higher schedulability than fixed-priority schemes like deadline-monotonic (DM) while incurring less overhead than dynamic earliest-deadline (ED) scheduling. We also describe how MTS can be implemented on existing CAN network adapters such as Motorola's TouCAN. In previous work [1], [2], we had shown MTS to be far superior to DM in schedulability performance. In this paper, we present implementation overhead measurements showing that processing needed to support MTS consumes only about 5 to 6 percent of CPU time. Considering its schedulability advantage, this makes MTS ideal for use in control applications.