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— CANELy

The DARIO Project uses the Controller Area Network (CAN) fieldbus as a communication infrastructure. In particular, the results produced by the CAN Enhanced Layer (CANELy) framework have been thoroughly exploited.


The CANELy approach to dependability combines the native standard CAN communication infrastructure with a set of additional hardware/software mechanisms, in order to meet high levels of reliability, availability and improved timeliness. The services provided by CANELy (group communication, clock synchronization, node failure detection and membership) are of fundamental importance to the availability of mechanisms handling object replication, competition and cooperation management, useful constructs for fault-tolerant applications.


These documents were produced while the principal investigator was researcher at INESC (Instituto de Engenharia de Sistemas e Computadores) and latter as a researcher of CSTC (Centro de Sistemas Telemáticos e Computacionais - Instituto Superior Técnico). This work was produced under the scope of the CoDiCom (Distributed Real-time Computer Control System) and DEAR-COTS (Distributed Embedded Architectures using Commercial Off-The-Shelf Components) Projects and as an independent activity from the principal investigator.


Theses

  1. Computational System for Real-Time Distributed Control
    José Rufino
    Ph.D. thesis, Technical University of Lisbon, Instituto Superior Técnico
    Date: July 2002
    Formats: PDF (1.4 MB)

Papers in international conferences

  1. A Study on the Inaccessibility Characteristics of the Controller Area Network (iCC-95, London, England)
    José Rufino, Paulo Veríssimo
    Date: October 1995
    Formats: PDF (112 KB)
  2. An Overview of the Controller Area Network (CiA-Braga97, Braga, Portugal)
    José Rufino
    Date: January 1997
    Formats: PDF (173 KB)
  3. How hard is hard real-time communication on field-buses? (FTCS-27, Seatle, Washington, USA)
    Paulo Veríssimo, José Rufino, Li Ming
    Date: June 1997
    Formats: PDF (286 KB)
  4. Fault-Tolerant Broadcasts in CAN (FTCS-28, Munich, Germany)
    José Rufino, Paulo Veríssimo, Guilherme Arroz, Carlos Almeida, Luís Rodrigues
    Date: June 1998
    Formats: PDF (296 KB)
  5. Hardware Support for CAN Fault-Tolerant Communication (ICECS-98, Lisboa, Portugal)
    José Rufino, Nuno Pedrosa, José Monteiro, Paulo Veríssimo, Guilherme Arroz
    Date: September 1998
    Formats: PDF (212 KB)
  6. Fault-Tolerant Clock Synchronization in CAN (RTSS-98, Madrid, Spain)
    Luís Rodrigues, Mário Guimarães, José Rufino
    Date: December 1998
    Formats: PDF (222 KB)
  7. Defining a CAN-based Infrastructure for Fault-Tolerant Real-Time Distributed Computing (RTSS-98-WiP, Madrid, Spain)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date: December 1998
    Formats: PDF (219 KB)
  8. Embedded Platforms for Distributed Real-Time Computing: Challenges and Results (ISORC-99, Saint Malo, France)
    José Rufino,Paulo Veríssimo, Guilherme Arroz
    Date: May 1999
    Formats: PDF (157 KB)
  9. A Columbus' Egg Ideia for CAN Media Redundancy (FTCS-29, Madison, Wisconsin, USA)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date: June 1999
    Formats: PDF (214 KB)
  10. Design of Bus Media Redundancy in CAN (FeT-99, Magdeburg, Germany)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date: September 1999
    Formats: PDF (157 KB)
  11. CAN Bus Media Redundancy (CAN-ESA, Noordwijk, The Netherlands)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date:December 2002
    Formats: PDF (299 KB)
  12. Node Failure Detection and Membership in CANELy (DSN 2003, San Francisco, California, USA)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date: June 2003
    Formats: PDF (254 KB)
 

Technical reports

  1. Dual-Media Redundancy Mechanisms for CAN (CSTC RT-97-01)
    José Rufino
    Date: January 1997
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (178 KB)
  2. Hard Real-Time Operation of CAN (CSTC RT-97-02)
    José Rufino, Paulo Veríssimo
    Date: January 1997
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (268 KB)
  3. How hard is hard real-time communication on field-buses? (CSTC RT-97-03)
    Paulo Veríssimo, José Rufino, Li Ming
    Date: January 1997
    Instituto Superior Técnico, Lisboa, Portugal
    Document superseded by FTCS-27 paper
  4. Fault-Tolerant Broadcasts in CAN (CSTC RT-97-04)
    José Rufino, Paulo Veríssimo, Guilherme Arroz, Carlos Almeida, Luís Rodrigues
    Date: December 1997
    Instituto Superior Técnico, Lisboa, Portugal
    Document superseded by FTCS-28 paper
  5. Design of Fault-Tolerant Broadcast Protocols for CAN (CSTC RT-97-06)
    José Rufino, Paulo Veríssimo, Guilherme Arroz, Carlos Almeida, Luís Rodrigues
    Date: December 1997
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (339 KB)
  6. Redundant CAN Architectures for Dependable Communication (CSTC RT-97-07)
    José Rufino
    Date: December 1997
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (174 KB)
  7. Hardware Support for CAN Faul-Tolerant Communication (CSTC RT-98-01)
    José Rufino, Nuno Pedrosa, José Monteiro, Paulo Veríssimo, Guilherme Arroz
    Instituto Superior Técnico, Lisboa, Portugal
    Document superseded by ICECS-98 paper
  8. DDRAFT: Supporting Dynamic Distributed Real-Time Applications with Fault-Tolerance (CSTC RT-98-02)
    Carlos Almeida, José Rufino, Paulo Veríssimo
    Date: February 1998
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (126 KB)
  9. A Columbus' Egg Ideia for CAN Media Redundancy (CSTC RT-98-05)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date: December 1998
    Instituto Superior Técnico, Lisboa, Portugal
    Document superseded by FTCS-29 paper
  10. Fundamental Issues in the Design of a CAN-based Fault-Tolerant Real-Time Communication Infrastructure for DEAR-COTS (CSTC RT-99-02)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date: October 1999
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (276 KB)
  11. CAN Communications Board: Prototype Development (CSTC RT-01-04)
    José Rufino, Guilherme Arroz
    Date: September 2001
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (248 KB)
  12. CAN Dual-Media Redundancy: Prototype Development (CSTC RT-01-05)
    José Rufino, Guilherme Arroz
    Date: September 2001
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (220 KB)
  13. Node Failure Detection and Membership in CANELy (CSTC RT-02-03)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date: December 2002
    Instituto Superior Técnico, Lisboa, Portugal
    Document superseded by DSN 2003 paper
  14. Control of Inaccessibility in CANELy (CSTC RT-03-03)
    José Rufino, Paulo Veríssimo, Guilherme Arroz
    Date: December 2003
    Instituto Superior Técnico, Lisboa, Portugal
    Formats: PDF (395 KB)




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