公开(公告)号：US09454152B2

公开(公告)日：2016-09-27

申请号：US14776109

申请日：2014-03-13

申请人： FTS COMPUTERTECHNIK GMBH

发明人： Hermann Kopetz

IPC分类号： G05D1/00 ,  B60W50/10 ,  B60W50/12 ,  B60W50/00

CPC分类号： G05D1/0061 ,  B60W50/10 ,  B60W50/12 ,  B60W2050/0006 ,  B60W2050/0016 ,  B60W2050/0072 ,  B60W2050/0095 ,  B60W2600/00 ,  G05D1/0088 ,  G05D2201/0213

摘要： The invention relates to a method for allocating control in a system-of-systems, in particular a dynamic system-of-systems consisting of a physical system PS, an autonomous control system CS, a human operator HO, a monitor component MK and an actuator controller AST, or comprising a physical system PS, an autonomous control system CS, a human operator HO, a monitor component MK and an actuator controller AST, wherein the CS uses a sensor system assigned thereto to cyclically monitor surroundings and/or the physical system itself and creates an internal model of the surroundings and/or the PS on the basis of this monitoring and performs an analysis of this model in order to determine control values for the AST and a criticality index KI of the scenario in a cycle, in particular in the current cycle, and wherein the MK cyclically monitors the HO and/or the actions thereof, in particular the current actions thereof, in order to determine an engagement index EI of the HO in a cycle, in particular in the current cycle, on the basis of this monitoring, and wherein the control over the PS is allocated to the HO when EI>KI.

摘要翻译： 本发明涉及一种用于在系统系统中分配控制的方法，特别是由物理系统PS，自主控制系统CS，人类操作者HO，监视器组件MK和 执行器控制器AST，或包括物理系统PS，自主控制系统CS，人类操作者HO，监视器组件MK和致动器控制器AST，其中CS使用分配给它的传感器系统来周期性地监视环境和/或物理 系统本身，并在此监控的基础上创建了周边环境和/或PS的内部模型，并对该模型进行分析，以确定AST的控制值和一个周期中场景的临界指数KI， 特别是在当前周期中，并且其中MK循环地监视HO和/或其动作，特别是其当前动作，以便确定在一个周期内HO的参与指数EI 在本次循环的基础上，在该监测的基础上，并且其中当EI> KI时，对PS的控制被分配给HO。

公开(公告)号：US09331805B2

公开(公告)日：2016-05-03

申请号：US14115314

申请日：2012-05-02

申请人： Wilfried Steiner ,  Günther Bauer ,  Martin Schwarz

发明人： Wilfried Steiner ,  Günther Bauer ,  Martin Schwarz

IPC分类号： H04J3/06

CPC分类号： H04J3/0658 ,  H04J3/0641 ,  H04J3/0667 ,  H04J3/0676

摘要： In a network based on IEEE 1588, comprising a plurality of nodes (201, 501) and a plurality of connections where each connection connects at least two nodes to allow communication between nodes including the exchange of messages according to a network protocol, the synchronization of IEEE 1588 is improved by allowing multiple grandmaster clocks (701) to operate simultaneously in the system. Thus, the re-election protocol of IEEE 1588 is made obsolete. For this, a multitude of nodes form a subsystem implementing a high-availability grand master clock (301) according to the IEEE 1588 Standard, wherein the subsystem is configured to tolerate the failure of at least one of said nodes forming said subsystem. Bi-directional communication link (401) are configured for physically connecting a IEEE 1588 Master clocks (201) and/or IEEE 1588 Slave clocks (201) to the subsystem implementing a high-availability grand master clock (301).

摘要翻译： 在基于IEEE 1588的网络中，包括多个节点（201,501）和多个连接，其中每个连接连接至少两个节点以允许包括根据网络协议的消息交换的节点之间的通信，同步 通过允许多个主控时钟（701）在系统中同时操作来改进IEEE 1588。 因此，IEEE 1588的重选协议已经过时了。 为此，多个节点形成实现根据IEEE 1588标准的高可用性主主时钟（301）的子系统，其中子系统被配置为容忍形成所述子系统的至少一个所述节点的故障。 双向通信链路（401）被配置为将IEEE 1588主时钟（201）和/或IEEE 1588从时钟（201）物理地连接到实现高可用性大主时钟（301）的子系统。

公开(公告)号：US20150063362A1

公开(公告)日：2015-03-05

申请号：US14391162

申请日：2013-04-09

申请人： FTS Computertechnik GmbH

发明人： Stefan Poledna

IPC分类号： H04L29/08 ,  H04L12/721

CPC分类号： H04L67/1095 ,  G06F11/1641 ,  G06F11/1687 ,  G06F11/1695 ,  H04J3/0667 ,  H04J3/0673 ,  H04L45/44 ,  H04L49/35 ,  H04L49/552

摘要： The invention relates to a method for the reliable switching of synchronisation messages in a distributed computer system consisting of a number of node computers, wherein the management of a transparent clock conforming to IEEE Standard 1588 is supported, wherein a switching unit consists of four separate FCUs, specifically an input system EIN, two independent switching systems VER1 and VER2, and an output system AUS, and wherein a message arriving at EIN from a transmitting node computer is forwarded immediately in unmodified form from EIN directly to the two independent switching systems VER1 and VER2, and wherein VER1 provides the event of the arrival of the message with a timestamp, analyses the message and switches said message to (an) output port(s) associated with an address field of the message, and wherein VER1 opens the message and modifies a TIC field within the message in order to determine the delay period of the message in VER1, and wherein VER1 closes the message again by re-calculating a CRC field of the modified message and forwarding the closed message to AUS, and wherein VER2 provides the event of the arrival of the message with a timestamp, analyses the message and switches said message to the output port(s) associated with the address field of the message, and wherein VER2 opens the message and modifies the TIC field within the message in order to determine the delay period of the message in VER2, and wherein VER2 closes the message again by re-calculating the CRC field of the modified message and forwarding the closed message to AUS, and wherein AUS checks whether the content of the message delivered from VER1 matches the content of the message delivered from VER2, and wherein AUS checks whether the interval between the moment of receipt of the message delivered from VER1 and the moment of receipt of the message delivered from VER2 is smaller than a first interval determined a priori, referred to hereinafter as the interval_1, and whether the absolute value of the difference of the delay values stored in the two TIC fields is smaller than a second interval known a priori, referred to hereinafter as the interval_2, and wherein, in the case that one of these checks is negative, AUS interrupts the transmission of the message that is outbound via the addressed output ports or changes the outbound message in such a way that each message receiver identifies the incoming message as faulty.

公开(公告)号：US20150043360A1

公开(公告)日：2015-02-12

申请号：US14362388

申请日：2012-12-18

申请人： FTS Computertechnik GmbH

发明人： Stefan Poledna

IPC分类号： H04L12/26

CPC分类号： H04L43/106 ,  H04L12/43 ,  H04L43/026 ,  H04L43/0858

摘要： The invention relates to a method for monitoring, at the correct time, TTEthernet (TT) messages communicated by a TTEthernet switch (TTE switch) in a distributed real-time computer system. According to the invention, the TTE switch has a global time having precision P and accuracy A, and the TTE switch has a plurality of communication channels and one or more monitoring channels, and the TTE switch contains a selection data structure that specifies which TT message classes are to be monitored, and a copy of a TT message which belongs to a TT message class selected for monitoring is formed in the TTE switch and is transmitted by the TTE switch via a monitoring channel to a monitoring node, and the TTE switch subsequently autonomously transmits an ET message containing an identifier and the exact transmission time of the monitored TT message via a monitoring channel to a monitoring node.

摘要翻译： 本发明涉及一种用于在正确的时间监视由分布式实时计算机系统中的TTEthernet交换机（TTE交换机）传送的TTEthernet（TT）消息的方法。 根据本发明，TTE交换机具有精度为P和精度A的全局时间，TTE交换机具有多个通信信道和一个或多个监控信道，TTE交换机包含选择数据结构，该结构指定哪个TT消息 要监视类，并且在TTE交换机中形成属于被选择用于监视的TT消息类别的TT消息的副本，并且由TTE交换机通过监视信道发送到监视节点，并且随后的TTE交换机 通过监控通道自主地将包含标识符的ET消息和所监视的TT消息的准确传输时间发送到监控节点。

公开(公告)号：US20140185632A1

公开(公告)日：2014-07-03

申请号：US14115314

申请日：2012-05-02

申请人： FTS Computertechnik GmbH

发明人： Wilfried Steiner ,  Günther Bauer ,  Martin Schwarz

IPC分类号： H04J3/06

CPC分类号： H04J3/0658 ,  H04J3/0641 ,  H04J3/0667 ,  H04J3/0676

摘要： In a network based on IEEE 1588, comprising a plurality of nodes (201, 501) and a plurality of connections where each connection connects at least two nodes to allow communication between nodes including the exchange of messages according to a network protocol, the synchronization of IEEE 1588 is improved by allowing multiple grandmaster clocks (701) to operate simultaneously in the system. Thus, the re-election protocol of IEEE 1588 is made obsolete. For this, a multitude of nodes form a subsystem implementing a high-availability grand master clock (301) according to the IEEE 1588 Standard, wherein the subsystem is configured to tolerate the failure of at least one of said nodes forming said subsystem. Bi-directional communication link (401) are configured for physically connecting a IEEE 1588 Master clocks (201) and/or IEEE 1588 Slave clocks (201) to the subsystem implementing a high-availability grand master clock (301).

摘要翻译： 在基于IEEE 1588的网络中，包括多个节点（201,501）和多个连接，其中每个连接连接至少两个节点以允许包括根据网络协议的消息交换的节点之间的通信，同步 通过允许多个主控时钟（701）在系统中同时操作来改进IEEE 1588。 因此，IEEE 1588的重选协议已经过时了。 为此，多个节点形成实现根据IEEE 1588标准的高可用性主主时钟（301）的子系统，其中子系统被配置为容忍形成所述子系统的至少一个所述节点的故障。 双向通信链路（401）被配置为将IEEE 1588主时钟（201）和/或IEEE 1588从时钟（201）物理地连接到实现高可用性大主时钟（301）的子系统。

公开(公告)号：US08732522B2

公开(公告)日：2014-05-20

申请号：US13383011

申请日：2010-07-07

申请人： Stefan Poledna

发明人： Stefan Poledna

IPC分类号： G06F11/00

CPC分类号： H04L49/555 ,  G06F11/004 ,  G06F11/184 ,  G06F11/2736 ,  G06F15/7825 ,  H04L49/109 ,  H04L49/552

摘要： The invention relates to a method for fault identification in a System-on-Chip (SoC) consisting of a number of IP cores, wherein each IP core is a fault containment unit, and where the IP cores communicate with one another by means of messages via a Network-on-Chip, and wherein an excellent IP core provides a TRM (Trusted Resource Monitor), wherein a faulty control message which is sent from one non-privileged IP core to another non-privileged IP core is identified and projected by an (independent) fault container unit, as a result of which this faulty control message cannot cause any failure of the message receiver.

摘要翻译： 本发明涉及一种由多个IP核构成的片上系统（SoC）中的故障识别方法，其中每个IP核是故障容纳单元，并且其中IP核通过消息彼此通信 并且其中优秀的IP内核提供TRM（可信资源监视器），其中从一个非特权IP核发送到另一非特权IP核的故障控制消息被识别并由 一个（独立的）故障容器单元，因此该故障控制消息不会导致消息接收器的任何故障。

公开(公告)号：US20130142204A1

公开(公告)日：2013-06-06

申请号：US13749777

申请日：2013-01-25

申请人： Hermann Kopetz ,  Wilfried Steiner ,  Gunther Bauer ,  Matthias Wachter ,  Brendan Hall ,  Michael Paulitsch

发明人： Hermann Kopetz ,  Wilfried Steiner ,  Gunther Bauer ,  Matthias Wachter ,  Brendan Hall ,  Michael Paulitsch

IPC分类号： H04L12/44

CPC分类号： H04L12/44 ,  H04J3/0655 ,  H04L12/40026 ,  H04L12/417

摘要： The goal of the present invention is to improve the useful data efficiency and reliability in the use of commercially available ETHERNET controllers, in a distributed real time computer system, by a number of node computers communicating via one or more communication channels by means of TT ETHERNET messages. To achieve this goal, a distinction is made between the node computer send time (KNSZPKT) and the network send time (NWSZPKT) of a message. The KNSZPKT must wait for the NWSZPKT, so that under all circumstances, the start of the message has arrived in the TT star coupler at the NWSZPKT, interpreted by the clock in the TT star coupler. The TT star coupler is modified, so that a message arriving from a node computer is delayed in an intelligent port of the TT star coupler until the NWSZPKT can send it precisely at the NWSZPKT into the TT network.

摘要翻译： 本发明的目的是在分布式实时计算机系统中，通过多个通过一个或多个通信信道通过TT ETHERNET进行通信的节点计算机，在商业上可获得的以太网控制器的使用中提高有用的数据效率和可靠性 消息。 为了实现这一目标，区分消息的节点计算机发送时间（KNSZPKT）和网络发送时间（NWSZPKT）。 KNSZPKT必须等待NWSZPKT，所以在任何情况下，消息的开始已经到达NWSZPKT的TT星形耦合器，由TT星形耦合器的时钟解释。 TT星形耦合器被修改，使得从节点计算机到达的消息在TT星形耦合器的智能端口中被延迟，直到NWSZPKT可以在NWSZPKT将其精确地发送到TT网络中。

公开(公告)号：US20130049853A1

公开(公告)日：2013-02-28

申请号：US13579503

申请日：2011-02-17

申请人： Dieter Selos ,  Wolfgang Dittrich

发明人： Dieter Selos ,  Wolfgang Dittrich

IPC分类号： H04B3/30

CPC分类号： H04B3/28 ,  H03K17/61 ,  H03K17/691 ,  H04B5/0012 ,  H04B5/0093 ,  H04L25/0266 ,  H04L25/0272

摘要： A coupling circuit for a bus subscriber on a bus line of a field bus with DC-voltage-free and differential EIA-485/EIA-422-compliant signal transmission according to a TTP protocol, in which the two inputs/outputs of a transmission/reception component of the bus subscriber are connected to a first winding of a signal transformer, and the two poles of the bus line are connected to a second winding of the signal transformer, and the first winding has a center tap, wherein the center tap is connected to the local reference-earth potential of the bus subscriber via a capacitor, the capacitance of which is at least 100 times the parasitic capacitance of the transformer.

摘要翻译： 一种根据TTP协议的现场总线总线上总线用户的耦合电路，具有无电压和差分EIA-485 / EIA-422兼容信号传输，其中传输的两个输入/输出 总线用户的接收部件连接到信号变压器的第一绕组，并且总线的两极连接到信号变压器的第二绕组，并且第一绕组具有中心抽头，其中中心抽头 通过电容连接到总线用户的局部参考地电位，该电容的电容至少是变压器的寄生电容的100倍。

公开(公告)号：US10050805B2

公开(公告)日：2018-08-14

申请号：US14914826

申请日：2014-09-01

申请人： FTS COMPUTERTECHNIK GMBH

发明人： Christian Fidi

IPC分类号： H04J3/06 ,  H04L12/44 ,  H04L12/403 ,  H04L12/417 ,  H04L12/40

摘要： The invention concerns a method for transmitting messages in a computer network, wherein the computer network comprises a first set of computing nodes (101-105), which computing nodes (101-105) are connected to each other by means of at least one star coupler (201, 202) and/or at least one multi-hop network (1000), wherein each of the computing nodes of the first set of computing nodes (101-105) is connected by means of at least one communication line (110) to the at least one star coupler (201, 201) or the at least one multi-hop network (1000), and wherein the computing nodes (101-105) exchange Ethernet messages with each other and the exchange of at least some of the Ethernet messages of the computing nodes (101-105) occurs in time controlled manner. It is provided that a) the computer network comprises a second set of computing nodes (106-108), which are connected to each other by a bus (210), and wherein the bus (210) is connected to the at least one star coupler (201) and/or the at least one multi-hop network (1000), and wherein b) the second set of computing nodes (106-108) exchange Ethernet messages with each other and the exchange of at least some of the Ethernet messages of the computing nodes (106-108) occurs in time controlled manner, and wherein preferably c) the second set of computing nodes (106-108) exchange Ethernet messages with the first set of computing nodes (101-105) and the exchange of at least some of the Ethernet messages of the computing nodes (101-108) occurs in time controlled manner.

公开(公告)号：US10019292B2

公开(公告)日：2018-07-10

申请号：US15007317

申请日：2016-01-27

申请人： FTS Computertechnik GmbH

发明人： Hermann Kopetz ,  Stefan Poledna

IPC分类号： G06F9/50 ,  G06F9/455 ,  G06F9/48

CPC分类号： G06F9/5077 ,  G06F9/45558 ,  G06F9/4887 ,  G06F2009/4557

摘要： A method for executing a comprehensive real-time computer application including an application software including a description of functions on a distributed real-time computer system including sensors, actuators, computing nodes, and distributor units having access to a global time. The application software including a number of real-time software components (RTSWCs). When executed, the RTSWCs exchange information by time-triggered messages. Each RTSWC is allocated a time-triggered virtual machine TTVM, wherein, during a service interval SI, an operating system running on a computing node provides a TTVM realized on the computing node with protected access to the network resources and memory resources of the computing node assigned to the TTVM, and wherein, during the SI, a defined computing power for processing the RTSWCs running in the TTVM is allocated to the TTVM by the operating system of the computing node such that the RTSWCs provide a result before the end of the SI.