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The flexible time-triggered CAN protocol supports synchronous and asynchronous traffic over a CAN fieldbus. The use of bus and master redundancy is an evolution to the original FTT definition. A protocol supporting multiple buses and masters has been proposed. This paper presents experimental results allowing to assess the timeliness of the communication system. The conclusion is that the system reacts...
The flexible time-triggered on CAN is a protocol to support synchronous and asynchronous traffic over a CAN fieldbus. The use of redundant buses is a recent evolution to the main idea of FTT. Despite the reference FTT-CAN architecture support to master replication, the current FTT implementation does not support replicated masters together with bus media redundancy. This paper presents an evolution...
This paper presents a fault-tolerant modular control architecture for an electrical vehicle (VEIL) equipped with x-by-wire sub-systems. The proposed architecture is based on COTS components and includes steer-by-wire, brake-by-wire and accelerate-by-wire safety critical functions. The communication infrastructure is based on the FTT-CAN protocol, which provides the joint scheduling of message and...
The use of distributed computing architectures has become commonplace in complex embedded systems with potential advantages, for example, in terms of scalability, dependability and maintainability. One particular area in which that trend can be witnessed is mobile autonomous robotics in which several sensors and actuators are interconnected by means of a control network. In this paper we address one...
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