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Table of Contents
Kurzfassung; Abstract; Acknowledgement; Contents; Abbreviations; 1 Introduction; 1.1 Motivation; 1.2 Objective; 1.3 Outline of the document; 2 Fundamentals; 2.1 Production Systems; 2.1.1 Automation Systems; 2.1.2 Networked Control System; 2.2 NCS Communication Requirements; 2.2.1 Timeliness in NCS; 2.2.2 Communication Reliability in NCS; 2.2.3 Industrial Communication Requirements
Summary; 2.3 Industrial Network Systems; 2.3.1 Industrial Ethernet based Protocols
Real-Time; 2.3.2 Industrial Ethernet based Protocols
Reliability; 2.4 Engineering of Industrial Network Systems.
2.5 Re-engineering of Industrial Network Systems2.6 Problem Definition; 2.7 Solution Approach; 3 Timeliness in Ethernet Based Network Control Systems; 3.1 Network Topology; 3.2 Ethernet Standard; 3.3 Ethernet Standard Real-Time Capabilities; 3.4 Ethernet Based Time-Triggered Protocols; 3.4.1 IEEE 802.1 TSN; 3.4.2 Time Triggered Ethernet (TTEthernet); 3.4.3 PROFINET IRT; 3.4.4 EtherCAT; 3.4.5 Summary of Ethernet Based Time Triggered Protocols; 3.5 Communication Scheduling in TTEB Systems; 3.6 Complexity of the Scheduling Problem in TTEB-Systems.
3.7 Scheduling Problem Formalisation and Modelling3.7.2 Start Time (si); 3.7.2 Start Time (si); 3.7.3 Processing Time (pi); 3.7.4 End-to-End Time (ei); 3.7.5 Task Deadline (di); 3.7.6 Completion Time; 3.7.7 Scheduling Constraints; 3.8 Scheduling Using Mixed Integer Linear Programming (MILP); 3.8.1 The Disjunctive TTEB Scheduling Model; 3.8.2 MILP Scheduling Results; 3.9 Proposed Scheduling Approach; 3.9.1 Slip-Stream Effect
Working Principle; 3.9.2 Theoretical Analysis of the Slip-StreamScheduling
Line Topology; 3.9.3 Slip-Streamin Tree Topology.
3.9.4 Theoretical Analysis of the extended slip-stream effect
Tree Graphs3.9.5 Slip-streamin Ring topology; 3.9.6 Theoretical Analysis of the proposed approach
Graphs with Cycles (Rings); 3.9.7 Slip-streamin Topology, Where Multiple PLC Ports are Involved; 3.10 Clock Synchronisation Accuracy and Scheduling; 3.10.1 Accuracy Determination Methods; 3.10.2 Benchmark of the Synchronisation Accuracy Determination Methods; 3.10.3 Considering Synchronisation Accuracy in the Schedule; 3.11 Concluding Remarks; 4 Communication Reliability; 4.1 Redundancy methods; 4.2 Dynamic Redundancy Methods.
4.2.1 An Approach to Improve Dynamic Redundancy Protocols4.2.2 Theoretical Analysis of the Failure Detection Time; 4.2.3 Dynamic Redundancy and Scheduling; 4.3 Static Redundancy Methods; 4.3.1 Path Search Aspects; 4.3.2 2-Disjoint Paths; 4.3.3 Possibly Disjoint Path Search Method; 4.3.4 Theoretical Analysis of the Possibly Disjoint Path Search Approach; 4.3.5 Static Redundancy and Scheduling; 4.4 Concluding Remarks; 5 Seamless Reconfiguration of the Industrial Network System; 5.1 Reconfiguration of the TTEB Industrial Network System; 5.2 Identification of a INS Change
Scheduler Input.
Summary; 2.3 Industrial Network Systems; 2.3.1 Industrial Ethernet based Protocols
Real-Time; 2.3.2 Industrial Ethernet based Protocols
Reliability; 2.4 Engineering of Industrial Network Systems.
2.5 Re-engineering of Industrial Network Systems2.6 Problem Definition; 2.7 Solution Approach; 3 Timeliness in Ethernet Based Network Control Systems; 3.1 Network Topology; 3.2 Ethernet Standard; 3.3 Ethernet Standard Real-Time Capabilities; 3.4 Ethernet Based Time-Triggered Protocols; 3.4.1 IEEE 802.1 TSN; 3.4.2 Time Triggered Ethernet (TTEthernet); 3.4.3 PROFINET IRT; 3.4.4 EtherCAT; 3.4.5 Summary of Ethernet Based Time Triggered Protocols; 3.5 Communication Scheduling in TTEB Systems; 3.6 Complexity of the Scheduling Problem in TTEB-Systems.
3.7 Scheduling Problem Formalisation and Modelling3.7.2 Start Time (si); 3.7.2 Start Time (si); 3.7.3 Processing Time (pi); 3.7.4 End-to-End Time (ei); 3.7.5 Task Deadline (di); 3.7.6 Completion Time; 3.7.7 Scheduling Constraints; 3.8 Scheduling Using Mixed Integer Linear Programming (MILP); 3.8.1 The Disjunctive TTEB Scheduling Model; 3.8.2 MILP Scheduling Results; 3.9 Proposed Scheduling Approach; 3.9.1 Slip-Stream Effect
Working Principle; 3.9.2 Theoretical Analysis of the Slip-StreamScheduling
Line Topology; 3.9.3 Slip-Streamin Tree Topology.
3.9.4 Theoretical Analysis of the extended slip-stream effect
Tree Graphs3.9.5 Slip-streamin Ring topology; 3.9.6 Theoretical Analysis of the proposed approach
Graphs with Cycles (Rings); 3.9.7 Slip-streamin Topology, Where Multiple PLC Ports are Involved; 3.10 Clock Synchronisation Accuracy and Scheduling; 3.10.1 Accuracy Determination Methods; 3.10.2 Benchmark of the Synchronisation Accuracy Determination Methods; 3.10.3 Considering Synchronisation Accuracy in the Schedule; 3.11 Concluding Remarks; 4 Communication Reliability; 4.1 Redundancy methods; 4.2 Dynamic Redundancy Methods.
4.2.1 An Approach to Improve Dynamic Redundancy Protocols4.2.2 Theoretical Analysis of the Failure Detection Time; 4.2.3 Dynamic Redundancy and Scheduling; 4.3 Static Redundancy Methods; 4.3.1 Path Search Aspects; 4.3.2 2-Disjoint Paths; 4.3.3 Possibly Disjoint Path Search Method; 4.3.4 Theoretical Analysis of the Possibly Disjoint Path Search Approach; 4.3.5 Static Redundancy and Scheduling; 4.4 Concluding Remarks; 5 Seamless Reconfiguration of the Industrial Network System; 5.1 Reconfiguration of the TTEB Industrial Network System; 5.2 Identification of a INS Change
Scheduler Input.