Wiley Encyclopedia of Computer Science and Engineering

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Wiley Encyclopedia of Computer Science and Engineering FullTitle of Book: Wiley Encyclopedia Of Computer Science And Engineering Editor(s): Wah Publisher: Wiley-interscience YearPublished: Nov., 2008 ISBN-10: 0471383937 ISBN-13: 978-0471383932 Size& Format: 2362 pages • Applications • Computer Vision • Computing Milieux • Data • Foundation and Theory • Hardware and Architecture • Image Processing and Visualization • Intelligent Systems • IS • Parallel and Distributed Systems • Software A ASYNCHRONOUS TRANSFER MODE peak rate, statistical multiplexing allows a large number of NETWORKS bursty sources to share the network’s bandwidth. Since its birth in the mid-1980s, ATM has been fortiﬁed Asynchronous transfer mode, or ATM, is a network transfer by a number of robust standards and realized by a signiﬁ- technique capable of supporting a wide variety of multi- cant number of network equipment manufacturers. Inter- media applications with diverse service and performance national standards-making bodies such as the ITU and requirements. It supports trafﬁc bandwidths ranging from independent consortia like the ATM Forum have developed a few kilobits per second (e.g., a text terminal) to several a signiﬁcant body of standards and implementation agree- hundred megabits per second (e.g., high-deﬁnition video) ments for ATM (1,4). As networks and network services and trafﬁc types ranging from continuous, ﬁxed-rate trafﬁc continue to evolve toward greater speeds and diversities, (e.g., traditional telephony and ﬁle transfer) to highly ATM will undoubtedly continue to proliferate. bursty trafﬁc (e.g., interactive data and video). Because of its support for such a wide range of trafﬁc, ATM was ATM STANDARDS designated by the telecommunication standardization sec- tor of the International Telecommunications Union (ITU-T, The telecommunication standardization sector of the ITU, formerly CCITT) as the multiplexing and switching tech- the international standards agency commissioned by the nique for Broadband, or high-speed, ISDN (B-ISDN) (1). United Nations for the global standardization of telecom- ATM is a form of packet-switching technology. That is, munications, has developed a number of standards for ATM ATM networks transmit their information in small, ﬁxed- networks. Other standards bodies and consortia (e.g., the length packets called cells, each of which contains 48 octets ATM Forum, ANSI) have also contributed to the develop- (or bytes) of data and 5 octets of header information. The ment of ATM standards. This section presents an overview small, ﬁxed cell size was chosen to facilitate the rapid of the standards, with particular emphasis on the protocol processing of packets in hardware and to minimize the reference model used by ATM (2). amount of time required to ﬁll a single packet. This is particularly important for real-time applications such as Protocol Reference Model voice and video that require short packetization delays. ATM is also connection-oriented. In other words, a The B-ISDN protocol reference model, deﬁned in ITU-T virtual circuit must be established before a call can take recommendation I.321, is shown in Fig. 1(1). The purpose of place, where a call is deﬁned as the transfer of information the protocol reference model is to clarify the functions that between two or more endpoints. The establishment of a ATM networks perform by grouping them into a set of virtual circuit entails the initiation of a signaling process, interrelated, function-speciﬁc layers and planes. The refer- during which a route is selected according to the call’s ence model consists of a user plane, a control plane, and a quality of service requirements, connection identiﬁers at management plane. Within the user and control planes is a each switch on the route are established, and network hierarchical set of layers. The user plane deﬁnes a set of resources such as bandwidth and buffer space may be functions for the transfer of user information between reserved for the connection. communication endpoints; the control plane deﬁnes control Another important characteristic of ATM is that its functions such as call establishment, call maintenance, and network functions are typically implemented in hardware. call release; and the management plane deﬁnes the opera- With the introduction of high-speed ﬁber optic transmis- tions necessary to control information ﬂow between planes sion lines, the communication bottleneck has shifted from and layers and to maintain accurate and fault-tolerant the communication links to the processing at switching network operation. nodes and at terminal equipment. Hardware implementa- Within the user and control planes, there are three tion is necessary to overcome this bottleneck because it layers: the physical layer, the ATM layer, and the ATM minimizes the cell-processing overhead, thereby allowing adaptation layer (AAL). Figure 2 summarizes the functions the network to match link rates on the order of gigabits per of each layer (1). The physical layer performs primarily bit- second. level functions, the ATM layer is primarily responsible for Finally, as its name indicates, ATM is asynchronous. the switching of ATM cells, and the ATM adaptation layer is Time is slotted into cell-sized intervals, and slots are responsible for the conversion of higher-layer protocol assigned to calls in an asynchronous, demand-based man- frames into ATM cells. The functions that the physical, ner. Because slots are allocated to calls on demand, ATM ATM, and adaptation layers perform are described in more can easily accommodate trafﬁc whose bit rate ﬂuctuates detail next. over time. Moreover, in ATM, no bandwidth is consumed unless information is actually transmitted. ATM also gains Physical Layer bandwidth efﬁciency by being able to multiplex bursty The physical layer is divided into two sublayers: the phy- trafﬁc sources statistically. Because bursty trafﬁc does sical medium sublayer and the transmission convergence not require continuous allocation of the bandwidth at its sublayer (1). 1 Wiley Encyclopedia of Computer Science and Engineering, edited by Benjamin Wah. Copyright # 2008 John Wiley & Sons, Inc. 2 ASYNCHRONOUS TRANSFER MODE NETWORKS error control is the insertion of an 8-bit CRC in the ATM cell header to protect the contents of the ATM cell header. Cell delineation is the detection of cell boundaries. Transmis- sion frame adaptation is the encapsulation of departing cells into an appropriate framing structure (either cell- based or SDH-based). ATM Layer The ATM layer lies atop the physical layer and speciﬁes the functions required for the switching and ﬂow control of ATM cells (1). There are two interfaces in an ATM network: the user- network interface (UNI) between the ATM endpoint and the ATM switch, and the network-network interface (NNI) Figure 1. Protocol reference model for ATM. between two ATM switches. Although a 48-octet cell pay- load is used at both interfaces, the 5-octet cell header differs slightly at these interfaces. Figure 3 shows the cell header structures used at the UNI and NNI (1). At the UNI, the Physical Medium Sublayer. The physical medium (PM) header contains a 4-bit generic ﬂow control (GFC) ﬁeld, a sublayer performs medium-dependent functions. For 24-bit label ﬁeld containing virtual path identiﬁer (VPI) example, it provides bit transmission capabilities including and virtual channel identiﬁer (VCI) subﬁelds (8 bits for the bit alignment, line coding and electrical/optical conversion. VPI and 16 bits for the VCI), a 2-bit payload type (PT) ﬁeld, a The PM sublayer is also responsible for bit timing (i.e., the 1-bit cell loss priority (CLP) ﬁeld, and an 8-bit header error insertion and extraction of bit timing information). The PM check (HEC) ﬁeld. The cell header for an NNI cell is sublayer currently supports two types of interface: optical identical to that for the UNI cell, except that it lacks the and electrical. GFC ﬁeld; these four bits are used for an additional 4 VPI bits in the NNI cell header. Transmission Convergence Sublayer. Above the physical The VCI and VPI ﬁelds are identiﬁer values for virtual medium sublayer is the transmission convergence (TC) channel (VC) and virtual path (VP), respectively. A virtual sublayer, which is primarily responsible for the framing channel connects two ATM communication endpoints. A of data transported over the physical medium. The ITU-T virtual path connects two ATM devices, which can be recommendation speciﬁes two options for TC sublayer switches or endpoints, and several virtual channels may transmission frame structure: cell-based and synchronous be multiplexed onto the same virtual path. The 2-bit PT digital hierarchy (SDH). In the cell-based case, cells are ﬁeld identiﬁes whether the cell payload contains data or transported continuously without any regular frame struc- control information. The CLP bit is used by the user for ture. Under SDH, cells are carried in a special frame explicit indication of cell loss priority. If the value of the structure based on the North American SONET (synchro- CLP is 1, then the cell is subject to discarding in case of nous optical network) protocol (3). Regardless of which congestion. The HEC ﬁeld is an 8-bit CRC that protects the transmission frame structure is used, the TC sublayer is contents of the cell header. The GFC ﬁeld, which appears responsible for the following four functions: cell rate decou- only at the UNI, is used to assist the customer premises pling, header error control, cell delineation, and transmis- network in controlling the trafﬁc ﬂow. At the time of writ- sion frame adaptation. Cell rate decoupling is the insertion ing, the exact procedures for use of this ﬁeld have not been of idle cells at the sending side to adapt the ATM cell agreed upon. stream’s rate to the rate of the transmission path. Header Figure 2. Functions of each layer in the protocol reference model. ASYNCHRONOUS TRANSFER MODE NETWORKS 3 Figure 3. ATM cell header structure. ATM Layer Functions bit rate (UBR). ITU-T deﬁnes four service categories, namely, deterministic bit rate (DBR), statistical bit rate The primary function of the ATM layer is VPI/VCI transla- (SBR), available bit rate (ABR), and ATM block transfer tion. As ATM cells arrive at ATM switches, the VPI and VCI (ABT). The ﬁrst of the three ITU-T service categories values contained in their headers are examined by the correspond roughly to the ATM Forum’s CBR, VBR, and switch to determine which outport port should be used to ABR classiﬁcations, respectively. The fourth service cate- forward the cell. In the process, the switch translates the gory, ABT, is solely deﬁned by ITU-T and is intended for cell’s original VPI and VCI values into new outgoing VPI bursty data applications. The UBR category deﬁned by the and VCI values, which are used in turn by the next ATM ATM Forum is for calls that request no quality of service switch to send the cell toward its intended destination. The guarantees at all. Figure 4 lists the ATM service categories, table used to perform this translation is initialized during their quality of service (QoS) parameters, and the trafﬁc the establishment of the call. descriptors required by the service category during call An ATM switch may either be a VP switch, in which case establishment (1,4). it translates only the VPI values contained in cell headers, The constant bit rate (or deterministic bit rate) service or it may be a VP/VC switch, in which case it translates the category provides a very strict QoS guarantee. It is targeted incoming VPI/VCI value into an outgoing VPI/VCI pair. at real-time applications, such as voice and raw video, Because VPI and VCI values do not represent a unique end- which mandate severe restrictions on delay, delay variance to-end virtual connection, they can be reused at different (jitter), and cell loss rate. The only trafﬁc descriptors switches through the network. This is important because required by the CBR service are the peak cell rate and the VPI and VCI ﬁelds are limited in length and would be the cell delay variation tolerance. A ﬁxed amount of band- quickly exhausted if they were used simply as destination width, determined primarily by the call’s peak cell rate, is addresses. reserved for each CBR connection. The ATM layer supports two types of virtual connec- The real-time variable bit rate (or statistical bit rate) tions: switched virtual connections (SVC) and permanent, service category is intended for real-time bursty applica- or semipermanent, virtual connections (PVC). Switched tions (e.g., compressed video), which also require strict QoS virtual connections are established and torn down dyna- guarantees. The primary difference between CBR and mically by an ATM signaling procedure. That is, they exist VBR-rt is in the trafﬁc descriptors they use. The VBR-rt only for the duration of a single call. Permanent virtual service requires the speciﬁcation of the sustained (or aver- connections, on the other hand, are established by network age) cell rate and burst tolerance (i.e., burst length) in administrators and continue to exist as long as the admin- addition to the peak cell rate and the cell delay variation istrator leaves them up, even if they are not used to trans- mit data. Other important functions of the ATM layer include cell multiplexing and demultiplexing, cell header creation and extraction, and generic ﬂow control. Cell multiplexing is the merging of cells from several calls onto a single trans- mission path, cell header creation is the attachment of a 5- octet cell header to each 48-octet block of user payload, and generic ﬂow control is used at the UNI to prevent short- term overload conditions from occurring within the net- work. ATM Layer Service Categories The ATM Forum and ITU-T have deﬁned several distinct service categories at the ATM layer (1,4). The categories deﬁned by the ATM Forum include constant bit rate (CBR), real-time variable bit rate (VBR-rt), non-real-time variable bit rate (VBR-nrt), available bit rate (ABR), and unspeciﬁed Figure 4. ATM layer service categories. 4 ASYNCHRONOUS TRANSFER MODE NETWORKS tolerance. The ATM Forum also deﬁnes a VBR-nrt service category, in which cell delay variance is not guaranteed. The available bit rate service category is deﬁned to exploit the network’s unused bandwidth. It is intended for non-real-time data applications in which the source is amenable to enforced adjustment of its transmission rate. A minimum cell rate is reserved for the ABR connection and therefore guaranteed by the network. When the network Figure 5. Service classiﬁcation for AAL. has unused bandwidth, ABR sources are allowed to increase their cell rates up to an allowed cell rate (ACR), a value that is periodically updated by the ABR ﬂow control mechanism (to be described in the section entitled ‘‘ATM AAL service class A corresponds to constant bit rate Trafﬁc Control’’). The value of ACR always falls between services with a timing relation required between source the minimum and the peak cell rate for the connection and and destination. The connection mode is connection- is determined by the network. oriented. The CBR audio and video belong to this class. The ATM Forum deﬁnes another service category for Class B corresponds to variable bit rate (VBR) services. non-real-time applications called the unspeciﬁed bit rate This class also requires timing between source and desti- (UBR) service category. The UBR service is entirely best nation, and its mode is connection-oriented. The VBR audio effort; the call is provided with no QoS guarantees. The and video are examples of class B services. Class C also ITU-T also deﬁnes an additional service category for non- corresponds to VBR connection-oriented services, but the real-time data applications. The ATM block transfer ser- timing between source and destination needs not be vice category is intended for the transmission of short related. Class C includes connection-oriented data transfer bursts, or blocks, of data. Before transmitting a block, such as X.25, signaling, and future high-speed data ser- the source requests a reservation of bandwidth from the vices. Class D corresponds to connectionless services. Con- network. If the ABT service is being used with the immedi- nectionless data services such as those supported by LANs ate transmission option (ABT/IT), the block of data is sent and MANs are examples of class D services. at the same time as the reservation request. If bandwidth is Four AAL types (Types 1, 2, 3/4, and 5), each with a not available for transporting the block, then it is simply unique SAR sublayer and CS sublayer, are deﬁned to discarded, and the source must retransmit it. In the ABT support the four service classes. AAL Type 1 supports service with delayed transmission (ABT/DT), the source constant bit rate services (class A), and AAL Type 2 sup- waits for a conﬁrmation from the network that enough ports variable bit rate services with a timing relation bandwidth is available before transmitting the block of between source and destination (class B). AAL Type 3/4 data. In both cases, the network temporarily reserves was originally speciﬁed as two different AAL types (Type 3 bandwidth according to the peak cell rate for each block. and Type 4), but because of their inherent similarities, they Immediately after transporting the block, the network were eventually merged to support both class C and class D releases the reserved bandwidth. services. AAL Type 5 also supports class C and class D services. ATM Adaptation Layer AAL Type 5. Currently, the most widely used adaptation The ATM adaptation layer, which resides atop the ATM layer is AAL Type 5. AAL Type 5 supports connection- layer, is responsible for mapping the requirements of oriented and connectionless services in which there is no higher layer protocols onto the ATM network (1). It oper- timing relation between source and destination (classes C ates in ATM devices at the edge of the ATM network and is and D). Its functionality was intentionally made simple in totally absent in ATM switches. The adaptation layer is order to support high-speed data transfer. AAL Type 5 divided into two sublayers: the convergence sublayer (CS), assumes that the layers above the ATM adaptation layer which performs error detection and handling, timing, and can perform error recovery, retransmission, and sequence clock recovery; and the segmentation and reassembly numbering when required, and thus, it does not provide (SAR) sublayer, which performs segmentation of conver- these functions. Therefore, only nonassured operation is gence sublayer protocol data units (PDUs) into ATM cell- provided; lost or corrupted AAL Type 5 packets will not be sized SAR sublayer service data units (SDUs) and vice corrected by retransmission. versa. Figure 6 depicts the SAR-SDU format for AAL Type 5 In order to support different service requirements, the (5,6). The SAR sublayer of AAL Type 5 performs segmenta- ITU-T has proposed four AAL-speciﬁc service classes. tion of a CS-PDU into a size suitable for the SAR-SDU Figure 5 depicts the four service classes deﬁned in recom- payload. Unlike other AAL types, Type 5 devotes the entire mendation I.362 (1). Note that even though these AAL 48-octet payload of the ATM cell to the SAR-SDU; there is service classes are similar in many ways to the ATM layer no overhead. An AAL speciﬁc ﬂag (end-of-frame) in the service categories deﬁned in the previous section, they are not the same; each exists at a different layer of the protocol reference model, and each requires a different set of func- tions. Figure 6. SAR-SDU format for AAL Type 5. ASYNCHRONOUS TRANSFER MODE NETWORKS 5 the CS-PDU, and handling of lost and misinserted cells. At the time of writing, both the SAR-SDU and CS-PDU for- mats for AAL Type 2 are still under discussion. AAL Type 3/4. AAL Type 3/4 mainly supports services that require no timing relation between the source and destination (classes C and D). At the SAR sublayer, it deﬁnes a 48-octet service data unit, with 44 octets of user payload; a 2-bit payload type ﬁeld to indicate whether the SDU is at the beginning, middle, or end of a CS-PDU; a 4-bit cell sequence number; a 10-bit multiplexing identiﬁer that allows several CS-PDUs to be multiplexed over a single Figure 7. CS-PDU format, segmentation and reassembly of AAL VC; a 6-bit cell payload length indicator; and a 10-bit CRC Type 5. code that covers the payload. The CS-PDU format allows for up to 65535 octets of user payload and contains a header and trailer to delineate the PDU. The functions that AAL Type 3/4 performs include seg- ATM PT ﬁeld of the cell header is set when the last cell of a mentation and reassembly of variable-length user data and CS-PDU is sent. The reassembly of CS-PDU frames at the error handling. It supports message mode (for framed data destination is controlled by using this ﬂag. transfer) as well as streaming mode (for streamed data Figure 7 depicts the CS-PDU format for AAL Type 5 transfer). Because Type 3/4 is mainly intended for data (5,6). It contains the user data payload, along with any services, it provides a retransmission mechanism if neces- necessary padding bits (PAD) and a CS-PDU trailer, which sary. are added by the CS sublayer when it receives the user information from the higher layer. The CS-PDU is padded ATM Signaling using 0 to 47 bytes of PAD ﬁeld to make the length of the CS- ATM follows the principle of out-of-band signaling that was PDU an integral multiple of 48 bytes (the size of the SAR- established for N-ISDN. In other words, signaling and data SDU payload). At the receiving end, a reassembled PDU is channels are separate. The main purposes of signaling are passed to the CS sublayer from the SAR sublayer, and CRC (1) to establish, maintain, and release ATM virtual con- values are then calculated and compared. If there is no nections and (2) to negotiate (or renegotiate) the trafﬁc error, the PAD ﬁeld is removed by using the value of length parameters of new (or existing) connections (7). The ATM ﬁeld (LF) in the CS-PDU trailer, and user data is passed to signaling standards support the creation of point-to-point the higher layer. If an error is detected, the erroneous as well as multicast connections. Typically, certain VCI and information is either delivered to the user or discarded VPI values are reserved by ATM networks for signaling according to the user’s choice. The use of the CF ﬁeld is messages. If additional signaling VCs are required, they for further study. may be established through the process of metasignaling. AAL Type 1. AAL Type 1 supports constant bit rate services with a ﬁxed timing relation between source and ATM TRAFFIC CONTROL destination users (class A). At the SAR sublayer, it deﬁnes a 48-octet service data unit (SDU), which contains 47 octets of The control of ATM trafﬁc is complicated as a result of user payload, 4 bits for a sequence number, and a 4-bit CRC ATM’s high-link speed and small cell size, the diverse value to detect errors in the sequence number ﬁeld. AAL service requirements of ATM applications, and the diverse Type 1 performs the following services at the CS sublayer: characteristics of ATM trafﬁc. Furthermore, the conﬁgura- forward error correction to ensure high quality of audio and tion and size of the ATM environment, either local or wide video applications, clock recovery by monitoring the buffer area, has a signiﬁcant impact on the choice of trafﬁc control ﬁlling, explicit time indication by inserting a time stamp in mechanisms. the CS-PDU, and handling of lost and misinserted cells that The factor that most complicates trafﬁc control in ATM are recognized by the SAR. At the time of writing, the CS- is its high-link speed. Typical ATM link speeds are 155.52 PDU format has not been decided. Mbit/s and 622.08 Mbit/s. At these high-link speeds, 53- byte ATM cells must be switched at rates greater than one AAL Type 2. AAL Type 2 supports variable bit rate cell per 2.726 ms or 0.682 ms, respectively. It is apparent services with a timing relation between source and desti- that the cell processing required by trafﬁc control must nation (class B). AAL Type 2 is nearly identical to AAL Type perform at speeds comparable to these cell-switching rates. 1, except that it transfers service data units at a variable bit Thus, trafﬁc control should be simple and efﬁcient, without rate, not at a constant bit rate. Furthermore, AAL Type 2 excessive software processing. accepts variable length CS-PDUs, and thus, there may Such high speeds render many traditional trafﬁc control exist some SAR-SDUs that are not completely ﬁlled with mechanisms inadequate for use in ATM because of their user data. The CS sublayer for AAL Type 2 performs the reactive nature. Traditional reactive trafﬁc control following functions: forward error correction for audio and mechanisms attempt to control network congestion by video services, clock recovery by inserting a time stamp in responding to it after it occurs and usually involves sending 6 ASYNCHRONOUS TRANSFER MODE NETWORKS feedback to the source in the form of a choke packet. call at the time of call set-up. This decision is based on the However, a large bandwidth-delay product (i.e., the trafﬁc characteristics of the new call and the current net- amount of trafﬁc that can be sent in a single propagation work load. Usage parameter control enforces the trafﬁc delay time) renders many reactive control schemes ineffec- parameters of the call after it has been accepted into the tive in high-speed networks. When a node receives feed- network. This enforcement is necessary to ensure that the back, it may have already transmitted a large amount of call’s actual trafﬁc ﬂow conforms with that reported during data. Consider a cross-continental 622 Mbit/s connection call admission. with a propagation delay of 20 ms (propagation-bandwidth Before describing call admission and usage parameter product of 12.4 Mbit). If a node at one end of the connection control in more detail, it is important to ﬁrst discuss the experiences congestion and attempts to throttle the source nature of multimedia trafﬁc. Most ATM trafﬁc belongs to at the other end by sending it a feedback packet, the source one of two general classes of trafﬁc: continuous trafﬁc and will already have transmitted over 12 Mb of information bursty trafﬁc. Sources of continuous trafﬁc (e.g., constant before feedback arrives. This example illustrates the inef- bit rate video, voice without silence detection) are easily fectiveness of traditional reactive trafﬁc control mechan- handled because their resource utilization is predictable isms in high-speed networks and argues for novel and they can be deterministically multiplexed. However, mechanisms that take into account high propagation-band- bursty trafﬁc (e.g., voice with silence detection, variable bit width products. rate video) is characterized by its unpredictability, and this Not only is trafﬁc control complicated by high speeds, kind of trafﬁc complicates preventive trafﬁc control. but it also is made more difﬁcult by the diverse QoS require- Burstiness is a parameter describing how densely or ments of ATM applications. For example, many applica- sparsely cell arrivals occur. There are a number of ways to tions have strict delay requirements and must be delivered express trafﬁc burstiness, the most typical of which are the within a speciﬁed amount of time. Other applications have ratio of peak bit rate to average bit rate and the average strict loss requirements and must be delivered reliably burst length. Several other measures of burstiness have without an inordinate amount of loss. Trafﬁc controls also been proposed (8). It is well known that burstiness must address the diverse requirements of such applica- plays a critical role in determining network performance, tions. and thus, it is critical for trafﬁc control mechanisms to Another factor complicating trafﬁc control in ATM net- reduce the negative impact of bursty trafﬁc. works is the diversity of ATM trafﬁc characteristics. In ATM networks, continuous bit rate trafﬁc is accompanied Call Admission Control. Call admission control is the by bursty trafﬁc. Bursty trafﬁc generates cells at a peak process by which the network decides whether to accept rate for a very short period of time and then immediately or reject a new call. When a new call requests access to the becomes less active, generating fewer cells. To improve the network, it provides a set of trafﬁc descriptors (e.g., peak efﬁciency of ATM network utilization, bursty calls should rate, average rate, average burst length) and a set of quality be allocated an amount of bandwidth that is less than their of service requirements (e.g., acceptable cell loss rate, peak rate. This allows the network to multiplex more calls acceptable cell delay variance, acceptable delay). The net- by taking advantage of the small probability that a large work then determines, through signaling, if it has enough number of bursty calls will be simultaneously active. This resources (e.g., bandwidth, buffer space) to support the new type of multiplexing is referred to as statistical multiplex- call’s requirements. If it does, the call is immediately ing. The problem then becomes one of determining how best accepted and allowed to transmit data into the network. to multiplex bursty calls statistically such that the number Otherwise it is rejected. Call admission control prevents of cells dropped as a result of excessive burstiness is network congestion by limiting the number of active con- balanced with the number of bursty trafﬁc streams allowed. nections in the network to a level where the network Addressing the unique demands of bursty trafﬁc is an resources are adequate to maintain quality of service guar- important function of ATM trafﬁc control. antees. For these reasons, many trafﬁc control mechanisms One of the most common ways for an ATM network to developed for existing networks may not be applicable to make a call admission decision is to use the call’s trafﬁc ATM networks, and therefore novel forms of trafﬁc control descriptors and quality of service requirements to predict are required (8,9). One such class of novel mechanisms that the ‘‘equivalent bandwidth’’ required by the call. The work well in high-speed networks falls under the heading of equivalent bandwidth determines how many resources preventive control mechanisms. Preventive control need to be reserved by the network to support the new attempts to manage congestion by preventing it before it call at its requested quality of service. For continuous, occurs. Preventive trafﬁc control is targeted primarily at constant bit rate calls, determining the equivalent band- real-time trafﬁc. Another class of trafﬁc control mechan- width is simple. It is merely equal to the peak bit rate of the isms has been targeted toward non-real-time data trafﬁc call. For bursty connections, however, the process of deter- and relies on novel reactive feedback mechanisms. mining the equivalent bandwidth should take into account such factors as a call’s burstiness ratio (the ratio of peak bit Preventive Trafﬁc Control rate to average bit rate), burst length, and burst interarri- val time. The equivalent bandwidth for bursty connections Preventive control for ATM has two major components: call must be chosen carefully to ameliorate congestion and cell admission control and usage parameter control (8). Admis- loss while maximizing the number of connections that can sion control determines whether to accept or reject a new be statistically multiplexed. ASYNCHRONOUS TRANSFER MODE NETWORKS 7 for violating cells. When trafﬁc is bursty, a large number of cells may be generated in a short period of time, while conforming to the trafﬁc parameters claimed at the time of call admission. In such situations, none of these cells should be considered violating cells. Yet in actual practice, leaky bucket may erroneously identify such cells as violations of admission parameters. A virtual leaky bucket mechanism (also referred to as a marking method) alleviates these Figure 8. Leaky bucket mechanism. disadvantages (11). In this mechanism, violating cells, rather than being discarded or buffered, are permitted to enter the network at a lower priority (CLP ¼ 1). These violating cells are discarded only when they arrive at a Usage Parameter Control. Call admission control is congested node. If there are no congested nodes along the responsible for admitting or rejecting new calls. However, routes to their destinations, the violating cells are trans- call admission by itself is ineffective if the call does not mitted without being discarded. The virtual leaky bucket transmit data according to the trafﬁc parameters it pro- mechanism can easily be implemented using the leaky vided. Users may intentionally or accidentally exceed the bucket method described earlier. When the queue length trafﬁc parameters declared during call admission, thereby exceeds a threshold, cells are marked as ‘‘droppable’’ overloading the network. In order to prevent the network instead of being discarded. The virtual leaky bucket method users from violating their trafﬁc contracts and causing the not only allows the user to take advantage of a light network network to enter a congested state, each call’s trafﬁc ﬂow is load but also allows a larger margin of error in determining monitored and, if necessary, restricted. This is the purpose the token pool parameters. of usage parameter control. (Usage parameter control is also commonly referred to as policing, bandwidth enforce- Reactive Trafﬁc Control ment, or ﬂow enforcement.) Preventive control is appropriate for most types of ATM To monitor a call’s trafﬁc efﬁciently, the usage para- trafﬁc. However, there are cases where reactive control is meter control function must be located as close as possible beneﬁcial. For instance, reactive control is useful for service to the actual source of the trafﬁc. An ideal usage parameter classes like ABR, which allow sources to use bandwidth not control mechanism should have the ability to detect para- being used by calls in other service classes. Such a service meter-violating cells, appear transparent to connections would be impossible with preventive control because the respecting their admission parameters, and rapidly amount of unused bandwidth in the network changes respond to parameter violations. It should also be simple, dynamically, and the sources can only be made aware of fast, and cost effective to implement in hardware. To meet the amount through reactive feedback. these requirements, several mechanisms have been pro- There are two major classes of reactive trafﬁc control posed and implemented (8). mechanisms: rate-based and credit-based (12,13). Most The leaky bucket mechanism (originally proposed in rate-based trafﬁc control mechanisms establish a closed Ref. 10) is a typical usage parameter control mechanism feedback loop in which the source periodically transmits used for ATM networks. It can simultaneously enforce the special control cells, called resource management cells, to average bandwidth and the burst factor of a trafﬁc source. the destination (or destinations). The destination closes the One possible implementation of the leaky bucket mechan- feedback loop by returning the resource management cells ism is to control the trafﬁc ﬂow by means of tokens. A to the source. As the feedback cells traverse the network, conceptual model for the leaky bucket mechanism is the intermediate switches examine their current conges- illustrated in Fig. 5. tion state and mark the feedback cells accordingly. When In Fig. 8, an arriving cell ﬁrst enters a queue. If the the source receives a returning feedback cell, it adjusts its queue is full, cells are simply discarded. To enter the net- rate, either by decreasing it in the case of network conges- work, a cell must ﬁrst obtain a token from the token pool; if tion or increasing it in the case of network underuse. An there is no token, a cell must wait in the queue until a new example of a rate-based ABR algorithm is the Enhanced token is generated. Tokens are generated at a ﬁxed rate Proportional Rate Control Algorithm (EPRCA), which was corresponding to the average bit rate declared during call proposed, developed, and tested through the course of ATM admission. If the number of tokens in the token pool exceeds Forum activities (12). some predeﬁned threshold value, token generation stops. Credit-based mechanisms use link-by-link trafﬁc con- This threshold value corresponds to the burstiness of the trol to eliminate loss and optimize use. Intermediate transmission declared at call admission time; for larger switches exchange resource management cells that contain threshold values, a greater degree of burstiness is allowed. ‘‘credits,’’ which reﬂect the amount of buffer space available This method enforces the average input rate while allowing at the next downstream switch. A source cannot transmit a for a certain degree of burstiness. new data cell unless it has received at least one credit from One disadvantage of the leaky bucket mechanism is that its downstream neighbor. An example of a credit-based the bandwidth enforcement introduced by the token pool is mechanism is the Quantum Flow Control (QFC) algorithm, in effect even when the network load is light and there is no developed by a consortium of reseachers and ATM equip- need for enforcement. Another disadvantage of the leaky ment manufacturers (13). bucket mechanism is that it may mistake nonviolating cells 8 ASYNCHRONOUS TRANSFER MODE NETWORKS HARDWARE SWITCH ARCHITECTURES FOR ATM NETWORKS In ATM networks, information is segmented into ﬁxed- length cells, and cells are asynchronously transmitted through the network. To match the transmission speed of the network links and to minimize the protocol proces- sing overhead, ATM performs the switching of cells in hardware-switching fabrics, unlike traditional packet switching networks, where switching is largely performed in software. A large number of designs has been proposed and imple- mented for ATM switches (14). Although many differences exist, ATM switch architectures can be broadly classiﬁed Figure 10. A 8 Â 8 Banyan switch with binary switching ele- into two categories: asynchronous time division (ATD) and ments. space-division architectures. Asynchronous Time Division Switches switched through the fabric. Three typical types of space- division switches are described next. The ATD, or single path, architectures provide a single, multiplexed path through the ATM switch for all cells. Banyan Switches. Banyan switches are examples of Typically a bus or ring is used. Figure 9 shows the basic space-division switches. An N Â N Banyan switch is con- structure of the ATM switch proposed in (15). In Fig. 6, four structed by arranging a number of binary switching ele- input ports are connected to four output ports by a time- ments into several stages (log2N stages). Figure 10 depicts division multiplexing (TDM) bus. Each input port is allo- an 8 Â 8 self-routing Banyan switch (14). The switch fabric cated a ﬁxed time slot on the TDM bus, and the bus is is composed of twelve 2 Â 2 switching elements assembled designated to operate at a speed equal to the sum of the into three stages. From any of the eight input ports, it is incoming bit rates at all input ports. The TDM slot sizes are possible to reach all the eight output ports. One desirable ﬁxed and equal in length to the time it takes to transmit one characteristic of the Banyan switch is that it is self-routing. ATM cell. Thus, during one TDM cycle, the four input ports Because each cross-point switch has only two output lines, can transfer four ATM cells to four output ports. only one bit is required to specify the correct output path. In ATD switches, the maximum throughput is deter- Very simply, if the desired output addresses of a ATM cell is mined by a single, multiplexed path. Switches with N input stored in the cell header in binary code, routing decisions ports and N output ports must run at a rate N times faster for the cell can be made at each cross-point switch by than the transmission links. Therefore, the total through- examining the appropriate bit of the destination address. put of ATD ATM switches is bounded by the current cap- Although the Banyan switch is simple and possesses abilities of device logic technology. Commercial examples of attractive features such as modularity, which makes it ATD switches are the Fore Systems ASX switch and Digi- suitable for VLSI implementation, it also has some disad- tal’s VNswitch. vantages. One of its disadvantages is that it is internally blocking. In other words, cells destined for different output Space-Division Switches ports may contend for a common link within the switch. To eliminate the single-path limitation and increase total This results in blocking all cells that wish to use that link, throughput, space-division ATM switches implement mul- except for one. Hence, the Banyan switch is referred to as a tiple paths through switching fabrics. Most space-division blocking switch. In Fig. 10, three cells are shown arriving switches are based on multistage interconnection net- on input ports 1, 3, and 4 with destination port addresses of works, where small switching elements (usually 2 Â 2 0, 1, and 5, respectively. The cell destined for output port 0 cross-point switches) are organized into stages and provide and the cell destined for output port 1 end up contending for multiple paths through a switching fabric. Rather than the link between the second and third stages. As a result, being multiplexed onto a single path, ATM cells are space- only one of them (the cell from input port 1 in this example) actually reaches its destination (output port 0), while the other is blocked. Batcher–Banyan Switches. Another example of space- division switches is the Batcher–Banyan switch (14). (See Fig. 11.) It consists of two multistage interconnection networks: a Banyan self-routing network and a Batcher sorting network. In the Batcher–Banyan switch, the incom- ing cells ﬁrst enter the sorting network, which takes the cells and sorts them into ascending order according to their output addresses. Cells then enter the Banyan network, Figure 9. A 4 Â 4 asynchronous time division switch. which routes the cells to their correct output ports. ASYNCHRONOUS TRANSFER MODE NETWORKS 9 more cells may still contend for the same output port in a nonblocking switch, resulting in the dropping of all but one cell. In order to prevent such loss, the buffering of cells by the switch is necessary. Figure 13 illustrates that buffers may be placed (1) in the inputs to the switch, (2) in the outputs to the switch, or (3) within the switching fabric itself, as a shared buffer (14). Some switches put buffers in both the input and output ports of a switch. Figure 11. Batcher–Banyan switch. The ﬁrst approach to eliminating output contention is to place buffers in the output ports of the switch (14). In the worst case, cells arriving simultaneously at all input ports As shown earlier, the Banyan switch is internally block- can be destined for a single output port. To ensure that no ing. However, the Banyan switch possesses an interesting cells are lost in this case, the cell transfer must be per- feature. Namely, internal blocking can be avoided if the formed at N times the speed of the input links, and the cells arriving at the Banyan switch’s input ports are sorted switch must be able to write N cells into the output buffer in ascending order by their destination addresses. The during one cell transmission time. Examples of output Batcher–Banyan switch takes advantage of this fact and buffered switches include the knockout switch by AT&T uses the Batcher soring network to sort the cells, thereby Bell Labs, the Siemens & Newbridge MainStreetXpress making the Batcher–Banyan switch internally nonblock- switches, the ATML’s VIRATA switch, and Bay Networks’ ing. The Starlite switch, designed by Bellcore, is based on Lattis switch. the Batcher–Banyan architecture (16). The second approach to buffering in ATM switches is to place the buffers in the input ports of the switch (14). Each Crossbar Switches. The crossbar switch interconnects N input has a dedicated buffer, and cells that would otherwise inputs and N outputs into a fully meshed topology; that is, be blocked at the output ports of the switch are stored in there are N2 cross points within the switch (14). (See input buffers. Commercial examples of switches with input Fig. 12.) Because it is always possible to establish a con- buffers as well as output buffers are IBM’s 8285 Nways nection between any arbitrary input and output pair, inter- switches, and Cisco’s Lightstream 2020 switches. nal blocking is impossible in a crossbar switch. A third approach is to use a shared buffer within the The architecture of the crossbar switch has some advan- switch fabric. In a shared buffer switch, there is no buffer at tages. First, it uses a simple two-state cross-point switch the input or output ports (14). Arriving cells are immedi- (open and connected state), which is easy to implement. ately injected into the switch. When output contention Second, the modularity of the switch design allows simple happens, the winning cell goes through the switch, while expansion. One can build a larger switch by simply adding the losing cells are stored for later transmission in a shared more cross-point switches. Lastly, compared to Banyan- buffer common to all of the input ports. Cells just arriving at based switches, the crossbar switch design results in low the switch join buffered cells in competition for available transfer latency, because it has the smallest number of outputs. Because more cells are available to select from, it is connecting points between input and output ports. One possible that fewer output ports will be idle when using the disadvantage to this design, however, is the fact that it shared buffer scheme. Thus, the shared buffer switch can uses the maximum number of cross points (cross-point achieve high throughput. However, one drawback is that switches) needed to implement an N Â N switch. cells may be delivered out of sequence because cells that The knockout switch by AT&T Bell Labs is a nonblock- arrived more recently may win over buffered cells during ing switch based on the crossbar design (17,18). It has N contention (19). Another drawback is the increase in the inputs and N outputs and consists of a crossbar-based number of input and output ports internal to the switch. switch with a bus interface module at each output (Fig. 12). The Starlite switch with trap by Bellcore is an example of the shared buffer switch architecture (16). Other examples Nonblocking Buffered Switches of shared buffer switches include Cisco’s Lightstream 1010 switches, IBM’s Prizma switches, Hitachi’s 5001 switches, Although some switches such as Batcher–Banyan and and Lucent’s ATM cell switches. crossbar switches are internally nonblocking, two or CONTINUING RESEARCH IN ATM NETWORKS ATM is continuously evolving, and its attractive ability to support broadband integrated services with strict quality of service guarantees has motivated the integration of ATM and existing widely deployed networks. Recent additions to ATM research and technology include, but are not limited to, seamless integration with existing LANs [e.g., LAN emulation (20)], efﬁcient support for traditional Internet IP networking [e.g., IP over ATM (21), IP switching (22)], Figure 12. A knockout (crossbar) switch. and further development of ﬂow and congestion control 10 ASYNCHRONOUS TRANSFER MODE NETWORKS Figure 13. Nonblocking buffered switches. algorithms to support existing data services [e.g., ABR ﬂow 12. ATM Forum, ATM Forum Trafﬁc management speciﬁcation control (12)]. Research on topics related to ATM networks is version 4.0, af-tm-0056.000, April 1996, Mountain View, CA: currently proceeding and will undoubtedly continue to ATM Forum. proceed as the technology matures. 13. Quantum Flow Control version 2.0, Flow Control Consortium, FCC-SPEC-95-1, [Online], July 1995. http://www.qfc.org 14. Y. Oie et al., Survey of switching techniques in high-speed BIBLIOGRAPHY networks and their performance, Int. J. Satellite Commun., 9: 285–303, 1991. 1. CCITT Recommendation I-Series. Geneva: International Tele- 15. M. De Prycker and M. De Somer, Performance of a service phone and Telegraph Consultative Committee. independent switching network with distributed control, IEEE 2. J. B. Kim, T. Suda and M. Yoshimura, International standar- J. Select. Areas Commun., 5: 1293–1301, 1987. dization of B-ISDN, Comput. Networks ISDN Syst., 27: 1994. 16. A. Huang and S. Knauer, Starlite: A wideband digital switch. 3. CCITT Recommendation G-Series. Geneva: International Tel- Proc. IEEE GLOBECOM’84, 1984. ephone and Telegraph Consultative Committee. 17. K. Y. Eng, A photonic knockout switch for high-speed packet 4. ATM Forum Technical Speciﬁcations [Online]. Available www: networks, IEEE J. Select. Areas Commun., 6: 1107–1116, 1988. www.atmforum.com 18. Y. S. Yeh, M. G. Hluchyj, and A. S. Acampora, The knockout 5. Report of ANSI T1S1.5/91-292, Simple and Efﬁcient Adapta- switch: A simple, modular architecture for high-performance tion Layer (SEAL), August 1991. packet switching, IEEE J. Select. Areas Commun., 5: 1274– 6. Report of ANSI T1S1.5/91-449, AAL5—A New High Speed 1283, 1987. Data Transfer, November 1991. 19. J. Y. Hui and E. Arthurs, A broadband packet switch for 7. CCITT Recommendation Q-Series. 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University of California, Irvine Irvine, California A AIRCRAFT COMPUTERS smaller, more powerful, and easier to integrate into multi- ple areas of aircraft applications. AIRCRAFT ANALOG COMPUTERS Landau (1) deﬁnes a digital computer as a computer for processing data represented by discrete, localized physical Early aircraft computers were used to take continuous signals, such as the presence or absence of an electric streams of inputs to provide ﬂight assistance. Examples current. These signals are represented as a series of bits of aircraft analog inputs are fuel gauge readings, throttle with word lengths of 16, 32, and 64 bits. See micro- settings, and altitude indicators. Landau (1) deﬁnes an computers for further discussion. analog computer as a computer for processing data repre- Wakerly (2) shows number systems and codes used to sented by a continuous physical variable, such as electric process binary digits in digital computers. Some impor- current. Analog computers monitor these inputs and imple- tant number systems used in digital computers are binary, ment a predetermined service when some set of inputs calls octal, and hexadecimal numbers. He also shows conver- for a ﬂight control adjustment. For example, when fuel sion between these and base-10 numbers, as well as simple levels are below a certain point, the analog computer would mathematical operations such as addition, subtraction, read a low fuel level in the aircraft’s main fuel tanks and division, and multiplication. The American Standard Code would initiate the pumping of fuel from reserve tanks or the for Information Interchange (ASCII) of the American balancing of fuel between wing fuel tanks. Some of the ﬁrst National Standard Institute (ANSI) is also presented, applications of analog computers to aircraft applications which is Standard No. X3.4-1968 for numerals, symbols, were for automatic pilot applications, where these analog characters, and control codes used in automatic data machines took ﬂight control inputs to hold altitude and processing machines, including computers. Figure 1 shows course. The analog computers use operational ampliﬁers to a typical aircraft central computer. build the functionality of summers, adders, subtracters, and integrators on the electric signals. Microcomputers The improvements in size, speed, and cost through compu- Aircraft Digital Computers ter technologies continually implement new computer con- As the technologies used to build digital computers evolved, sumer products. Many of these products were unavailable digital computers became smaller, lighter, and less power- to the average consumer until recently. These same break- hungry, and produced less heat. This improvement made throughs provide enormous functional improvements in them increasingly acceptable for aircraft applications. aircraft computing. Landau (1) deﬁnes microcomputers Digital computers are synonymous with stored-program as very small, relatively inexpensive computers whose computers. A stored-program computer has the ﬂexibility central processing unit (CPU) is a microprocessor. A of being able to accomplish multiple different tasks simply microprocessor (also called MPU or central processing by changing the stored program. Analog computers are unit) communicates with other devices in the system hard-wired to perform one and only one function. Analog through wires (or ﬁber optics) called lines. Each device computers’ data, as deﬁned earlier, are continuous physical has a unique address, represented in binary format, which variables. Analog computers may be able to recognize and the MPU recognizes. The number of lines is also the process numerous physical variables, but each variable has address size in bits. Early MPU machines had 8-bit its unique characteristics that must be handled during addresses. Machines of 1970 to 1980 typically had 16-bit processing by the analog computer. The range of output addresses; modern MPU machines have 256 bits. values for the analog computer is bounded as a given Common terminology for an MPU is random access voltage range; if they exceed this range, they saturate. memory (RAM), read only memory (ROM), input-output, Digital computers are not constrained by physical vari- clock, and interrupts. RAM is volatile storage. It holds both ables. All the inputs and outputs of the digital computer data and instructions for the MPU. ROM may hold both are in a digital representation. The processing logic and instructions and data. The key point of ROM is that it is algorithms performed by the computer work in a single nonvolatile. Typically, in an MPU, there is no operational representation of the cumulative data. It is not uncommon difference between RAM and ROM other than its volatility. to see aircraft applications that have analog-to-digital Input-output is how data are transferred to and from the and digital-to-analog signal converters. This method is microcomputer. Output may be from the MPU, ROM, or more efﬁcient than having the conversions done within RAM. Input may be from the MPU or the RAM. The clock of the computers. Analog signals to the digital computer an MPU synchronizes the execution of the MPU instruc- are converted to digital format, where they are quickly tions. Interrupts are inputs to the MPU that cause it to processed digitally and returned to the analog device (temporarily) suspend one activity in order to perform a through a digital-to-analog converter as an analog output more important activity. for that device to act upon. These digital computers are An important family of MPUs that greatly improved the performance of aircraft computers is the Motorola M6800 family of microcomputers. This family offered a series of 1 Wiley Encyclopedia of Computer Science and Engineering, edited by Benjamin Wah. Copyright # 2008 John Wiley & Sons, Inc. 2 AIRCRAFT COMPUTERS AVIONICS In the early years of aircraft ﬂight, technological innovation was directed at improving ﬂight performance through rapid design improvements in aircraft propulsion and airframes. Secondary development energies went to areas such as navigation, communication, munitions delivery, and target detection. The secondary functionality of aircraft evolved into the ﬁeld of avionics. Avionics now provides greater overall performance and accounts for a greater share of aircraft lifecycle costs than either propul- sion or airframe components. Landau (1) deﬁnes avionics [avi(ation) þ (electr)onics] as the branch of electronics dealing with the development and use of electronic equipment in aviation and astronautics. The ﬁeld of avionics has evolved rapidly as electronics has improved all aspects of aircraft ﬂight. New advances in these disciplines require avionics to control ﬂight stability, which was traditionally the pilot’s role. Aircraft Antennas An important aspect of avionics is receiving and transmit- ting electromagnetic signals. Antennas are devices for Figure 1. Typical aircraft central computer. transmitting and receiving radio-frequency (RF) energy from other aircraft, space applications, or ground applica- tions. Perry and Geppert (4) illustrate the aircraft electro- improvements in memory size, clock speeds, functionality, magnetic spectrum, inﬂuenced by the placement and usage and overall computer performance. of numerous antennas on a commercial aircraft. Golden (5) illustrates simple antenna characteristics of dipole, horn, Personal Computers cavity-backed spiral, parabola, parabolic cylinder, and Cassegrain antennas. Landau (1) deﬁnes personal computers as electronic Radiation pattern characteristics include elevation and machines that can be owned and operated by individuals azimuth. The typical antenna speciﬁcations are polariza- for home and business applications such as word proces- tion, beam width, gain, bandwidth, and frequency limit. sing, games, ﬁnance, and electronic communications. Computers are becoming increasingly important for the Hamacher et al. (3) explain that rapidly advancing very new generation of antennas, which include phased-array large-scale integrated circuit (VLSI) technology has antennas and smart-skin antennas. For phased-array resulted in dramatic reductions in the cost of computer antennas, computers are needed to conﬁgure the array hardware. The greatest impact has been in the area of small elements to provide direction and range requirements computing machines, where it has led to an expanding between the radar pulses. Smart-skin antennas comprise market for personal computers. the entire aircraft’s exterior fuselage surface and wings. The idea of a personally owned computer is fairly new. Computers are used to conﬁgure the portion of the aircraft The computational power available in handheld toys today surface needed for some sensor function. The computer also was only available through large, costly computers in handles sensor function prioritization and deinterleaving the late 1950s and early 1960s. Vendors such as Atari, of conﬂicting transmissions. Commodore, and Compaq made simple computer games household items. Performance improvements in memory, Aircraft Sensors throughput, and processing power by companies such as IBM, Intel, and Apple made facilities such as spreadsheets Sensors, the eyes and ears of an aircraft, are electronic for home budgets, automated tax programs, word proces- devices for measuring external and internal environmental sing, and three-dimensional virtual games common house- conditions. Sensors on aircraft include devices for sending hold items. The introduction of Microsoft’s Disk Operating and receiving RF energy. These types of sensors include System (DOS) and Windows has also added to the accep- radar, radio, and warning receivers. Another group of tance of the personal computers through access to software sensors are the infrared (IR) sensors, which include lasers applications. Improvements in computer technology offer and heat-sensitive sensors. Sensors are also used to mea- continual improvements, often multiple times a year. The sure direct analog inputs; altimeters and airspeed indica- durability and portability of these computers is beginning tors are examples. Many of the sensors used on aircraft to allow them to replace specialized aircraft computers have their own built-in computers for serving their own that had strict weight, size, power, and functionality functional requirements such as data preprocessing, ﬁlter- requirements. ing, and analysis. Sensors can also be part of a computer AIRCRAFT COMPUTERS 3 interface suite that provides key aircraft computers with Aircraft Navigation the direct environmental inputs they need to function. Navigation is the science of determining present location, desired location, obstacles between these locations, and Aircraft Radar best courses to take to reach these locations. An interesting Radar (radio detection and ranging) is a sensor that trans- pioneer of aircraft navigation was James Harold Doolittle mits RF energy to detect air and ground objects and deter- (1886–1993). Best known for his aircraft-carrier-based mines parameters such as the range, velocity, and direction bomber raid on Tokyo in World War II, General Doolittle of these objects. The aircraft radar serves as its primary received his Master’s and Doctor of Science degrees in sensor. Several services are provided by modern aircraft aeronautics from Massachusetts Institute of Technology, radar, including tracking, mapping, scanning, and identi- where he developed instrumental blind ﬂying in 1929. ﬁcation. Golden (5) states that radar is tasked either to He made navigation history by taking off, ﬂying a set detect the presence of a target or to determine its location. course, and landing without seeing the ground. For a Depending on the function emphasized, a radar system modern aircraft, with continuous changes in altitude, air- might be classiﬁed as a search or tracking radar. speed, and course, navigation is a challenge. Aircraft com- Stimson (6) describes the decibel (named after Alexander puters help meet this challenge by processing the multiple Graham Bell) as one of the most widely used terms in the inputs and suggesting aircrew actions to maintain course, design and description of radar systems. The decibel (dB) is a avoid collision and weather, conserve fuel, and suggest logarithmic unit originally devised to express power ratios, alternative ﬂight solutions. but also used to express a variety of other ratios. The power An important development in aircraft navigation is the ratio in dB is expressed as 10 log10 P2/P1, where P2 and P1 are Kalman ﬁlter. Welch and Bishop (7) state that in 1960, R.E. the power levels being compared. Expressed in terms of Kalman published his famous paper describing a recursive voltage, the gain is (V2/V1)2 dB provided the input voltage solution to the discrete-data linear ﬁltering problem. Since V1 and output voltage V2 are across equal resistances. that time, due in large part to advances in digital comput- Stimson (6) also explains the concept of the pulse repeti- ing, the Kalman ﬁlter has been the subject of extensive tion frequency (PRF), which is the rate at which a radar research and application, particularly in the area of auton- system’s pulses are transmitted: the number of pulses per omous or assisted navigation. The Kalman ﬁlter is a set of second. The interpulse period T of a radar is given by mathematical equations that provides an efﬁcient compu- T ¼ 1=PRF. For a PRF of 100 Hz, the interpulse period tational (recursive) implementation of the least-squares would be 0.01 s. method. The ﬁlter is very powerful in several aspects: It The Doppler Effect, as described by Stimson (6), is a shift supports estimation of past, present, and even future in the frequency of a radiated wave, reﬂected or received by states, and it can do so even when the precise nature of an object in motion. By sensing Doppler frequencies, radar the modeled system is unknown. not only can measure range rates, but can also separate The global positioning system (GPS) is a satellite refer- target echoes from clutter, or can produce high-resolution ence system that uses multiple satellite inputs to determine ground maps. Computers are required by an aircraft location. Many modern systems, including aircraft, are radar to make numerous and timely calculations with equipped with GPS receivers, which allow the system the received radar data, and to conﬁgure the radar to access to the network of GPS satellites and the GPS ser- meet the aircrew’s needs. vices. Depending on the quality and privileges of the GPS receiver, the system can have an instantaneous input of its Aircraft Data Fusion current location, course, and speed within centimeters of accuracy. GPS receivers, another type of aircraft computer, Data fusion is a method for integrating data from multiple can also be programmed to inform aircrews of services sources in order to give a comprehensive solution to a related to their ﬂight plan. problem (multiple inputs, single output). For aircraft com- Before the GPS receiver, the inertial navigation systems puters, data fusion speciﬁcally deals with integrating data (INS) were the primary navigation system on aircraft. Fink from multiple sensors such as radar and infrared sensors. and Christiansen (8) describe inertial navigation as the For example, in ground mapping, radar gives good surface most widely used ‘‘self-contained’’ technology. In the case of parameters, whereas the infrared sensor provides the an aircraft, the INS is contained within the aircraft, and is height and size of items in the surface area being investi- not dependent on outside inputs. Accelerometers con- gated. The aircraft computer takes the best inputs from stantly sense the vehicle’s movements and convert them, each sensor, provides a common reference frame to inte- by double integration, into distance traveled. To reduce grate these inputs, and returns a more comprehensive errors caused by vehicle attitude, the accelerometers are solution than either single sensor could have given. mounted on a gyroscopically controlled stable platform. Data fusion is becoming increasingly important as air- crafts’ evolving functionality depends on off-board data Aircraft Communications (information) sources. New information such as weather, ﬂight path re-routing, potential threats, target assignment, Communication technologies on aircraft are predominately and enroute fuel availability are communicated to the air- radio communication. This technology allows aircrews to craft from its command and control environment. The air- communicate with ground controllers and other aircraft. craft computer can now expand its own solution with these Aircraft computers help establish, secure, and amplify off-board sources. these important communication channels. 4 AIRCRAFT COMPUTERS These communication technologies are becoming in microseconds. These camps are now merging, because increasingly important as aircraft become interoperable. their requirements are converging. MIS increasingly needs As the dependency of aircraft on interoperability increases, real-time performance, while real-time systems are required the requirements to provide better, more reliable, secure to handle increased data processing workloads. The point-to-point aircraft communication also increases. The embedded information system addresses both needs. aircraft computer plays a signiﬁcant role in meeting this challenge by formatting and regulating this increased ﬂow Aircraft and the Year 2000 of information. The year 2000 (Y2K) was a major concern for the aircraft computer industry. Many of the embedded computers on Aircraft Displays aircraft and aircraft support functions were vulnerable to Displays are visual monitors in aircraft that present Y2K faults because of their age. The basic problem with desired data to aircrews and passengers. Adam and Gibson those computers was that a year was represented by its low- (9) illustrate F-15E displays used in the Gulf War. These order two digits. Instead of the year having four digits, illustrations show heads-up displays (HUDs), vertical these computers saved processing power by using the last situation displays, radar warning receivers, and low- two digits of the calendar year. For example, 1999 is repre- altitude navigation and targeting system (Lantirn) displays sented as 99, which is not a problem until you reach the year typical of modern ﬁghter aircraft. Sweet (10) illustrates the 2000, represented as 00. Even with this representation, displays of a Boeing 777, showing the digital bus interface to problems are limited to those algorithms sensitive to calen- the ﬂight-deck panels and an optical-ﬁber data distribution dar dates. An obvious problem is when an algorithm divides interface that meets industry standards. by the calendar date, which is division by 0. Division by 0 is an illegal computer operation, causing problems such as Aircraft Instrumentation inﬁnite loops, execution termination, and system failure. The most commonly mentioned issue is the subtraction of Instrumentation of an aircraft means installing data col- dates to determine time durations and to compare dates. The lection and analysis equipment to collect information about problem is not that the computer programs fail in a very the aircraft’s performance. Instrumentation equipment obvious way (e.g., divide-by-zero check) but rather that the includes various recorders for collecting real-time ﬂight program computes an incorrect result without any warning parameters such as position and airspeed. Instruments or indication of error. Lefkon and Payne (11) discuss Y2K also capture ﬂight control inputs, environmental para- and how to make embedded computers Y2K-compliant. meters, and any anomalies encountered in ﬂight test or in routine ﬂight. One method of overcoming this limitation Aircraft Application Program Interfaces is to link ﬂight instruments to ground recording systems, which are not limited in their data recording capacities. A An application programming interface (API) is conven- key issue here is the bandwidth between the aircraft being tionally deﬁned as an interface used by one program to tested and its ground (recording) station. This bandwidth is make use of the services of another program. The human limited and places important limitations on what can be interface to a system is usually referred to as the user recorded. This type of data link is also limited to the range of interface, or, less commonly, the human–computer inter- the link, limiting the aircraft’s range and altitude during face. Application programs are software written to solve this type of ﬂight test. Aircraft computers are used both in speciﬁc problems. For example, the embedded computer processing the data as they are being collected on the aircraft software that paints the artiﬁcial horizon on a heads-up and in analyzing the data after they have been collected. display is an application program. A switch that turns the artiﬁcial horizon on or off is an API. Gal-Oz and Isaacs (12) Aircraft Embedded Information Systems discuss APIs and how to relieve bottlenecks of software debugging. Embedded information system is the latest terminology for an embedded computer system. The software of the Aircraft Control embedded computer system is now referred to as embedded information. The purpose of the aircraft embedded infor- Landau (1) deﬁnes a control as an instrument or apparatus mation system is to process ﬂight inputs (such as sensor and used to regulate a mechanism or a device used to adjust or ﬂight control) into usable ﬂight information for further control a system. There are two concepts with control. One ﬂight system or aircrew use. The embedded information is the act of control. The other is the type of device used to system is a good example of the merging of two camps of enact control. An example of an act of control is when a pilot computer science applications. The ﬁrst, and larger, camp initiates changes to throttle and stick settings to alter ﬂight is the management of information systems (MIS). The MIS path. The devices of control, in this case, are the throttle dealt primarily with large volumes of information, with and stick. primary applications in business and banking. The timing Control can be active or passive. Active control is force- requirements of processing these large information records sensitive. Passive control is displacement-sensitive. are measured in minutes or hours. The second camp is the Mechanical control is the use of mechanical devices, real-time embedded computer camp, which was concerned such as levers or cams, to regulate a system. The earliest with processing a much smaller set of data, but in a very form of mechanical ﬂight control was wires or cables, used timely fashion. The real-time camp’s timing requirement is to activate ailerons and stabilizers through pilot stick and AIRCRAFT COMPUTERS 5 foot pedal movements. Today, hydraulic control, the use of among the pooled processors to decrease the time it takes to ﬂuids for activation, is typical. Aircraft control surfaces are form solutions. Usually, one of the processors acts as the connected to stick and foot pedals through hydraulic lines. lead processor, or master, while the other processor(s) act Pistons in the control surfaces are pushed or pulled by as slave(s). The master processor schedules the tasking and associated similar pistons in the stick or foot pedal. The integrates the ﬁnal results, which is particularly useful on control surfaces move accordingly. aircraft in that processors are distributed throughout the Electronic control is the use of electronic devices, such as aircraft. Some of these computers can be conﬁgured to be motors or relays, to regulate a system. A motor is turned on parallel processors, offering improved performance and by a switch, and it quickly changes control surfaces by redundancy. Aircraft system redundancy is important pulling or pushing a lever on the surface. Automatic control because it allows distributed parallel processors to be is a system-initiated control, which is a system-initiated reconﬁgured when there is a system failure. Reconﬁgur- response to a known set of environmental conditions. Auto- able computers are processors that can be reprogrammed matic control was used for early versions of automatic pilot to perform different functions and activities. Before com- systems, which tied ﬂight control feedback systems to puters, it was very difﬁcult to modify systems to adapt to altitude and direction indicators. The pilot sets his desired their changing requirements. A reconﬁgurable computer course and altitude, which is maintained through the ﬂight can be dynamically reprogrammed to handle a critical control’s automatic feedback system. situation, and then it can be returned to its original To understand the need for computers in these control conﬁguration. techniques, it is important to note the progression of the complexity of the techniques. The earliest techniques con- Aircraft Buses nected the pilot directly to his control surfaces. As the aircraft functionality increased, the pilot’s workload also Buses are links between computers (processors), sensors, increased, requiring his (or his aircrew’s) being free to and related subsystems for transferring data inputs and perform other duties. Additionally, ﬂight characteristics outputs. Fink and Christiansen (8) describe two primary became more complex, requiring more frequent and instan- buses as data buses and address buses. To complete the taneous control adjustments. The use of computers helped function of an MPU, a microprocessor must access memory offset and balance the increased workload in aircraft. The and peripheral devices, which is accomplished by placing application of computers to ﬂight control provides a means data on a bus, either an address bus or a data bus, depend- for processing and responding to multiple complex ﬂight ing on the function of the operation. The standard 16-bit control requirements. microprocessor requires a 16-line parallel bus for each function. An alternative is to multiplex the address or Aircraft Computer Hardware data bus to reduce the number of pin connections. Common buses in aircraft are the Military Standard 1553 Bus (Mil- For aircraft computers, hardware includes the processors, Std-1553) and the General-Purpose Interface Bus (GPIB), buses, and peripheral devices inputting to and outputting which is the IEEE Standard 488 Bus. from the computers. Landau (1) deﬁnes hardware as appa- ratus used for controlling a spacecraft; the mechanical, Aircraft Software magnetic, and electronic design, structure, and devices of a computer; and the electronic or mechanical equipment Landau (1) deﬁnes software as the programs, routines, and that uses cassettes, disks, and so on. The computers used so on for a computer. The advent of software has provided on an aircraft are called processors. The processor takes great ﬂexibility and adaptability to almost every aspect of inputs from peripheral devices and provides speciﬁc com- life, which is especially true in all areas of aerospace putational services for the aircraft. sciences, where ﬂight control, ﬂight safety, in-ﬂight enter- There are many types and functions of processors on an tainment, navigation, and communications are continu- aircraft. The most obvious processor is the central compu- ously being improved by software upgrades. ter, also called the mission computer. The central computer provides direct control and display to the aircrew. The Operation Flight Programs. An operational ﬂight pro- federated architecture (discussed in more detail later) is gram (OFP) is the software of an aircraft embedded com- based on the central computer directing the scheduling and puter system. An OFP is associated with an aircraft’s tasking of all the aircraft subsystems. Other noteworthy primary ﬂight processors, including the central computer, computers are the data processing and signal processing vertical and multiple display processors, data processors, computers of the radar subsystem and the computer of the signal processors, and warning receivers. Many OFPs in inertial navigation system. Processors are in almost every use today require dedicated software integrated support component of the aircraft. Through the use of an embedded environments to upgrade and maintain them as the mission processor, isolated components can perform independent requirements of their parent aircraft are modiﬁed. The functions as well as self-diagnostics. software integrated support environment [also called avio- Distributed processors offer improved aircraft perfor- nics integrated support environment (AISE), centralized mance and, in some cases, redundant processing capability. software support activity (CSSA), and software integration Parallel processors are two or more processors conﬁgured laboratory (SIL)] not only allows an OFP to be updated and to increase processing power by sharing tasks. The maintained, but also provides capabilities to perform unit workload of the shared processing activity is distributed 6 AIRCRAFT COMPUTERS testing, subsystem testing, and some of the integrated discussions of software lifecycle engineering and main- system testing. tenance are presented, and the concept of conﬁguration management is presented. Assembly Language. Assembly language is a machine The package concept is one of the most important devel- (processor) language that represents inputs and outputs opments to be found in modern programming languages, as digital data and that enables the machine to perform such as Ada, Modula-2, Turbo Pascal, Cþþ, and Eiffel. The operations with those data. For a good understanding of the designers of the different languages have not agreed on what Motorola 6800 Assembler Language, refer to Bishop (13). terms to use for this concept: Package, module, unit, and According to Seidman and Flores (14), the lowest-level class are commonly used. It is generally agreed, however, (closest to machine) language available to most computers that the package (as in Ada) is the essential programming is assembly language. When one writes a program in tool to be used for going beyond the programming of very assembly code, alphanumeric characters are used instead simple class exercises to what is generally called software of binary code. A special program called an assembler engineering or building production systems. Packages and (provided with the machine) is designed to take the assem- package-like mechanisms are important tools used in soft- bly statements and convert them to machine code. Assem- ware engineering to produce production systems. Feldman bly language is unique among programming languages in (17) illustrates the use of Ada packages to solve problems. its one-to-one correspondence between the machine code statements produced by the assembler and the original Databases. Database are essential adjuncts to computer assembly statements. In general, each line of assembly programming. Databases allow aircraft computer appli- code assembles into one machine statement. cations the ability to carry pertinent information (such as ﬂight plans or navigation waypoints) into their missions, Higher-Order Languages. Higher-order languages (HOLs) rather than generating them enroute. Databases also allow are computer languages that facilitate human language the aircrew to collect performance information about the structures to perform machine-level functions. Seidman aircraft’s various subsystems, providing a capability to and Flores (14) discuss the level of discourse of a pro- adjust the aircraft in ﬂight and avoid system failures. gramming language as its distance from the underlying Elmasri and Navathe (18) deﬁne a database as a collec- properties of the machine on which it is implemented. A tion of related data. Data are described as known facts that low-level language is close to the machine, and hence can be recorded and have implicit meaning. A simple provides access to its facilities almost directly; a high-level example consists of the names, telephone numbers, and language is far from the machine, and hence insulated addresses of an indexed address book. A database manage- from the machine’s peculiarities. A language may provide ment system (DBMS) is a collection of programs that enable both high-level and low-level constructs. Weakly typed users to create and maintain a database. The DBMS is languages are usually high-level, but often provide some hence a general-purpose software system that facilitates way of calling low-level subroutines. Strongly typed lan- the processes of deﬁning, constructing, and manipulating guages are always high-level, and they provide means for databases for various applications. deﬁning entities that more closely match the real-world objects being modeled. Fortran is a low-level language that Veriﬁcation and Validation. A signiﬁcant portion of the can be made to function as a high-level language by use of aircraft computer’s lifecycle cost is system and software subroutines designed for the application. APL, Sobol, and testing, performed in various combinations of unit-level, SETL (a set-theoretic language) are high-level languages subsystem-level, integrated-system-level, developmental, with fundamental data types that pervade their language. and operational testing. These types of tests occur fre- Pascal, Cobol, C, and PL/I are all relatively low-level lan- quently throughout the life of an aircraft system because guages, in which the correspondence between a program there are frequent upgrades and modiﬁcations to the air- and the computations it causes to be executed is fairly craft and its various subsystems. It is possible to isolate obvious. Ada is an interesting example of a language acceptance testing to particular subsystems when minor with both low-level properties and high-level properties. changes are made, but this is the exception. Usually, any Ada provides quite explicit mechanisms for specifying change made to a subsystem affects other multiple parts of the layout of data structures in storage, for accessing the system. As aircraft become increasingly dependent on particular machine locations, and even for communicating computers (which add complexity by the nature of their with machine interrupt routines, thus facilitating low-level interdependences), and as their subsystems become requirements. Ada’s strong typing qualities, however, also increasingly integrated, the impact of change also qualify it as a high-level language. increases drastically. Cook (19) shows that a promising High-level languages have far more expressive power technology to help understand the impact of aircraft com- than low-level languages, and the modes of expression puter change is the Advanced Avionics Veriﬁcation and are well integrated into the language. One can write quite Validation (AAV&V) program developed by the Air Force short programs that accomplish very complex operations. Research Laboratory. Gonzalez (15) developed an Ada Programmer’s Handbook Sommerville (20) develops the concepts of program ver- that presents the terminology of the HOL Ada and exam- iﬁcation and validation. Veriﬁcation involves checking ples of its use. He also highlights some of the common that the program conforms to its speciﬁcation. Validation programmer errors and examples of those errors. Sodhi involves checking that the program as implemented meets (16) discusses the advantages of using Ada. Important the expectations of the user. AIRCRAFT COMPUTERS 7 mendous opportunities to capture complex representations of data and then save these representations in reusable objects. Instead of using several variables and interactions to describe some item or event, this same item or event is described as an object. The object contains its variables, control-ﬂow representations, and data-ﬂow representa- tions. The object is a separable program unit, which can be reused, reengineered, and archived as a program unit. The power of this type of programming is that when large libraries of OO programming units are created, they can be called on to greatly reduce the workload of computer soft- ware programming. Gabel (21) says that OO technology lets an object (a software entity consisting of the data for an action and the associated action) be reused in different parts of the application, much as an engineered hardware product can use a standard type of resistor or micropro- cessor. Elmasri and Navathe (18) describe an OO database Figure 2. An aircraft avionics support bench. as an approach with the ﬂexibility to handle complex requirements without being limited by the data types and Figure 2 shows an aircraft avionics support bench, query languages available in traditional database systems. which includes real components from the aircraft such as the FCC line replaceable unit (LRU) sitting on top of the Open System Architecture. Open system architecture is pictured equipment. Additional equipment includes the a design methodology that keeps options for updating sys- buses, cooling, and power connection interfaces, along tems open by providing liberal interfacing standards. with monitoring and displays. On these types of benches, Ralston and Reilly (22) state that open architectures per- it is common to emulate system and subsystem responses tain primarily to personal computers. An open architecture with testing computers such as the single-board computers is one that allows the installation of additional logic illustrated. cards in the computer chassis beyond those used with Figure 3 shows another veriﬁcation and validation asset the most primitive conﬁguration of the system. The cards called the workstation-based support environment. This are inserted into slots in the computer’s motherboard—the environment allows an integrated view of the aircraft’s main logic board that holds its CPU and memory chips. A performance by providing simulations of the aircraft’s computer vendor that adopts such a design knows that, controls and displays on computer workstations. The because the characteristics of the motherboard will be simulation is interfaced with stick and throttle controls, public knowledge, other vendors that wish to do so can vertical situation displays, and touch-screen avionics design and market customized logic cards. Open system switch panels. architectures are increasingly important in modern air- craft applications because of the constant need to upgrade Object-Oriented Technology. Object-oriented (OO) tech- these systems and use the latest technical innovations. It is nology is one of the most popular computer topics of the extremely difﬁcult to predict interconnection and growth 1990s. OO languages such as Cþþ and Ada 95 offer tre- requirements for next-generation aircraft, which is exactly what an open architecture attempts to avoid the need for. Client-Server Systems. A client-server system is one in which one computer provides services to another computer on a network. Ralston and Reilly (22) describe the ﬁle- server approach as an example of client-server interaction. Clients executing on the local machine forward all ﬁle requests (e.g., open, close, read, write, and seek) to the remote ﬁle server. The server accepts a client’s requests, performs its associated operation, and returns a response to the client. Indeed, if the client software is structured transparently, the client need not even be aware that ﬁles being accessed physically reside on machines located else- where on the network. Client-server systems are being applied on modern aircraft, where highly distributed resources and their aircrew and passenger services are networked to application computers. Subsystems. The major subsystems of an aircraft are its Figure 3. A workstation-based aircraft avionics support envi- airframe, power plant, avionics, landing gear, and controls. ronment. Landau (1) deﬁnes a subsystem as any system that is part of

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