Industrial Communication Systems 2nd Ed

The Industrial Electronics HandbookSEcond EdITIon

IndustrIal communIcatIon systems

2011 by Taylor and Francis Group, LLC


Fundamentals oF IndustrIal electronIcs Power electronIcs and motor drIves control and mechatronIcs IndustrIal communIcatIon systems IntellIgent systems


The Electrical Engineering Handbook SeriesSeries Editor

Richard C. Dorf

University of California, Davis

Titles Included in the SeriesThe Avionics Handbook, Second Edition, Cary R. Spitzer The Biomedical Engineering Handbook, Third Edition, Joseph D. Bronzino The Circuits and Filters Handbook, Third Edition, Wai-Kai Chen The Communications Handbook, Second Edition, Jerry Gibson The Computer Engineering Handbook, Vojin G. Oklobdzija The Control Handbook, Second Edition, William S. Levine CRC Handbook of Engineering Tables, Richard C. Dorf Digital Avionics Handbook, Second Edition, Cary R. Spitzer The Digital Signal Processing Handbook, Vijay K. Madisetti and Douglas Williams The Electric Power Engineering Handbook, Second Edition, Leonard L. Grigsby The Electrical Engineering Handbook, Third Edition, Richard C. Dorf The Electronics Handbook, Second Edition, Jerry C. Whitaker The Engineering Handbook, Third Edition, Richard C. Dorf The Handbook of Ad Hoc Wireless Networks, Mohammad Ilyas The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas Handbook of Nanoscience, Engineering, and Technology, Second Edition, William A. Goddard, III, Donald W. Brenner, Sergey E. Lyshevski, and Gerald J. Iafrate The Handbook of Optical Communication Networks, Mohammad Ilyas and Hussein T. Mouftah The Industrial Electronics Handbook, Second Edition, Bogdan M. Wilamowski and J. David Irwin The Measurement, Instrumentation, and Sensors Handbook, John G. Webster The Mechanical Systems Design Handbook, Osita D.I. Nwokah and Yidirim Hurmuzlu The Mechatronics Handbook, Second Edition, Robert H. Bishop The Mobile Communications Handbook, Second Edition, Jerry D. Gibson The Ocean Engineering Handbook, Ferial El-Hawary The RF and Microwave Handbook, Second Edition, Mike Golio The Technology Management Handbook, Richard C. Dorf Transforms and Applications Handbook, Third Edition, Alexander D. Poularikas The VLSI Handbook, Second Edition, Wai-Kai Chen



IndustrIal communIcatIon systemsEdited by

Bogdan M. Wilamowski J. david Irwin


CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 2011 by Taylor and Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Printed in the United States of America on acid-free paper 10 9 8 7 6 5 4 3 2 1 International Standard Book Number: 978-1-4398-0281-6 (Hardback) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint. Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www.copyright.com (http:// www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Library of Congress CataloginginPublication Data Industrial communication systems / editors, Bogdan M. Wilamowski and J. David Irwin. p. cm. A CRC title. Includes bibliographical references and index. ISBN 978-1-4398-0281-6 (alk. paper) 1. Computer networks. 2. Data transmission systems. 3. Telecommunication systems. I. Wilamowski, Bogdan M. II. Irwin, J. David, 1939- III. Title. TK5105.5.I477 2010 004.6--dc22 Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com 2010020567


ContentsPreface..................................................................................................................... xiii Preambles. ................................................................................................................. xv . Acknowledgments................................................................................................. xxiii Editorial.Board........................................................................................................ xxv Editors. .................................................................................................................. xxvii . Contributors........................................................................................................... xxxi

Part I technical Principles

. 1. . 2. . 3. . 4. . 5. . 6. . 7. . 8. . 9. .10.

ISO/OSI.Model................................................................................................. 1-1Gerhard Zucker and Dietmar Dietrich

Media............................................................................................................... 2-1Herbert Schweinzer, Saleem Farooq Shaukat, and Holger Arthaber Herbert Haas and Manfred Lindner

Media.Access.Methods.. .................................................................................. 3-1 Routing.in.Wireless.Networks........................................................................ 4-1Teresa Albero-Albero and Vctor-M. Sempere-Pay Gerhard Zucker and Heinz Frank

Profiles.and.Interoperability.......................................................................... 5-1 Industrial.Wireless.Sensor.Networks............................................................. 6-1Vehbi Cagri Gungor and Gerhard P. Hancke

Ad.Hoc.Networks............................................................................................. 7-1Sajjad Ahmad Madani, Shahid Khattak, Tariq Jadoon, and Shahzad Sarwar Edward Kai-Ning Yung, Pui-Yi Lau, and Chi-Wai Leung Vidyasagar Potdar, Atif Sharif, and Elizabeth Chang

Radio.Frequency.Identification...................................................................... 8-1 RFID.Technology.and.Its.Industrial.Applications.. ....................................... 9-1 Ultralow-Power.Wireless.Communication................................................... 10-1Joern Ploennigs, Volodymyr Vasyutynskyy, and Klaus Kabitzschvii


viii

Contents

.11. .12. .13. .14. .15. .16. .17. .18. .19. .20. .21. .22. .23.

Industrial.Strength.Wireless.Multimedia.Sensor.Network.Technology...... 11-1Vidyasagar Potdar, Atif Sharif, and Elizabeth Chang Stig Petersen and Simon Carlsen

A.Survey.of.Wireless.Sensor.Networks.for.Industrial.Applications............ 12-1 Vertical.Integration.. ...................................................................................... 13-1Thilo Sauter, Stefan Soucek, and Martin Wollschlaeger Alex Talevski

Multimedia.Service.Convergence.................................................................. 14-1 Virtual.Automation.Networks.. ..................................................................... 15-1Peter Neumann and Ralf Messerschmidt

Industrial.Agent.Technology......................................................................... 16-1Aleksey Bratukhin, Yoseba Pea Landaburu, Paulo Leito, and Rainer Unland Lucia Lo Bello, Jos Alberto Fonseca, and Wilfried Elmenreich Georg Gaderer and Patrick Loschmidt

Real-Time.Systems. ........................................................................................ 17-1 . Clock.Synchronization.in.Distributed.Systems............................................ 18-1 Quality.of.Service.. ......................................................................................... 19-1Gabriel Diaz Orueta, Elio San Cristobal Ruiz, Nuria Oliva Alonso, and Manuel Castro Gil

Network-Based.Control. ................................................................................ 20-1 .Josep M. Fuertes, Mo-Yuen Chow, Ricard Vill, Rachana Gupta, and Jordi Ayza Thomas Novak and Andreas Gerstinger Wolfgang Granzer and Albert Treytl Yan-Wu Wang and Changyun Wen

Functional.Safety........................................................................................... 21-1 Security.in.Industrial.Communication.Systems........................................... 22-1 Secure.Communication.Using.Chaos.Synchronization................................ 23-1

Part II application-Specific areas

.24. .25. .26. .27.

Embedded.Networks.in.Civilian.Aircraft.Avionics.Systems........................ 24-1Christian Fraboul, Fabrice Frances, and Jean-Luc Scharbarg Alois Zoitl and Wilfried Lepuschitz

Process.Automation....................................................................................... 25-1 Building.and.Home.Automation................................................................... 26-1Wolfgang Kastner, Stefan Soucek, Christian Reinisch, and Alexander Klapproth Javier Silvestre-Blanes, Manfred Weihs, and Vctor-M. Sempere-Pay

Industrial.Multimedia. .................................................................................. 27-1 .


Contents

ix

.28. .29. .30.

Industrial.Wireless.Communications.Security.(IWCS)/C42.. ...................... 28-1Milos Manic and Kurt Derr

Protocols.in.Power.Generation...................................................................... 29-1Tuan Dang and Galle Marsal

Communications.in.Medical.Applications. .................................................. 30-1 .Paulo Bartolomeu, Jos Alberto Fonseca, Nelson Rocha, and Filipe Basto

Part III

technologies

.31. .32. .33. .34. .35. .36. .37. .38. .39. .40. .41. .42. .43. .44. .45.

Controller.Area.Network............................................................................... 31-1Joaquim Ferreira and Jos Alberto Fonseca Max Felser and Ron Mitchell

Profibus.......................................................................................................... 32-1 INTERBUS..................................................................................................... 33-1Juergen Jasperneite and Orazio Mirabella Francisco Vasques and Orazio Mirabella

WorldFip.. ....................................................................................................... 34-1 Foundation.Fieldbus. ..................................................................................... 35-1 .Carlos Eduardo Pereira, Augusto Pereira, and Ian Verhappen Mrio de Sousa and Paulo Portugal Galle Marsal and Denis Trognon

Modbus........................................................................................................... 36-1 Industrial.Ethernet.. ....................................................................................... 37-1 EtherCAT.. ...................................................................................................... 38-1Gianluca Cena, Adriano Valenzano, and Claudio Zunino

Ethernet.POWERLINK.................................................................................. 39-1Paulo Pedreiras, Stefan Schoenegger, Lucia Seno, and Stefano Vitturi Max Felser, Paolo Ferrari, and Alessandra Flammini

PROFINET.. .................................................................................................... 40-1 LonWorks. ...................................................................................................... 41-1 .Uwe Ryssel, Henrik Dibowski, Heinz Frank, and Klaus Kabitzsch

KNX................................................................................................................ 42-1Wolfgang Kastner, Fritz Praus, Georg Neugschwandtner, and Wolfgang Granzer Wilfried Elmenreich and Christian El-Salloum Martin Horauer and Peter Rssler

Protocols.of.the.Time-Triggered.Architecture:.TTP,.TTEthernet,.TTP/A................43-1 FlexRay........................................................................................................... 44-1 LIN-Bus.......................................................................................................... 45-1Andreas Grzemba, Donal Heffernan, and Thomas Lindner


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Contents

.46. .47. .48. .49. .50. .51. .52. .53. .54. .55. .56. .57. .58. .59.

Profisafe.. ........................................................................................................ 46-1Ron Mitchell, Max Felser, and Paulo Portugal

SafetyLon........................................................................................................ 47-1Thomas Novak, Thomas Tamandl, and Peter Preininger

Wireless.Local.Area.Networks.. ..................................................................... 48-1Henning Trsek, Juergen Jasperneite, Lucia Lo Bello, and Milos Manic Stefan Mahlknecht, Milos Manic, and Sajjad Ahmad Madani

Bluetooth........................................................................................................ 49-1 ZigBee............................................................................................................. 50-1Stefan Mahlknecht, Tuan Dang, Milos Manic, and Sajjad Ahmad Madani

6LoWPAN:.IP.for.Wireless.Sensor.Networks.and.Smart. CooperatingObjects...................................................................................... 51-1Guido Moritz and Frank Golatowski

WiMAX.in.Industry.. ..................................................................................... 52-1Milos Manic, Sergiu-Dan Stan, and Strahinja Stankovic Tuan Dang and Emiliano Sisinni Tuan Dang

WirelessHART,.ISA100.11a,.and.OCARI...................................................... 53-1 Wireless.Communication.Standards............................................................. 54-1 Communication.Aspects.of.IEC.61499.Architecture.................................... 55-1Valeriy Vyatkin, Mrio de Sousa, and Alois Zoitl Martin Wollschlaeger and Thilo Sauter Tuan Dang and Renaud Aubin Andrew C. West

Industrial.Internet. ........................................................................................ 56-1 . OPC.UA.......................................................................................................... 57-1 DNP3.and.IEC.60870-5.. ................................................................................ 58-1 IEC.61850.for.Distributed.Energy.Resources................................................ 59-1Sidonia Mesentean, Heinz Frank, and Karlheinz Schwarz

Part IV Internet Programming

.60. .61. .62. .63.

User.Datagram.ProtocolUDP.. ................................................................... 60-1Aleksander Malinowski and Bogdan M. Wilamowski Aleksander Malinowski and Bogdan M. Wilamowski Pradeep Dandamudi

Transmission.Control.ProtocolTCP........................................................... 61-1 Development.of.Interactive.Web.Pages......................................................... 62-1 Interactive.Web.Site.Design.Using.Python.Script........................................ 63-1Hao Yu and Michael Carroll


Contents

xi

.64. .65. .66.

Running.Software.over.Internet.................................................................... 64-1Nam Pham, Bogdan M. Wilamowski, and Aleksander Malinowski Chen Wu and Tharam S. Dillon

Semantic.Web.Services.for.Manufacturing.Industry.. .................................. 65-1 Automatic.Data.Mining.on.Internet.by.Using.PERL.Scripting.Language........ 66-1Nam Pham and Bogdan M. Wilamowski

Part V Outlook

.67. .68.

Trends.and.Challenges.for.Industrial.Communication.Systems.................. 67-1Peter Palensky

Processing.Data.in.Complex.Communication.Systems................................ 68-1Gerhard Zucker, Dietmar Bruckner, and Dietmar Dietrich

Index.. ................................................................................................................ Index-1


PrefaceThe.field.of.industrial.electronics.covers.a.plethora.of.problems.that.must.be.solved.in.industrial.. ractice.. p Electronic.systems.control.many.processes.that.begin.with.the.control.of.relatively.simple.devices.like. electric.motors,.through.more.complicated.devices.such.as.robots,.to.the.control.of.entire.fabrication. processes..An.industrial.electronics.engineer.deals.with.many.physical.phenomena.as.well.as.the.sensors.that.are.used.to.measure.them..Thus,.the.knowledge.required.by.this.type.of.engineer.is.not.only. traditional.electronics.but.also.specialized.electronics,.for.example,.that.required.for.high-power.applications..The.importance.of.electronic.circuits.extends.well.beyond.their.use.as.a.final.product.in.that. they.are.also.important.building.blocks.in.large.systems,.and.thus,.the.industrial.electronics.engineer. must.also.possess.a.knowledge.of.the.areas.of.control.and.mechatronics..Since.most.fabrication.processes.are.relatively.complex,.there.is.an.inherent.requirement.for.the.use.of.communication.systems. that.not.only.link.the.various.elements.of.the.industrial.process.but.are.also.tailor-made.for.the.specific. industrial.environment..Finally,.the.efficient.control.and.supervision.of.factories.requires.the.application.of.intelligent.systems.in.a.hierarchical.structure.to.address.the.needs.of.all.components.employed.in. the.production.process..This.need.is.accomplished.through.the.use.of.intelligent.systems.such.as.neural. networks,.fuzzy.systems,.and.evolutionary.methods..The.Industrial.Electronics.Handbook.addresses.all. these.issues.and.does.so.in.five.books.outlined.as.follows: . . . . . 1.. Fundamentals of Industrial Electronics 2.. Power Electronics and Motor Drives 3.. Control and Mechatronics 4.. Industrial Communication Systems 5.. Intelligent Systems

The. editors. have. gone. to. great. lengths. to. ensure. that. this. handbook. is. as. current. and. up. to. date. as. . possible.. Thus,. this. book. closely. follows. the. current. research. and. trends. in. applications. that. can. be. found.in.IEEE Transactions on Industrial Electronics..This.journal.is.not.only.one.of.the.largest.engineering.publications.of.its.type.in.the.world.but.also.one.of.the.most.respected..In.all.technical.categories.in. which.this.journal.is.evaluated,.it.is.ranked.either.number.1.or.number.2.in.the.world..As.a.result,.we. believe.that.this.handbook,.which.is.written.by.the.worlds.leading.researchers.in.the.field,.presents.the. global.trends.in.the.ubiquitous.area.commonly.known.as.industrial.electronics. Clearly,. the. successful. operation. of. any. production. process. is. dependent. on. a. well-designed. and. reliable.communication.system..Modern.communication.systems.that.are.employed.within.a.factory. use.a.variety.of.means.for.sending.and.receiving.information..With.time,.these.systems.have.become. more.and.more.sophisticated..This.book.is.the.most.voluminous.of.the.five.that.comprise.the.Industrial. Electronics.Handbook,.and.spans.the.full.gamut.of.topics.that.are.needed.for.engineers.working.with. industrial.communication.systems..A.description.of.the.numerous.topics.covered.in.this.book.is.outlined.in.the.Preambles,.and.the.readers.are.directed.to.the.relevant.parts.for.further.details.

xiii 2011 by Taylor and Francis Group, LLC

PreamblesDietmar.Dietrich,.Dietmar.Bruckner,.Gerhard.Zucker,.and.Peter.Palensky Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria Process.control.requires.control.units.and.while.in.the.past.these.were.stand-alone.elements,.they.have. now.become.more.and.more.interconnected..Today,.we.have.networks.on.multiple.layers;.for.example,. we.have.networks.of.processes.with.their.attendant.control.units.as.well.as.networks.of.process.components..These.communication.systems.have.different.requirements,.not.only.on.different.layers.but.also. in.vastly.different.areas.of.automation..It.is.fascinating.to.see.that.automation.permeates.essentially. every.area.of.our.lives..As.a.result,.we.are.today.able.to.reach.any.electrical.component,.wherever.it. may.be. This.book.provides.an.overview.of.the.many.facets.of.communication.that.are.relevant.to.industrial. systems..Part.I.deals.with.the.technical.principles.that.are.necessary.for.communication,.including.both. wired.and.wireless.communication,.the.integration.of.diverse.systems,.and.quality.of.service.aspects.. Part.II.focuses.on.the.application.of.communication.systems.to.different.domains.such.as.process.and. building.automation,.energy.distribution,.and.medical.applications. Part. III. describes. what. appear. to. be. the. most. important. communication. technologies.. Although. the.list.is.not.exhaustive,.it.does.address.the.most.important.areas,.including.wireless.communication,. fieldbus.systems,.and.the.industrial.Ethernet.and.industrial.Internet.for.building.automation.and.automotive.applications..Part.IV.covers.topics.related.to.general.integration.of.Internet.technologies.into. industrial.automation..Finally,.Part.V.peers.into.the.future.in.an.attempt.to.describe.possible.upcoming. developments.

Preamble to Part I: technical PrinciplesFriederich.Kupzog Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria Jrgen.Jasperneite Institute.Industrial.IT Lemgo,.Germany

xv 2011 by Taylor and Francis Group, LLC

xvi

Preambles

Thilo.Sauter Institute.for.Integrated.Sensor.Systems Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria Communication.is.a.prerequisite.for.distributed.systems..Such.systems.can.be.loosely.defined.as.a.group. of.individual.computer.systems.that.appear.to.the.user.as.a.single.coherent.system..The.spatially.dispersed.nature.of.industrial.processes,.on.the.scale.of.a.factory.floor.or.electric.power.grid,.is.actually. often.used.as.a.guide.for.the.design.and.layout.of.automation.systems..This.can.be.observed,.for.example,. in.network-based.control,.where.the.control.loop.can.actually.be.distributed.over.different.processors. in.a.network..In.this.environment,.the.basic.principles.of.distributed.systems.apply..However,.while.the. classic. theory. of. distributed. systems. has. been. developed. keeping. mainly. general-purpose. computer. systems.in.mind,.industrial.automation.focuses.on.dedicated.systems.with.highly.specialized.hardware. and.software. Therefore,. in. what. follows,. the. relevant. aspects. of. distributed. systems. are. revisited. from. the. viewpoint. of. industrial. communication. systems.. It. begins. with. a. discussion. of. the. classic. ISO/ OSI.model..Although.the.basic.principle.of.communication.layering.is.very.significant.for.communication. in. automation. processes,. not. all. layers. defined. in. the. reference. model. are. of. equal. importance. Furthermore,.special.attention.is.given.to.three.different.aspects:.wireless,.integration,.and.quality.of. service..Wireless.communication.today.has.a.fixed.place.in.many.of.the.application.areas.of.automation.. Wireless-related. topics. such. as. wireless. sensor. networks,. low-power. wireless. communication. nodes,. and. RFID. are. discussed. in.detail..The.integration.of.heterogeneous.systems.into.a.coherent.application.environment.is.another.crucial.issue.that.is.addressed..Finally,.quality.of.service.is.revisited.for. industrial.communication.systems,.ranging.from.real-time.communication.for.safety.and.security.to. network-based.control.

Group 1.1: LayersThilo.Sauter Institute.for.Integrated.Sensor.Systems Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria The.design.of.complex.communication.systems.is.not.possible.without.a.structured.approach..Therefore,. a.layered.structure.is.commonly.adopted..A.landmark.for.communication.system.development.was.the. definition.of.the.open.system.interconnection.(OSI).model,.a.generic.framework.that.is.presented.in. the.first.chapter.of.this.group.(Chapters.1.through.3)..Within.this.model,.it.is.primarily.the.lower.layers.that.are.important.for.industrial.communications.in.order.to.guarantee.the.performance.needed. for.a.given.application.domain..Special.attention.will.therefore.be.given.to.the.large.variety.of.wired. electrical,.optical,.and.wireless.communication.media,.as.well.as.the.many.methods.devised.for.access. control..For.larger.networks.that.are.gaining.importance.in.distributed.systems,.flat.network.structures. are.not.adequate.for.electrical.and.logical.reasons..Therefore,.the.information.flow.through.the.network. has.to.be.controlled.by.appropriate.routing.strategies,.which.has.been.a.topic.of.interest.for.researchers. and.developers.for.a.long.time..Experience.with.the.first.industrial.communication.systems,.however,. showed.that.the.OSI.model.was.insufficient.to.ensure.the.interoperability.that.was.a.major.requirement. of.industry..Asubstantial.amount.of.work.has.been,.and.still.is,.devoted.to.the.definition.of.high-level. profiles.that,.depending.on.device.type.or.application.domain,.further.constrain.the.degrees.of.freedom. for.system.developers.and.implementers.


Preambles

xvii

Group 1.2: WirelessJrgen.Jasperneite Institute.Industrial.IT Lemgo,.Germany The.integration.of.wireless.technologies.in.industrial.automation.systems.is.the.next.step.in.the.evolution.of.industrial.networking..Wireless.technologies.have.the.potential.to.reduce.the.life-cycle.costs.of. machines.and.plants.as.well.as.support.future.adaptive.production.concepts,.either.as.an.extension.to,. or.as.a.replacement.for,.existing.wired.networks. In. addition. to. wireless. networking,. new. applications. can. be. enabled. such. as. wireless. monitoring. and.control,.or.asset.and.personnel.tracking..Most.of.the.wireless.technologies.are.standardized.in.the. IEEE802.family.and.are.driven.by.consumer.market.requirements..As.a.result,.they.are.not.designed. to.meet.the.automation-specific.requirements.such.as.low.latencies.or.the.demand.for.high.service.reliability..As.a.consequence,.the.basic.concepts.must.be.reviewed.and.sometimes.revised..Therefore,.it.is.in. this.group.(Chapters.4.through.12).that.the.principles.and.architectures.of.wireless.sensor.networks.are. presented..Furthermore,.some.key.functions.of.wireless.networks,.such.as.self-configuration,.routing,. energy.efficiency,.and.data.security.are.introduced.

Group 1.3: IntegrationThilo.Sauter Institute.for.Integrated.Sensor.Systems Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria Industrial.communication.systems,.and.automation.solutions.in.general,.were.initially.developed. primarily. as. islands.. In. recent. years,. however,. the. integration. of. automation. systems. into. a. wider. scope.has.increased.its.importance.and.thus.requires.a.technological.basis..This.group.of.chapters. (Chapters.13.through.18).is.therefore.focused.on.selected.integration.aspects..The.first.chapter.deals. with.vertical.integration.aimed.at.providing.a.transparent.data.exchange.across.all.levels.of.the.automation.hierarchy,.both.from.a.networking.and.application.point.of.view..A.topic.receiving.increasing. attention. is. the. integration. of. multimedia. technologies. in. automation,. which. requires. the. convergence.of.telecommunications.and.data.services.and.poses.new.challenges.for.both.network.and.application.design..The.issue.of.complex.heterogeneous.networks.comprised.of.wired.and.wireless.as.well. as.automation.and.office.domains.is.being.addressed.by.the.concept.of.virtual.automation.networks.. Finally,.software.agent.technology.will.be.discussed.as.one.way.of.achieving.integration.in.automation.systems.by.means.of.distributing.functionalities.among.a.group.of.autonomous,.loosely.coupled. entities.that.may.interact.to.accomplish.a.task.that.is.difficult.to.solve.in.a.centralized.manner.

Group 1.4: Quality of ServiceFriederich.Kupzog Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria In.many.cases,.special.requirements.have.to.be.fulfilled.in.industrial.communication.systems..While. requirements.differ.to.some.extent.from.those.in.the.consumer.products.domain,.the.basic.principles.


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Preambles

are. the. same.. Communication. in. an. industrial. environment. normally. has. to. be. highly. reliable,. and. often.has.to.fulfill.special.demands.in.terms.of.delay,.bandwidth,.or.integrity..This.fact,.also.referred. to.as.quality.of.service,.is.therefore.revisited.in.the.following.group.of.chapters.(Chapters.19.through.23). from.the.viewpoint.of.industrial.communication,.which.ranges.from.real.time.over.safety.and.security.to.network-based.control..The.discussion.centers.around.the.manner.in.which.these.systems.have. to.be.designed.in.order.to.fulfill.the.minimum.requirements.that.guarantee.the.different.properties. for.these.communication.areas.

Preamble to Part II: application-Specific areasPeter.Palensky Energy.Department Austrian.Institute.of.Technology Vienna,.Austria Thomas.Novak SWARCO.Futurit.Verkehrssignalssysteme.GmbH Perchtoldsdorf,.Austria The.plethora.of.applications.for.industrial.communication.systems.(ICS).leads.to.a.large.variety.of. technologies.and.standards..This.part.gives.an.overview.of.the.important.applications.and.their. specialtiesand. peculiaritiesin. ICS.. The. spectrum. of. topics. ranges. from. embedded. networks. in.avionics.to.building.and.home.automation.to.medical.applications..The.applications.can.differ. in.a.number.of.aspects.that.are.important.for.designing.or.selecting.an.ICS.technology,.some.of. whichare . . . . . . . . . . . . . . . . Number.of.nodes Requested.latency Requested.bandwidth Real-time.requirements Cost.per.node Reliability.and.availability Functional.safety Electromagnetic.compatibility Physical.topology Length.of.network.segments Scalability.and.extensibility Allowed.physical.media Network.management Interoperability Information.security Explosion.protection

It.is.therefore.no.wonder.that.there.is.no.universal.network.for.everybody.and.everything,.but.a.set.of. specialized.networks.that.are.applicable.to.one.area.but.probably.not.to.another..Knowing.the.details. and. differences. of. application-specific. ICS. helps. to. understand. their. strengths. and. weaknesses. and. greatly.helps.in.design.decisions..There.is.an.increasing.trend.that.encompasses.technological.convergence.(runs.everything.over.Ethernet).and.semantic.convergence.(runs.everything.over.Web.services),. and.the.following.chapters.will.explain.why.this.has.yet.to.be.realized..There.are.reasons.for.this.phenomenon,.and.it.is.important.to.know.them.


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Preamble to Part III: technologiesStefan.Mahlknecht Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria Gianluca.Cena Istituto.di.Elettronica.e.di.Ingegneria.dellInformazione.e.delle.Telecomunicazioni Consiglio.Nazionale.delle.Ricerche Turin,.Italy Martin.Wollschlaeger Institute.of.Applied.Computer.Science Dresden.University.of.Technology Dresden,.Germany

IntroductionThis.part.describes.the.technologies.for.industrial.communications..It.has.been.organized.in.seven.different.groups.by.technology.family.and.by.application.areas.

Group 3.1: Classical Fieldbus SystemsFieldbus. systems. date. back. to. the. 1980s. and. represent. the. first. successful. attempt. to. bring. concepts. related.to.local.area.networks.to.factory.automation.environments..Thanks.to.digital.serial.communication,.an.unprecedented.degree.of.flexibility.was.achieved.when.compared.with.analogue.point-to-point. links,.allowing.remote.configuration.and.diagnostics.to.be.carried.out.easily..Moreover,.noticeable.savings.were.made.in.both.cabling.and.deployment.costs.because.of.the.shared.communication.support.. Needless. to. say,. these. advantages. made. fieldbus. technology. more. and. more. adoptable. in. industrial. plants.throughout.the.1990s. One.of.the.main.drawbacks.of.fieldbuses.is.the.lack,.among.manufacturers,.of.a.unique,.standard. solution..Instead,.a.large.number.(on.the.order.of.about.100).of.different.and.incompatible.solutions. were. developed,. some. of. which. are. still. in. use.. Noticeable. examples. are. PROFIBUS,. INTERBUS,. MODBUS,.as.well.as.CAN-based.solutions.such.as.Devicenet.and.CANopen..In.the.following.chapters. (Chapters.31.through.36),.some.of.the.most.popular.fieldbus.solutions.are.described.

Group 3.2: Industrial EthernetEthernet.is.currently.the.de.facto.standard.networking.solution.for.office.automation.environments.. Since.its.introduction.in.the.1970s,.it.has.managed.to.keep.pace.with.the.ever-increasing.bandwidth. requirements.of.distributed.information.systems.and.has.been.able.to.offer.increased.performance.over. the.years.without.losing.compatibility.with.the.original.protocol.and.equipment. While.Ethernet.was.initially.deemed.unsuitable.for.use.in.distributed.control.systems,.due.to.its.random.access.scheme,.the.extensive.improvements.that.were.made.to.this.network.made.people.change.their. minds.by.the.end.of.the.1990s..The.availability.of.high-speed.(100.Mb/s.and.beyond).full-duplex.connections,.VLANs.with.traffic.prioritization,.and.non-blocking.switches.made.it.possible.to.achieve.increased. levels.of.determinism,.often.suitable.for.most.factory.automation.systems..Solutions.such.as.EtherNet/IP. are.based.on.unmodified.Ethernet.equipment.and.the.conventional.TCP/IP.communication.stack.


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In. order. to. cater. to. highly. demanding. control. applications. with. tight. timing. constraints,. such. as. motion.control,.a.number.of.modifications.have.been.proposed.in.the.past.few.years.that.are.aimed.at. further.enhancing.the.real-time.behavior.of.Ethernet..While.relying.on.the.same.transceivers,.frame.format,.and.access.scheme.as.the.original.protocol,.changes.were.added.to.the.original.Ethernet.hardware. or.communication.stack..This.is.the.case,.for.example,.of.EtherCAT,.Ethernet.Powerlink,.PROFINET. IRT,.and.so.on..The.following.chapters.(Chapters.37.through.40).focus.on.some.of.these.solutions.

Group 3.3: Building automation NetworksModern.building.automation.networks.are.based.on.distributed.networks.where.network.topologies.are. flexible.enough.to.reflect.the.building.structure..They.are.primarily.based.on.wired.technologies.although. wireless.extensions.also.exist..Installation.and.maintenance.are.key.issues,.as.large.networks.may.comprise. thousands.of.nodes..Two.widely.adopted.technologies,.namely,.LonWorks.and.KNX,.have.been.on.the.market.for.many.years.and.occupy.different.market.segments..LonWokrs,.due.to.its.flexibility,.is.applied.more.in. large.buildings.and.industries,.while.KNX.is.used.more.in.private.homes..In.many.large.buildings,.a.heterogeneous.network.with.LonWorks-,.KNX-,.and.IP-based.networks.are.implemented..The.following.chapters. (Chapters.41.through.43).present.the.main.building.automation.networks.standardized.under.ISO.

Group 3.4: automotive NetworksAutomotive.networks.have.the.same.advantages.that.fieldbuses.bring.to.industrial.automation.environments,.in.particular.for.in-vehicle.control.systems.such.as.powertrain,.body.electronics,.or.infotainment.. There. is. no. doubt. that. the. most. popular. solution. so. far. has. been. the. controller. area. network. (CAN).protocol.introduced.by.Bosch.in.the.mid-1980s.in.order.to.reduce.cable.clutter.in.cars.and.trucks. Despite.being.perfectly.suitable.for.most.of.todays.vehicles,.CAN.has.some.drawbacks.that.will.likely. rule. it. out. for. next-generation. automotive. systems.. In. particular,. when. taking. steer-by-wire. systems. into.account,.a.much.higher.degree.of.determinism,.performance,.and,.mostly,.fault.tolerance.has.to.be. ensured..This.has.led.to.the.introduction.of.the.time-triggered.architecture.(TTA).and,.in.particular,.the. TTP/C.protocol..In.order.to.reduce.design.and.production.costs,.high.flexibility.is.required.as.well..To. this.extent,.the.FlexRay.protocol.has.been.defined,.which.combines.the.dependability.and.determinism. of.TTP/C.with.the.ability.to.carry.out.data.exchanges.on.demand,.through.a.flexible.time.division.multiple.access.scheme..The.chapters.that.follow.(Chapters.44.and.45).describe.the.basic.principles.behind. the.new.high-performance.solutions.as.well.as.low-cost.in-vehicle.networks.such.as.LIN.

Group 3.5: SafetySafety.is.one.of.the.most.important.requirements.in.industrial.applications..The.guaranteed.transmission.of.secured.data.in.a.reliable.time.frame,.order,.integrity,.and.sequence.is.an.evident.task.in.systems. where. man. and. equipment. are. at. risk. of. being. harmed.. Thus,. safety. integrity. levels. (SIL). have. been. defined.that.must.be.met.by.technical.systems.(Chapters.46.and.47)..Typically,.safety-related.functions. are.not.originally.embedded.in.industrial.communication.systems..In.order.to.meet.the.required.criteria,. add-ons. to. existing. protocols. and. systems. have. been. defined.. Thus,. interoperability. with. existing. protocols.and.applications.can.be.ensured.

Group 3.6: Wireless NetworksWireless.networks.have.experienced.tremendous.growth.in.the.last.decade,.driven.by.mobile.phones.and. the.computer.industry..Most.of.us.are.familiar.with.the.widely.used.technologies.in.consumer.products,. such.as.GSM/3G,.WLAN,.and.Bluetooth..In.contrast,.wireless.automation.networks.or.sensor.networks. are.still.a.topic.of.research,.and.products.are.either.available.only.in.certain.segments.or.are.slowly.entering.


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the.market..To.name.a.few.of.the.candidates.presented.in.the.following.chapters.(Chapters.48.through.55),. ZigBee,.6LoWPAN,.and.WirelessHart.are.some.of.the.wireless.technologies.that.are.capable.of.replacing. many.wired.fieldbus.applications..These.technologies.allow.for.added.flexibility.by.placing.nodes.freely.on. moving.machines.and.by.reducing.the.installation.effort..All.wireless.networks.have.to.specifically.address. the.issue.of.security.and.power.consumption.for.nodes.that.are.battery.powered.

Group 3.7: Industrial InternetThe.application.of.Internet-.and.IT-based.protocols.and.technologies.is.undoubtedly.a.promising.and. up-to-date. development. (Chapters. 56. through. 59).. Besides. acceptance. by. the. users,. the. adoption. of. existing,.proven.technologies.in.the.automation.domain.reduces.efforts.by.reusing.existing.concepts,. functions,. and. software. components.. However,. different. time. frames. in. technology. development. cyclescompared.to.the.rather.long-term.application.in.industryare.critical.issues.in.the.selection.of. appropriate.technologies..The.technologies.described.in.Chapter.55.address.different.application.areas. and.thus.use.different.technologies..Starting.with.function.blocks.concepts.according.to.IEC.61499,.a. generic,.function-related.approach.is.described..The.concepts.allow.a.network-independent.synthesis. of.application.functions,.which.is.a.prerequisite.for.distributed.industrial.applications..The.application. of.typical.IT.protocols.and.system.structures.can.be.investigated.perfectly.in.Industrial.Internet,.and. the.adoption,.specialization,.and.application.of.protocols.from.the.Internet.is.a.global.trend..Originally. developed.together.with.software.companies,.including.Microsoft,.OPC.has.become.the.de.facto.standard.for.providing.access.from.higher-level.applications.to.automation.applications..With.OPC.UA,. major.enhancements.in.this.technology.have.been.made,.including.support.for.Web.services.and.complex.information.models..Web.technology.and.the.Industrial.Internet.have.enabled.the.application.of. multimedia.technologies.as.integral.parts.of.automation.systems..Advances.in.machine.vision.document.this.fact..Finally,.energy.production.and.distribution.are.important.tasks.supported.by.various. technologies..These.technologies.use.Ethernet.as.one.of.the.underlying.protocols.and.thus.their.development.follows.that.of.IT.systems.in.general.

Preamble to Part IV: Internet ProgrammingJ..David.Irwin.and.Bogdan.M..Wilamowski Auburn.University Auburn,.Alabama The.rapidly.growing.Internet.is.also.expanding.into.the.industrial.environment..Many.of.the.protocols,. techniques,.and.hardware.developed.for.the.public.Internet.can.also.be.used.in.closed.industrial.networks,.while.enjoying.the.benefits.of.reduced.component.cost.due.to.their.mass.production..There.is.also. the.possibility.of.using.the.Internet.to.watch,.supervise,.and.control.industrial.environments.remotely. from.any.place.in.the.world,.assuming.that.a.proper.security.cover.is.provided..This.part.introduces. two.commonly.used.Internet.protocols,.TCP.and.UDP,.and.illustrates.typical.API.interfaces.and.their. sample.use.in.simple. proof-of-concept.clientserver.applications..Both.protocols.belong.to.transport. layer.protocols.and.use.an.underlying.IP.network.layer.and.a.communication.mediaspecific.data.link. layer.. UDP. is. a.packet-based. connectionless.protocol.with. little.overhead. for. unicast,. multicast,.and. broadcast.communication.(Chapter.60),.while.the.TCP.protocol.provides.reliable,.best-effort.delivery.of. data.streams.(Chapter.61)..The.development.of.interactive.Web.sites.can.be.done.in.many.languages,.the. most.common.being.HTML,.Javascript,.PHP,.PERL,.and.Python..It.is.of.course.possibletodevelopsuch. Websitesusing.general.languages.such.as.Java.or.C++,.but.specialized.languages.are.usually.preferred.. This.part.shows.how.interactive.Web.sites.can.be.programmed.using.PHP.(Chapter.62),.Python.(Chapter. 63),.and.PERL.(Chapter.64)..Chapter.65.describes.how.to.run.remote.applicationsover.theInternet..


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In.this.manner,.it.is.possible. to.remotely.observe.and.control.any.equipment.or.process.in.industry.. Chapter.66.focuses.on.methods.that.permit.the.handling.of.multiple.processes.with.the.ability.of.easy. reconfiguration..Chapter.67.shows.how.to.develop.Internet.robots.that.are.capable.of.performing.autonomous.processes.inclosing.a.search.in.the.Internet..Examples.in.this.chapter.were.developed.in.PERL,. but.this.can.also.be.developed.in.PHP.and.Python..This.part.also.illustrates.the.philosophy.of.distributed.programming,.in.which.the.software.need.not.be.executed.locally.

Preamble to Part V: OutlookDietmar.Dietrich.and.Dietmar.Bruckner Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria Gerhard.Zucker Energy.Department Austrian.Institute.of.Technology Vienna,.Austria The.final.part.of.this.book.examines.the.future.of.industrial.communication.systems..With.the.rapidly. increasing.capabilities.of.computation.and.communication.systems,.we.are.able.to.create.systems.that. have.long.been.only.concepts.or.even.dreams..Processes.become.more.complex.because.more.data.are. available,.and.these.data.can.be.processed.by.more.sophisticated.algorithms..New.ideas.are.necessary. to.control.complexity..On.the.one.hand,.these.are.new.paradigms.for.communication.structures.such. as.extended.vertical.integration.of.systems,.service-oriented.architecture,.and.hybrid.local.networks.. On.the.other.hand,.industrial.electronics.as.a.whole.can.profit.from.knowledge.that.has.been.gathered. in.other.disciplines.such.as.artificial.intelligence.using.statistical.methods.to.process.huge.amounts.of. data.with.the.aim.of.understanding.the.human.mind,.the.most.sophisticated.control.and.communication.device.that.we.have.at.hand..This.part.briefly.touches.upon.these.topics.and.glances.through.ongoing.developments.that.may.in.the.future.contribute.to.new.generations.of.industrial.communication. systems.


AcknowledgmentsThe.editors.wish.to.express.their.heartfelt.thanks.to.their.wives.Barbara.Wilamowski.and.Edie.Irwin.for. their.help.and.support.during.the.execution.of.this.project.

xxiii 2011 by Taylor and Francis Group, LLC

Editorial BoardDietmar Bruckner Vienna.University.of.Technology Vienna,.Austria Dietmar Dietrich Vienna.University.of.Technology Vienna,.Austria Jurgen Jasperneite Ostwestfalen-Lippe.University.of.Applied. Sciences Lemgo,.Germany Friederich Kupzog Vienna.University.of.Technology Vienna,.Austria Stefan Mahlknecht Vienna.University.of.Technology Vienna,.Austria Thomas Novak SWARCO.Futurit.Verkehrssignalssysteme.GmbH Perchtoldsdorf,.Austria Peter Palensky Austrian.Institute.of.Technology Vienna,.Austria Thilo Sauter Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria Martin Wollschlaeger Dresden.University.of.Technology Dresden,.Germany Gerhard Zucker Vienna.University.of.Technology Vienna,.Austria

xxv 2011 by Taylor and Francis Group, LLC

EditorsBogdan M. Wilamowski.received.his.MS.in.computer.engineering.in. 1966,.his.PhD.in.neural.computing.in.1970,.and.Dr..habil..in.integrated. circuit.design.in.1977..He.received.the.title.of.full.professor.from.the. president. of. Poland.in. 1987..He. was. the. director.of.the.Institute. of. Electronics. (19791981). and. the. chair. of. the. solid. state. electronics. department. (19871989). at. the. Technical. University. of. Gdansk,. Poland..He.was.a.professor.at.the.University.of.Wyoming,.Laramie,. from. 1989. to. 2000.. From. 2000. to. 2003,. he. served. as. an. associate. director. at. the. Microelectronics. Research. and. Telecommunication. Institute,.University.of.Idaho,.Moscow,.and.as.a.professor.in.the.electrical.and.computer.engineering.department.and.in.the.computer.science.department.at.the.same.university..Currently,.he.is.the.director. of.ANMSTCAlabama.Nano/Micro.Science.and.Technology.Center,.Auburn,.and.an.alumna.professor. in.the.electrical.and.computer.engineering.department.at.Auburn.University,.Alabama..Dr.Wilamowski. was.with.the.Communication.Institute.at.Tohoku.University,.Japan.(19681970),.and.spent.one.year.at. the.Semiconductor.Research.Institute,.Sendai,.Japan,.as.a.JSPS.fellow.(19751976)..He.was.also.a.visiting. scholar.at.Auburn.University.(19811982.and.19951996).and.a.visiting.professor.at.the.University.of. Arizona,.Tucson.(19821984)..He.is.the.author.of.4.textbooks,.more.than.300.refereed.publications,.and. has.27.patents..He.was.the.principal.professor.for.about.130.graduate.students..His.main.areas.of.interest. include.semiconductor.devices.and.sensors,.mixed.signal.and.analog.signal.processing,.and.computational.intelligence. Dr..Wilamowski.was.the.vice.president.of.the.IEEE.Computational.Intelligence.Society.(20002004). and.the.president.of.the.IEEE.Industrial.Electronics.Society.(20042005)..He.served.as.an.associate.editor.of.IEEE Transactions on Neural Networks,.IEEE Transactions on Education,.IEEE Transactions on Industrial Electronics,.the.Journal of Intelligent and Fuzzy Systems,.the.Journal of Computing,.and.the. International Journal of Circuit Systems and IES Newsletter..He.is.currently.serving.as.the.editor.in.chief. of.IEEE Transactions on Industrial Electronics. Professor.Wilamowski.is.an.IEEE.fellow.and.an.honorary.member.of. the.Hungarian.Academy.of. Science..In.2008,.he.was.awarded.the.Commander.Cross.of.the.Order.of.Merit.of.the.Republic.of.Poland. for.outstanding.service.in.the.proliferation.of.international.scientific.collaborations.and.for.achievements.in.the.areas.of.microelectronics.and.computer.science.by.the.president.of.Poland.

xxvii 2011 by Taylor and Francis Group, LLC

xxviii

Editors

J. David Irwin.received.his.BEE.from.Auburn.University,.Alabama,. in. 1961,. and. his. MS. and. PhD. from. the. University. of. Tennessee,. Knoxville,.in.1962.and.1967,.respectively. In.1967,.he.joined.Bell.Telephone.Laboratories,.Inc.,.Holmdel,.New. Jersey,.as.a.member.of.the.technical.staff.and.was.made.a.supervisor. in. 1968.. He. then. joined. Auburn. University. in. 1969. as. an. assistant. professor.of.electrical.engineering..He.was.made.an.associate.professor.in.1972,.associate.professor.and.head.of.department.in.1973,.and. professor.and.head.in.1976..He.served.as.head.of.the.Department.of. Electrical.and.Computer.Engineering.from.1973.to.2009..In1993,. he.was.named.Earle.C..Williams.Eminent.Scholar.and.Head..From. 1982.to.1984,.he.was.also.head.of.the.Department.of.Computer.Science.and.Engineering..He.is.currently. theEarle.C..Williams.Eminent.Scholar.in.Electrical.and.Computer.Engineering.at.Auburn. Dr.. Irwin. has. served. the. Institute. of. Electrical. and. Electronic. Engineers,. Inc.. (IEEE). Computer. Society.as.a.member.of.the.Education.Committee.and.as.education.editor.of.Computer..He.has.served. as. chairman. of. the. Southeastern. Association. of. Electrical. Engineering. Department. Heads. and. the. National. Association. of. Electrical. Engineering. Department. Heads. and. is. past. president. of. both. the. IEEE.Industrial.Electronics.Society.and.the.IEEE.Education.Society..He.is.a.life.member.of.the.IEEE. Industrial.Electronics.Society.AdCom.and.has.served.as.a.member.of.the.Oceanic.Engineering.Society. AdCom..He.served.for.two.years.as.editor.of.IEEE Transactions on Industrial Electronics..He.has.served. on. the. Executive. Committee. of. the. Southeastern. Center. for. Electrical. Engineering. Education,. Inc.,. and.was.president.of.the.organization.in.19831984..He.has.served.as.an.IEEE.Adhoc.Visitor.for.ABET. Accreditation.teams..He.has.also.served.as.a.member.of.the.IEEE.Educational.Activities.Board,.and. was.the.accreditation.coordinator.for.IEEE.in.1989..He.has.served.as.a.member.of.numerous.IEEE.committees,.including.the.Lamme.Medal.Award.Committee,.the.Fellow.Committee,.the.Nominations.and. Appointments.Committee,.and.the.Admission.and.Advancement.Committee..He.has.served.as.a.member.of.the.board.of.directors.of.IEEE.Press..He.has.also.served.as.a.member.of.the.Secretary.of.the.Armys. Advisory.Panel.for.ROTC.Affairs,.as.a.nominations.chairman.for.the.National.Electrical.Engineering. Department.Heads.Association,.and.as.a.member.of.the.IEEE.Education.Societys.McGraw-Hill/Jacob. Millman. Award. Committee.. He. has. also. served. as. chair. of. the. IEEE. Undergraduate. and. Graduate. Teaching.Award.Committee..He.is.a.member.of.the.board.of.governors.and.past.president.of.Eta.Kappa. Nu,.the.ECE.Honor.Society..He.has.been.and.continues.to.be.involved.in.the.management.of.several. international.conferences.sponsored.by.the.IEEE.Industrial.Electronics.Society,.and.served.as.general. cochair.for.IECON05. Dr.. Irwin. is. the. author. and. coauthor. of. numerous. publications,. papers,. patent. applications,. and. presentations,. including. Basic Engineering Circuit Analysis,. 9th. edition,. published. by. John. Wiley. &. Sons,.which.is.one.among.his.16.textbooks..His.textbooks,.which.span.a.wide.spectrum.of.engineering. subjects,.have.been.published.by.Macmillan.Publishing.Company,.Prentice.Hall.Book.Company,.John. Wiley.&.Sons.Book.Company,.and.IEEE.Press..He.is.also.the.editor.in.chief.of.a.large.handbook.published.by.CRC.Press,.and.is.the.series.editor.for.Industrial.Electronics.Handbook for.CRC.Press. Dr..Irwin.is.a.fellow.of.the.American.Association.for.the.Advancement.of.Science,.the.American. Society. for. Engineering. Education,. and. the. Institute. of. Electrical. and. Electronic. Engineers.. He. received. an. IEEE. Centennial. Medal. in. 1984,. and. was. awarded. the. Bliss. Medal. by. the. Society. of. American.Military.Engineers.in.1985..He.received.the.IEEE.Industrial.Electronics.Societys.Anthony. J..Hornfeck.Outstanding.Service.Award.in.1986,.and.was.named.IEEE.Region.III.(U.S..Southeastern. Region). Outstanding. Engineering. Educator. in. 1989.. In. 1991,. he. received. a. Meritorious. Service. Citation. from. the. IEEE. Educational. Activities. Board,. the. 1991. Eugene. Mittelmann. Achievement. Award.from.the.IEEE.Industrial.Electronics.Society,.and.the.1991.Achievement.Award.from.the.IEEE. Education.Society..In.1992,.he.was.named.a.Distinguished.Auburn.Engineer..In.1993,.he.received.the. IEEE.Education.Societys.McGraw-Hill/Jacob.Millman.Award,.and.in.1998.he.was.the.recipient.of.the.


Editors

xxix

IEEE.Undergraduate.Teaching.Award..In.2000,.he.received.an.IEEE.Third.Millennium.Medal.and. the.IEEE.Richard.M..Emberson.Award..In.2001,.he.received.the.American.Society.for.Engineering. Educations. (ASEE). ECE. Distinguished. Educator. Award.. Dr.. Irwin. was. made. an. honorary. professor,.Institute.for.Semiconductors,.Chinese.Academy.of.Science,.Beijing,.China,.in.2004..In.2005,.he. received.the.IEEE.Education.Societys.Meritorious.Service.Award,.and.in.2006,.he.received.the.IEEE. Educational.Activities.Board.Vice.Presidents.Recognition.Award..He.received.the.Diplome.of.Honor. from.the.University.of.Patras,.Greece,.in.2007,.and.in.2008.he.was.awarded.the.IEEE.IES.Technical. Committee.on.Factory.Automations.Lifetime.Achievement.Award..In.2010,.he.was.awarded.the.electrical.and.computer.engineering.department.heads.Robert.M..Janowiak.Outstanding.Leadership.and. Service.Award..In.addition,.he.is.a.member.of.the.following.honor.societies:.Sigma.Xi,.Phi.Kappa.Phi,. Tau.Beta.Pi,.Eta.Kappa.Nu,.Pi.Mu.Epsilon,.and.Omicron.Delta.Kappa.


ContributorsTeresa Albero-Albero Escuela.Politcnica.Superior.de.Alcoy Universidad.Politcnica.de.Valencia Alcoy,.Spain Nuria Oliva Alonso Department.of.Electrical,.Electronics,.and. Control.Engineering Spanish.University.of.Distance.Education,.UNED Madrid,.Spain Holger Arthaber Institute.of.Electrodynamics,.Microwave. and.Circuit.Engineering Vienna.University.of.Technology Vienna,.Austria Renaud Aubin Department.of.Simulation.and.Information. Technologies.for.Power.Generation.Systems EDF.Research.and.Development Chatou,.France Jordi Ayza Department.of.Automatic.Control.and.Industrial. Informatics Universitat.Politcnica.de.Catalunya Barcelona,.Spain Paulo Bartolomeu Institute.of.Telecommunication University.of.Aveiro Aveiro,.Portugal Filipe Basto Gabinete.de.Sade.Internacional Hospital.de.Sao.Joo Porto,.Portugal Lucia Lo Bello Department.of.Computer.and. Telecommunications.Engineering University.of.Catania Catania,.Italy Aleksey Bratukhin Institute.for.Integrated.Sensor.Systems Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria Dietmar Bruckner Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria Simon Carlsen Statoil.ASA Harstad,.Norway Michael Carroll Department.of.Electrical.and.Computer. Engineering Auburn.University Auburn,.Alabama Gianluca Cena Istituto.di.Elettronica.e.di.Ingegneria. dellInformazione.e.delle.Telecomunicazioni Italian.National.Research.Council Torino,.Italy Elizabeth Chang Digital.Ecosystems.and.Business.Intelligence. Institute Curtin.University.of.Technology Perth,.Western.Australia,.Australiaxxxi 2011 by Taylor and Francis Group, LLC

xxxii

Contributors

Mo-Yuen Chow Department.of.Electrical.and.Computer. Engineering North.Carolina.State.University Raleigh,.North.Carolina Pradeep Dandamudi Department.of.Electrical.and.Computer. Engineering Auburn.University Auburn,.Alabama Tuan Dang Department.of.Simulation.and.Information. Technologies.for.Power.Generation.Systems EDF.Research.and.Development Chatou,.France Kurt Derr Idaho.National.Laboratory Idaho.Falls,.Idaho Henrik Dibowski Faculty.of.Computer.Science Institute.of.Applied.Computer.Science Dresden.University.of.Technology Dresden,.Germany Dietmar Dietrich Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria Tharam S. Dillon Digital.Ecosystems.and.Business.Intelligence. Institute Curtin.University.of.Technology Perth,.Western.Australia,.Australia Wilfried Elmenreich Institute.of.Networked.and.Embedded. Systems University.of.Klagenfurt Klagenfurt,.Austria Christian El-Salloum Institute.of.Computer.Engineering Vienna.University.of.Technology Vienna,.Austria

Max Felser Department.of.Engineering.and.Information. Technology Bern.University.of.Applied.Sciences Burgdorf,.Switzerland Paolo Ferrari Department.of.Information.Engineering University.of.Brescia Brescia,.Italy Joaquim Ferreira Institute.of.Telecommunications University.of.Aveiro Aveiro,.Portugal Alessandra Flammini Department.of.Information.Engineering University.of.Brescia Brescia,.Italy Jos Alberto Fonseca Department.of.Electronics,.Telecommunications. and.Informatics Universidade.of.Aveiro Aveiro,.Portugal Christian Fraboul IRIT.INPT-ENSEEIHT Universit.de.Toulouse Toulouse,.France Fabrice Frances ISAE Universit.de.Toulouse Toulouse,.France Heinz Frank Institute.of.Fast.Mechatronic.Systems Reinhold-Wrth-University Knzelsau,.Germany Josep M. Fuertes Department.of.Automatic.Control.and.Industrial. Informatics Universitat.Politcnica.de.Catalunya Barcelona,.Spain


Contributors

xxxiii

Georg Gaderer Institute.for.Integrated.Sensor.Systems Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria Andreas Gerstinger Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria Manuel Castro Gil Department.of.Electrical,.Electronics,.and. Control.Engineering Spanish.University.of.Distance.Education,.UNED Madrid,.Spain Frank Golatowski Institute.of.Applied.Microelectronics. andComputer.Engineering University.of.Rostock Rostock,.Germany Wolfgang Granzer Automation.Systems.Group Vienna.University.of.Technology Vienna,.Austria Andreas Grzemba Department.of.Electrical.Engineering University.of.Applied.Sciences-Deggendorf Deggendorf,.Germany Vehbi Cagri Gungor Computer.Engineering.Department Bahcesehir.University Istanbul,.Turkey Rachana Gupta Department.of.Electrical.and.Computer. Engineering North.Carolina.State.University Raleigh,.North.Carolina Herbert Haas Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria

Gerhard P. Hancke Department.of.Electrical,.Electronic,.and. Computer.Engineering University.of.Pretoria Pretoria,.South.Africa Donal Heffernan Department.of.Electronic.and.Computer. Engineering University.of.Limerick Limerick,.Ireland Martin Horauer Department.of.Embedded.Systems University.of.Applied.Sciences. TechnikumWien Vienna,.Austria Tariq Jadoon Department.of.Computer.Science Lahore.University.of.Management.Sciences Lahore,.Pakistan Juergen Jasperneite Institut.Industrial.IT Ostwestfalen-Lippe.University.of.Applied. Sciences Lemgo,.Germany Klaus Kabitzsch Faculty.of.Computer.Science Institute.of.Applied.Computer.Science Dresden.University.of.Technology Dresden,.Germany Wolfgang Kastner Automation.Systems.Group Vienna.University.of.Technology Vienna,.Austria Shahid Khattak Department.of.Electrical.Engineering COMSATS.Institute.of.Information.Technology Abbotabad,.Pakistan Alexander Klapproth CEESAR-iHomeLab Lucerne.University.of.Applied.Sciences.and.Arts Lucerne,.Switzerland


xxxiv

Contributors

Yoseba Pea Landaburu Faculty.of.Economics.and.Business. Administration University.of.Deusto San.Sebastian,.Spain Pui-Yi Lau Department.of.Electronic.Engineering City.University.of.Hong.Kong Kowloon,.Hong.Kong Paulo Leito Polytechnic.Institute.of.Bragana Bragana,.Portugal Wilfried Lepuschitz Automation.and.Control.Institute Vienna.University.of.Technology Vienna,.Austria Chi-Wai Leung Department.of.Electronic.Engineering City.University.of.Hong.Kong Kowloon,.Hong.Kong Manfred Lindner Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria Thomas Lindner BMW.Group Munich,.Germany Patrick Loschmidt Institute.for.Integrated.Sensor.Systems Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria Sajjad Ahmad Madani Department.of.Computer.Science COMSATS.Institute.of.Information.Technology Abbotabad,.Pakistan Stefan Mahlknecht Department.of.Electrical.Engineering Vienna.University.of.Technology Vienna,.Austria

Aleksander Malinowski Department.of.Electrical.and.Computer. Engineering Bradley.University Peoria,.Illinois Milos Manic Department.of.Computer.Science University.of.IdahoIdaho.Falls Idaho.Falls,.Idaho Galle Marsal Department.of.Simulation.and.Information. Technologies.for.Power.Generation.Systems EDF.Research.and.Development Chatou,.France Sidonia Mesentean Institute.of.Fast.Mechatronic.Systems Reinhold-Wrth-University Knzelsau,.Germany Ralf Messerschmidt Institute.for.Automation.and.Communication Magdeburg,.Germany Orazio Mirabella Department.of.Computer.Engineering. andTelecommunications University.of.Catania Catania,.Italy Ron Mitchell RC.Systems Johnson.City,.Tennessee Guido Moritz Institute.of.Applied.Microelectronics. andComputer.Engineering University.of.Rostock Rostock,.Germany Georg Neugschwandtner Automation.Systems.Group Vienna.University.of.Technology Vienna,.Austria


Contributors

xxxv

Peter Neumann Institute.for.Automation.and.Communication Magdeburg,.Germany Thomas Novak SWARCO.Futurit.Verkehrssignalssysteme.GmbH Perchtoldsdorf,.Austria Mirabella Orazio Department.of.Computer.Engineering. andTelecommunications University.of.Catania Catania,.Italy Gabriel Diaz Orueta Department.of.Electrical,.Electronics,.and. Control.Engineering Spanish.University.of.Distance.Education,.UNED Madrid,.Spain Peter Palensky Energy.Department Austrian.Institute.of.Technology Vienna,.Austria Paulo Pedreiras University.of.Aveiro Aveiro,.Portugal Augusto Pereira Pepperl-Fuchs Sao.Paulo,.Brazil Carlos Eduardo Pereira Department.of.Electrical.Engineering Federal.University.of.Rio.Grande.do.Sul Porto.Alegre,.Brazil Stig Petersen SINTEF.Information.and.Communication. Technology Trondheim,.Norway Nam Pham Department.of.Electrical.and.Computer. Engineering Auburn.University Auburn,.Alabama

Joern Ploennigs Faculty.of.Computer.Science Institute.of.Applied.Computer.Science Dresden.University.of.Technology Dresden,.Germany Paulo Portugal Department.of.Electrical.and.Computer. Engineering University.of.Porto Porto,.Portugal Vidyasagar Potdar Digital.Ecosystems.and.Business.Intelligence. Institute Curtin.University.of.Technology Perth,.Western.Australia,.Australia Fritz Praus Automation.Systems.Group Vienna.University.of.Technology Vienna,.Austria Peter Preininger LOYTEC.Electronics.GmbH Vienna,.Austria Christian Reinisch Automation.Systems.Group Vienna.University.of.Technology Vienna,.Austria Nelson Rocha Seco.Autnoma.de.Cincias.da.Sade University.of.Aveiro Aveiro,.Portugal Peter Rssler Department.of.Embedded.Systems University.of.Applied.Sciences. TechnikumWien Vienna,.Austria Elio San Cristobal Ruiz Department.of.Electrical,.Electronics,.and. Control.Engineering Spanish.University.of.Distance.Education,.UNED Madrid,.Spain


xxxvi

Contributors

Uwe Ryssel Faculty.of.Computer.Science Institute.of.Applied.Computer.Science Dresden.University.of.Technology Dresden,.Germany Shahzad Sarwar Punjab.University.College.of.Information. Technology University.of.the.Punjab Lahore,.Pakistan Thilo Sauter Institute.for.Integrated.Sensor.Systems Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria Jean-Luc Scharbarg IRIT.INPT-ENSEEIHT Universit.de.Toulouse Toulouse,.France Stefan Schoenegger B&R.Industrial.Automation Eggelsberg,.Austria Karlheinz Schwarz Schwarz.Consultancy.Company Karlsruhe,.Germany Herbert Schweinzer Institute.of.Electrodynamics,.Microwave. andCircuit.Engineering Vienna.University.of.Technology Vienna,.Austria Vctor-M. Sempere-Pay Escuela.Tcnica.Superior.de.Ingenieros.de. Telecomunicacin Universidad.Politcnica.de.Valencia Valencia,.Spain Lucia Seno Istituto.di.Elettronica.e.di.Ingegneria. dellInformazione.e.delle.Telecomunicazioni Italian.National.Research.Council Padova,.Italy

Atif Sharif Digital.Ecosystems.and.Business.Intelligence. Institute Curtin.University.of.Technology Perth,.Western.Australia,.Australia Saleem Farooq Shaukat Department.of.Electrical.Engineering COMSATS.Institute.of.Information.Technology Lahore,.Pakistan Javier Silvestre-Blanes Instituto.Technolgico.de.Informtica Universidad.Politcnica.de.Valencia Alcoy,.Spain Emiliano Sisinni Department.of.Information.Engineering University.of.Brescia Brescia,.Italy Stefan Soucek LOYTEC.Electronics.GmbH Vienna,.Austria Mrio de Sousa Department.of.Electrical.and.Computer. Engineering University.of.Porto Porto,.Portugal Sergiu-Dan Stan Department.of.Mechanisms,.Precision. Mechanics.and.Mechatronics Technical.University.of.Cluj-Napoca Cluj-Napoca,.Romania Strahinja Stankovic Ninet.Company.Wireless.ISP Nis,.Serbia Alex Talevski Digital.Ecosystems.and.Business.Intelligence. Institute Curtin.University.of.Technology Perth,.Western.Australia,.Australia


Contributors

xxxvii

Thomas Tamandl SWARCO.Futurit.Verkehrssignalssysteme.GmbH Perchtoldsdorf,.Austria Albert Treytl Institute.for.Integrated.Sensor.Systems Austrian.Academy.of.Sciences Wiener.Neustadt,.Austria Denis Trognon EDF.Research.and.Development Chatou,.France Henning Trsek Institut.Industrial.IT Ostwestfalen-Lippe.University.of.Applied. Sciences Lemgo,.Germany Rainer Unland Institute.for.Computer.Science.and.Business. Information.Systems University.of.Duisburg-Essen Essen,.Germany Adriano Valenzano Istituto.di.Elettronica.e.di.Ingegneria. dellInformazione.e.delle.Telecomunicazioni Italian.National.Research.Council Torino,.Italy Francisco Vasques Mechanical.Engineering.Department University.of.Porto Porto,.Portugal Volodymyr Vasyutynskyy Faculty.of.Computer.Science Institute.of.Applied.Computer.Science Dresden.University.of.Technology Dresden,.Germany Ian Verhappen Industrial.Automation.Networks.Inc. Wainwright,.Alberta,.Canada Ricard Vill Department.of.Automatic.Control.and.Industrial. Informatics Universitat.Politcnica.de.Catalunya Barcelona,.Spain

Stefano Vitturi Istituto.di.Elettronica.e.di.Ingegneria. dellInformazione.e.delle.Telecomunicazioni Italian.National.Research.Council Padova,.Italy Valeriy Vyatkin Department.of.Electrical.and.Computer. Engineering University.of.Auckland Auckland,.New.Zealand Yan-Wu Wang Department.of.Control.Science. andEngineering Huazhong.University.of.Science. andTechnology Hubei,.China

Manfred Weihs TTTech.Computertechnik.AG Vienna,.Austria

Changyun Wen School.of.Electrical.and.Electronic.Engineering Nanyang.Technological.University Singapore,.Singapore

Andrew C. West Invensys.Operations.Management Eight.Mile.Plains,.Queensland,.Australia

Bogdan M. Wilamowski Department.of.Electrical.and.Computer. Engineering Auburn.University Auburn,.Alabama

Martin Wollschlaeger Faculty.of.Computer.Science Institute.of.Applied.Computer.Science Dresden.University.of.Technology Dresden,.Germany


xxxviii

Contributors

Chen Wu Digital.Ecosystems.and.Business.Intelligence. Institute Curtin.University.of.Technology Perth,.Western.Australia,.Australia Hao Yu Department.of.Electrical.and.Computer. Engineering Auburn.University Auburn,.Alabama Edward Kai-Ning Yung Department.of.Electronic.Engineering City.University.of.Hong.Kong Kowloon,.Hong.Kong

Alois Zoitl Automation.and.Control.Institute Vienna.University.of.Technology Vienna,.Austria

Gerhard Zucker Institute.of.Computer.Technology Vienna.University.of.Technology Vienna,.Austria

Claudio Zunino Istituto.di.Elettronica.e.di.Ingegneria. dellInformazione.e.delle.Telecomunicazioni Italian.National.Research.Council Torino,.Italy


Technical PrinciplesIntroduction. . Wired.Links. . Optical.Links. . Wireless.Links. . References

I

1 ISO/OSI Model. Gerhard Zucker and Dietmar Dietrich ............................................... 1-1Introduction. . Open.Standard. . Vertical.and.Horizontal.Communication. . Dynamic. Behavior.of.Services.and.Protocols. . Extensions,.Benefits,.and.Discussion. . References

2 Media. Herbert Schweinzer, Saleem Farooq Shaukat, and Holger Arthaber ................. 2-1 3 Media Access Methods. Herbert Haas and Manfred Lindner ........................................ 3-1Introduction. . Full-Duplex.Media.Access. . Synchronous.Access.Arbitration. Concepts. . Statistic.Access.Arbitration.Concepts. . Carrier.Sense.Mechanisms. withExponential.Backoff. . Other.Media.Access.Issues. . References

4 Routing in Wireless Networks. Teresa Albero-Albero andVctor-M.Sempere-Pay ................................................................................... 4-1Introduction. . Routing.Protocols.and.Classification. . Routing.Protocol. Families.for.Ad.Hoc.Networks. . Routing.Protocol.Families.for.Wireless. Sensor.Networks. . Summary.of.the.Main.Routing.Protocols.in.Wireless. Networks. . Conclusions. . Acknowledgment. . Abbreviations. . References Interoperating.Components. . Application.of.Profiles. . Achieving. Interoperability. . References

5 Profiles and Interoperability. Gerhard Zucker and Heinz Frank................................. 5-1 6 Industrial Wireless Sensor Networks. Vehbi Cagri Gungor andGerhardP.Hancke ................................................................................................ 6-1Applications. . Standardization.Activities. . Technical.Challenges. . Design. Goals. . Design.Principles.and.Technical.Approaches. . Conclusions.and.Future. Work. . References

7 Ad Hoc Networks. Sajjad Ahmad Madani, Shahid Khattak, Tariq Jadoon, andShahzad Sarwar .......................................................................................................... 7-1Introduction. . Protocol.Stack. . Performance.Evaluation. . Challenges. andIssues. . References

8 Radio Frequency Identification. Edward Kai-NingYung, Pui-Yi Lau, andChi-Wai Leung ............................................................................................................ 8-1Prologue. . Bar.Code.System. . Magnetic.Stripes. . Smart.Card. . ProximityCard. . . HF.RFID. . Electronic.Cash. . Personal.Identity. . InnovationverusHi-Tech. . . Active.RFID. . Wake-Up.Technology. . Semi-Active.RFID. . .Backscattering. . .

I-1 2011 by Taylor and Francis Group, LLC

I-2

TechnicalPrinciplesInitialization. . Vicinity.Card. . Frequency.Selection. . UHF.RFID. . .Supply. Chain.Management. . International.Standard. . Promiscuity. . National. Standards. . .Hands-Free.Bar.Code.System. . Bar.Code.Mentality. . AffordableTag. . . UbiquityofRFID. . Role.Reversal. . Historical.Development. . PrivacyInfringement. . . Recent.Developments. . Dual.Authentication. . Trace-a nd-Track. . Innovative. Applications. . Nonionization.Radiation. . Era.of.Artificial.Perception. . . Abbreviations. . References

9 RFID Technology and Its Industrial Applications. Vidyasagar Potdar, AtifSharif, and Elizabeth Chang ....................................................................................... 9-1Introduction. . RFID.Architecture. . Item.Tracking.and.Tracing. . Access. Control. . Anticounterfeiting. . Conclusion. . References

10 Ultralow-Power Wireless Communication. Joern Ploennigs, Volodymyr Vasyutynskyy, and Klaus Kabitzsch .................................................................................... 10-1Introduction. . Hardware.Approaches. . Communication.Protocol. Approaches. . Application.Layer.Approaches. . Conclusion.and.Open. Topics. . References

11 Industrial Strength Wireless Multimedia Sensor Network Technology. Vidyasagar Potdar, Atif Sharif, and Elizabeth Chang ...............................11-1Introduction. . Wireless.Sensor.Network. . WMSN.Architecture. . WMSN. Hardware. . Applications.of.WMSNs. . WMSNs.Technical. Challenges. . Conclusion. . References

12 A Survey of Wireless Sensor Networks for Industrial Applications. StigPetersen and Simon Carlsen .............................................................. 12-1Introduction. . Wireless.Sensor.Network.Basics. . Motivation.and.Drivers.for.Wireless. Instrumentation. . Industrial.Applications.and.Requirements. . Technology.Survey. andEvaluation. . Conclusion. . Abbreviations. . References Introduction. . Historical.Background. . Network.Interconnections. . Application. View. . Security.Aspects.in.Vertical.Integration. . Trends.in.Vertical.Integration. . . Abbreviations. . References Introduction. . Background. . Service-Oriented.Architecture. . . Tailorability. . Multimedia.Convergence.Using.Service.Architecture. . . Conclusion. . References

13 Vertical Integration. Thilo Sauter, Stefan Soucek, and Martin Wollschlaeger............ 13-1

14 Multimedia Service Convergence. Alex Talevski........................................................ 14-1

15 Virtual Automation Networks. Peter Neumann and Ralf Messerschmidt ................. 15-1Introduction. . Virtual.Automation.Network:.Basics. . Name-Based.Addressing. and.Routing,Runtime.Tunnel.Establishment. . Maintenance.of.the.Runtime.Tunnel. o Based.onQuality- f-Service.Monitoring.and.Provider.Switching. . VAN.Telecontrol. Profile. . Abbreviations. . References

16 Industrial Agent Technology. Aleksey Bratukhin, Yoseba Pea Landaburu, Paulo Leito, and Rainer Unland .................................................................................... 16-1Introduction. . Agents.and.Multi-Agent.Systems. . Agents.and.Multi-Agent.Systems. in.Industry. . Application.Areas. . Agents.and.Multi-Agent.Systems.in.Industry:. Conclusions. . Abbreviations. . References

17 Real-Time Systems. Lucia Lo Bello, Jos Alberto Fonseca, andWilfriedElmenreich ............................................................................................ 17-1Introduction.on.Real-Time.Systems. . Real-Time.Communication. . Design.Paradigms. for.Real-Time.Systems. . Design.Challenges.in.Real-Time.Industrial.Communication. Systems. . References


TechnicalPrinciples

I-3

18 Clock Synchronization in Distributed Systems. Georg Gaderer andPatrickLoschmidt ..................................................................................................... 18-1Introduction. . Precision.Time.Protocol. . IEEE.1588.System.Model. . Service.Access. Points. . Ordinary.Clocks. . Boundary.Clocks. . Precision.Time.Protocol,.IEEE. 15882008.(PTPv2). . Network.Time.Protocol. . Network.Time.Protocol.Strata. . . Architecture,.Protocol,.and.Algorithms. . NTP.Clock.Synchronization.Hardware. Requirements. . Synchronization.Algorithms.of.NTP. . References

19 Quality of Service. Gabriel Diaz Orueta, Elio San Cristobal Ruiz, NuriaOlivaAlonso, and Manuel Castro Gil ................................................................... 19-1Introduction. . Relationship.with.Information.Security.Topics. . Quality.of.Service.for.IP. Networks. . Special.Considerations.for.Managing.the.Quality.of.Service. . References

20 Network-Based Control. Josep M. Fuertes, Mo-Yuen Chow, Ricard Vill, Rachana Gupta, and Jordi Ayza ...................................................................................... 20-1Introduction. . Mutual.Concepts.in.Control.and.in.Communications. . Architecture. of.Networked-Based.Control. . Network.Effects.in.Control.Performance. . Design. inNBC. . Summary. . References Introduction. . The.Meaning.of.Safety. . Safety.Standards. . The.Safety. Lifecycle.and.Safety.Methods. . Safety.Approach.for.Industrial.Communication. System. . Acronyms. . References

21 Functional Safety. Thomas Novak and Andreas Gerstinger ........................................ 21-1

22 Security in Industrial Communication Systems. Wolfgang Granzer andAlbertTreytl .............................................................................................................. 22-1Introduction.to.Security.in.Industrial.Communication. . Planned.Approach.to.Security:. Defense.in.Depth. . Security.Measures.to.Counteract.Network.Attacks. . Security. Measures.to.Counteract.Device.Attacks. . State.of.the.Art.in.Automation. Systems. . Outlook.and.Conclusion. . Abbreviations. . References

23 Secure Communication Using Chaos Synchronization. Yan-Wu Wang andChangyun Wen ......................................................................................................... 23-1Introduction. . Chaos.Synchronization. . Secure.Communication.Using.Chaos. Synchronization. . References


1ISO/OSI ModelGerhard ZuckerViennaUniversity ofTechnology

1.1. 1.2.

Introduction....................................................................................... 1-1 Open.Standard................................................................................... 1-3Layer.Functionalities

Dietmar DietrichViennaUniversity ofTechnology

1.3. Vertical.and.Horizontal.Communication..................................... 1-5 1.4. Dynamic.Behavior.of.Services.and.Protocols............................... 1-6 1.5. Extensions,.Benefits,.and.Discussion............................................. 1-9 References....................................................................................................... 1-9

1.1 IntroductionThe.ISO/OSI.model.was.developed.and.standardized.in.the.late.1970s.by.the.International.Organization. for.Standardization.as.the.standard.ISO.IS.7498..It.supports.designers.by.easing.the.definition.of.communication.protocols.in.a.way.that.they.operate.correctly.and.are.easy.to.maintain.[Hay.88]..The.name. OSI.originates.from.open.systems.interconnection..The.model.is.not.intended.as.strict.implementation. rules,.because.a.real.system.will.always.have.to.adapt.to.requirements.of.price,.economy,.and.flexibility. Instead,.the.ISO/OSI.model.represents.an.abstract.definition.(independent.from.hardware.or.software.implementation).consisting.of.hierarchical.layers..Related.functions.are.grouped.together.in.layers. with.strict.separation.between.horizontal.and.vertical.communication..The.standard.defines.services,. protocols,.and.interfaces..The.original.intention.was.to.define.a.model.for.connecting.computers.for.data. transfer,.logging.into.remote.computers,.and.so.on..Requirements.like.real-time,.protocols.for.embedded.microcontrollers.or.protocols.for.field.buses.were.of.no.concern,.which.has.to.be.considered.when. applying.the.ISO/OSI.model.to.such.systems. In. a. first. step,. all. subfunctions. that. contributed. to. communications. were. collected. as. shown. in. Figure.1.1.in.the.top.right.cloud,.where.each.subfunction.is.represented.by.a.circle..These.subfunctions. were.then.assigned.to.separate.layers..The.fact.that.the.model.consists.of.seven.layers.does.not.have.technical.reasons,.but.represents.the.common.agreement.between.the.participants.of.the.workgroup.that. was.responsible.for.the.definition.of.the.model..In.this.way,.each.layer.was.assigned.to.have.a.dedicated. function,.which.consists.of.subfunctions. The. protocol. stacks. (i.e.,. the. systems. that. are. designed. based. on. this. model). shall. contain. evenly. distributed. subfunctions. over. all. layers.. Subfunctions. that. are. too. different. shall. not. be. included. in. the.same.layer.and.the.interfaces.shall.be.designed.toward.a.low.amount.of.information.that.has.to.be. exchanged.between.the.layers.(in.order.to.keep.the.overhead.low). The.standard.defines.many.more.rules.that.shall.encourage.a.uniform.and.logical.structure..The.use. of.specific.description.language.(SDL).is.required.to.avoid.endless.sequences.of.unstructured.code.as. well.as.flow.diagram,.which.in.the.end.lead.to.the.SDL.and.its.corresponding.tools.[Ols.92].that.are.used. in.telecommunications. The.ISO/OSI.model.was.a.great.leap.forward.in.the.design.of.protocols..It.created.orderliness.and.a. uniform. structure. that. builds. a. commonly. approved. base. for. the. standardization. of. protocols. and.1-1 2011 by Taylor and Francis Group, LLC

1-2

IndustrialCommunicationSystems

7 6

1

FIGURE 1.1

Development.of.the.model.

communication.interfaces..The.model.defines.functions,.which.are.expected.by.the.components.that. contribute.to.communication..It.explains.how.these.functions.can.be.based.on.each.other.and.how.they. cooperate..Before.the.ISO/OSI.model.was.created,.different.experts.from.different.fields.of.communication.(e.g.,.telecommunications,.computer.communication,.automation,.process.engineering,.or.equipment. technology).created.completely.different.solutions..They.defined.proprietary.sets.of.functions.and.often. forgot.other.important.functions,.they.aligned.the.different.functions.individually.to.meet.the.requirements. at. hand,. and. they.based. the. design. on. different.communication. principles.. The. ISO/OSI.model. defined.a.layer.for.each.subfunction.and.specified.when.which.layer.should.be.accessed..Thus,.the.model. helps.to.simplify.the.decision,.which.subfunctions.are.relevant.for.a.certain.kind.of.communication.and. how.they.correlate..It.builds.the.base.for.new.protocol.standards.(e.g.,.the.various.fieldbus.standards.in. [Zur.05]).and.eases.linking.different.types.of.networks. Some.literature.states.that.the.ISO/OSI.model.has.finished.the.language.confusion.that.existed.in. technical.communication..This.is.a.bit.of.exaggeration,.since.the.model.does.not.claim.to.define.a.uniform.language.for.all.communication.tasks..If.that.would.have.been.the.goal,.the.model.would.only. contain.descriptions.for.these.tasks;.instead,.it.describes.the.principles.of.communication..Considering. the.vastly.different.communication.tasks.in,.e.g.,.an.airplane.and.in.a.washing.machine,.this.appears.to. be.the.only.feasible.approach. Where.shall.the.communication.system.be.located.within.a.system?.There.is.no.common.opinion.to. this.question,.especially.since.at.the.time.the.ISO/OSI.model.was.defined,.the.only.separation.that.was. done. was. between. application. and. communication. system;. an. operating. system. was. not. considered. at. all.*. Today,. the. operating. system. is. well. established. as. being. located. underneath. the. application,. and.sometimes.the.communication.system.is.included.into.the.operating.system,.sometimes.it.is.not. included..Automation.prefers.a.design.according.to.Figure.1.2,.where.the.communication.system.is.a. separate.unit.underneath.the.operating.system.and.establishes.the.connection.to.different.networks. Consistent.with.the.hierarchical.model,.the.interface.of.the.communication.unit.provides.its.services. to.the.module.above.itthe.operating.system.(given.that.it.exists.in.the.system),.which.again.provides. its.services.to.the.applications..According.to.the.top-down.design,.the.developer.shall.specify.this.interface. only. after.the.application.and.the. operating.system.have.been.specified..However,.reality.shows. that. this. is. often. not. the. case.. Communication. has. to. follow. a. standard,. since. it. generally. connects. systems.of.different.vendors..The.dilemma.can.be.resolved.partly.by.allowing.the.definition.of.different.*. The.fact.that.the.operating.system.did.not.play.an.important.role.is.also.shown.in.the.name.application.layer,.which. would.more.accurately.be.named.operating.system.layer.


ISO/OSIModel

1-3

Application

Operating system

Communication

FIGURE 1.2 Location.of.the.communication.system.in.a.device.

communication.protocols..While.on.one.hand,.there.should.be.only.a.few.different.protocols.to.meet. the.requirements.of.the.standard.(i.e.,.little.variation,.lots.of.common.properties),.on.the.other.hand,.we. need.a.lot.of.different.protocols.to.meet.the.different.requirements. Today,.we.see.that.most.fieldbus.protocols.in.industrial.automation.consist.of.at.most.three.layers;. building. automation. protocols. usually. have. more. layers.. The. LonTalk. protocol. [Loy. 05]. (ANSI/CEA. 709.1.and.ISO/IEC.14908-1).even.implements.all.seven.layers.

1.2 Open StandardThe.term.open.system.is.well.defined.in.ISO:.a.system.is.in.this.context.a.complete.facility.(unit),.that. is,.computers.(like.process.computers).and.data.processing.machines.with.peripheral.devices.like.storage,.front-end.computers,.data.stations,.or.application.software..Such.a.system.contains.communication. partners.and.(parts.of).a.communication.system. The.term.open.has.a.stricter.meaning.than.as.it.is.used.in.common.language,.and.cannot.be.used. freely.in.the.area.of.communications.(even.if.marketing.wants.to.interpret.it.differently)..A.system.is. open,.if.it.meets.certain.requirements..The.first.authoritative.requirement.is.that.the.protocol.is.officially.standardized.(nationally.or.internationally)..A.quasi-standard.or.a.special.standard.defined.by.a. company.is.not.valid..In.such.a.way,.the.distribution.(publication).is.guaranteedwhich.shall.ensure. equal.opportunities.between.companies. In. 1997,. the.different.European.committees.struggled.hard.to. define.the.requirement. how. the.term. may.be.interpreted..CEN.and.CENELEC.agree.thatin.accordance.with.the.reference.modela.system.is. open,.if.the.protocols.have.been.opened.(i.e.,.standardized).and.are.not.protected.by.a.patent.that.prevents. competitors.to.design.the.same.protocol..Licenses.have.to.be.available.for.everyone.at.reasonable.prices. The. ISO/OSI. reference. model. describes. functions,. not. hardware. or. software.. It. does. not. dictate. manufacturers.which.technology.to.use.in.their.products..It.only.prescribes.how.the.technology.has.to. behave,.seen.from.the.outside. Unfortunately,.the.standard.for.a.protocol.cannot.be.compared.with.a.physical.unit.like.a.screw.. A. standard.is.complex.and.thus.never.completely.error.free..This.was.considered.regarding.different. terms.. Two. systems. are. called. interconnectable,. if. they. are. subject. to. the. same. standard.. This. does,. however,.not.mean.that.they.cooperate..If.cooperation.shall.be.guaranteed,.interworkability.is.required,. which.means.that.the.system.can.in.principle.exchange.data.according.to.the.protocol..However,.the.


1-4

IndustrialCommunicationSystems

following.sections.will.show.that.this.is.still.an.insufficient.requirement.for.connecting.devices..This.can. only.be.achieved.by.profiles,.which.have.been.introduced.as.an.additional.layer.on.top.of.the.ISO/OSI. model.during.the.development.of.field.buses.(virtually.an.additional.layer.8)..If.it.can.be.proven.that. devices.cooperate,.we.have.reached.interoperability.

1.2.1 Layer FunctionalitiesThe.OSI.model.defines.seven.layers,.each.of.which.has.dedicated.functions..A.brief.description.of.these. functions.is.given.in.the.following. 1.2.1.1 Layer 1: Physical Layer This.layer.covers.the.physical.part.of.the.communication..It.contains.all.hardware.specification.data,. including.the.signals.used,.the.electrical.and.mechanical.characteristics.of.the.connection,.and.all.functional.parameters.that.are.necessary,.which.include.tasks.like.activating,.maintaining,.and.terminating. the.physical.connection. 1.2.1.2 Layer 2: Link Layer The.link.layer.is.responsible.for.providing.an.error-free.connection.from.one.node.to.another.node.in. the.same.network.segment.(point-to-point.communication)..It.has.to.correct.errors.that.occur.during. the.physical.transmission.by.using,.for.example,.error-correction.codes..For.that,.it.needs.error-correction. algorithms.and.redundant.information.in.the.received.data..It.also.adds.source.and.destination.address. to.the.packets.that.are.transmitted. 1.2.1.3 Layer 3: Network Layer The.network.layer.defines.the.path.that.packets.take.on.their.way.through.the.network..A.packet.that.is. addressed.to.a.destination.address.will.not.always.be.transmitted.directly.to.its.receiver.but.will.rather. be.passed.from.one.part.of.the.network.to.the.other.until.it.reaches.its.destination..This.is.done.by.routing.the.packets,.an.algorithm.that.can.be.implemented.in.different.ways,.depending.on.the.capabilities. of.the.components..Layer.3.defines.addresses,.which.are.not.related.to.the.addresses.on.layer.2.(if.they. are. implemented).. The. network. layer. also. is. responsible. for. establ

Industrial Communication Systems 2nd Ed

Documents

init

jos alberto fonseca

sajjad ahmad madani

saleem farooq shaukat

manuel castro gil

yoseba pea landaburu

lucia lo bello

13th international conference