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From Camac to Wireless Sensor Networks and Time- Triggered Systems and Beyond: Evolution of Computer Interfaces for Data Acquisition and Control

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From Camac to Wireless Sensor Networks and Time- Triggered Systems and Beyond: Evolution of Computer Interfaces for Data Acquisition and Control Janusz Zalewski / International Journal of Computing, 15(2) 2016, 92-106 Print ISSN 1727-6209 [email protected] On-line ISSN 2312-5381 www.computingonline.net International Journal of Computing FROM CAMAC TO WIRELESS SENSOR NETWORKS AND TIME- TRIGGERED SYSTEMS AND BEYOND: EVOLUTION OF COMPUTER INTERFACES FOR DATA ACQUISITION AND CONTROL. PART I Janusz Zalewski Dept. of Software Engineering, Florida Gulf Coast University Fort Myers, FL 33965, USA [email protected], http://www.fgcu.edu/zalewski/ Abstract: The objective of this paper is to present a historical overview of design choices for data acquisition and control systems, from the first developments in CAMAC, through the evolution of their designs operating in VMEbus, Firewire and USB, to the latest developments concerning distributed systems using, in particular, wireless protocols and time-triggered architecture. First part of the overview is focused on connectivity aspects, including buses and interconnects, as well as their standardization. More sophisticated designs and a number of challenges are addressed in the second part, among them: bus performance, bus safety and security, and others. Copyright © Research Institute for Intelligent Computer Systems, 2016. All rights reserved. Keywords: Data Acquisition, Computer Control, CAMAC, Computer Buses, VMEbus, Firewire, USB. 1. INTRODUCTION which later became international standards adopted by IEC and IEEE [4]-[7]. The design and development of data acquisition The CAMAC standards played a significant role and control systems has been driven by applications. in developing data acquisition and control The earliest and most prominent of those were instrumentation not only for nuclear research, but applications in scientific experimentation, which also for research in general and for industry as well arose in the early sixties of the previous century, [8]. They helped realize how important it is to have where a number of fast changing signals had to be compatible equipment from different manufacturers sampled periodically and stored over a short time to build and configure entire systems, tailored interval. This need combined with “the continuing downward trend in the size and price of towards requirements specific to given applications. minicomputers and their flexibility and capacity for This trend was followed by a proliferation of other data handling” has led to the introduction of digital standards, which were developed either to keep up techniques in laboratory automation [1]. This has with advances in technology, such as VMEbus, or become particularly evident in the areas, such as with a demand of specific application areas, such as chemistry, biochemistry, medicine, and nucleonics, GPIB, or just with the evolution of new concepts in where data collection and processing, often for engineering, such as PCI [9]. spectral analysis, are commonplace. Especially The objective of this paper is to overview the demanding were data acquisition requirements for development of data acquisition and control systems experiments in physics, mostly in high-energy and from a historical perspective, focusing on the nuclear physics [2]. evolution of design concepts. The paper is This demand, which came from multiple nuclear structured as follows. The next two sections describe research laboratories around the world that worked briefly basic concepts of data acquisition and on joint experiments and required standardized control, and give an overview of their utilization in digital equipment, led to the formation of ESONE designing the CAMAC system. Section 4 discusses Committee (European Standards On Nuclear bus design principles based on the example of Electronics). The ESONE committee was Multibus II design, and Section 5 continues with established in 1961 [3] and its major VMEbus case study. Section 6 covers standards accomplishment was the development of a number relevant to serial buses: Firewire (IEEE-1394) and of standard documents for Computer Automated USB. The final section presents paper summary and Measurement And Control, known as CAMAC, conclusions. 92 Janusz Zalewski / International Journal of Computing, 15(2) 2016, 92-106 2. PRINCIPLES OF DATA ACQUISITION regarding dependability (in nuclear reactor control). AND CONTROL Therefore, it is worthwhile to address this specific area, because challenges the designers and engineers General principles of data acquisition and control of these systems are facing help in understanding the are widely known and additionally covered in entire spectrum of applications and facilitate multiple publications, including books and tutorials, developing systems for all of those. so this section only overviews the basic concepts Historically, the first data acquisition system in and outlines the rules of connectivity, which are physics was conceived in 1919 [12] (Fig. 2). As essential in building systems. LeCroy stated it [13]: “even though the technology A general view of a data acquisition and control has changed a lot since 1919, the fundamental pieces system is shown in Fig. 1 [10]. The essential of this little circuit are still employed in every high- components include the Plant (or Experiment), with energy physics experiment”. The detector (E) plays respective sensors (marked with an empty circle) the role of a sensor, in modern terms. As another providing values of measured variables (quantities) paper explains it [14], it is connected to a and actuators (marked with a filled circle) delivering programmable trigger (HR, for High Resistance) and control signals from the Controller to the Plant. Two analog front-end electronics (G, for Geiger tube), variations of this system are common: plain data through which the signal is acquired by an amplifier acquisition system, when there are no Command (vacuum tube, which plays a role of an analog Signals from the Controller to the Plant, and a processor), and then directed to an actuator, which is programmed control system, when there are no a relay (R), and through a local circuit (LC) recorded measured values delivered from sensors to the on analog media (P for Pen). Controller (as in the case of numerical control or 3D printing, for example). Fig. 1 – Generic Example of a Data Acquisition and Control System Fig. 2 – First documented example of a data acquisition system for a nuclear experiment [12] The path of a signal representing the measured variable, from the sensor to the controller is not as The growing demand for acquiring and handling trivial as it appears in Fig. 1, and involves normally, multiple quantities at the same time for a single either discrete or integrated electronics, in a form of experiment, associated with the progress in digital transducers, amplifiers, filters, multiplexers, sample- technology, led to the necessity of developing and-hold circuits and analog-to-digital converters systems, which could handle multiple instruments that adjust the raw signal to be represented digitally simultaneously. Since traditional computers were in a form acceptable for processing by the Controller designed for data processing and not for acquiring and for storage. Similarly, command signals from experimental data online, scientists and engineers in the Controller to the actuators require some the field of laboratory automation began paving their electronic circuits to make them acceptable for the own ways into designing systems that would plant; this varies depending on the type of actuator interface measuring equipment to computers. and may involve digital-to-analog conversion, pulse In contemporary experiments, depending on the signals, etc. Signals in both directions can be also number of measured variables, which can be exten- plain digital, as opposed to analog form. sive, and the speed of their changes, as well as Out of many fields where data acquisition and required frequencies of recording, the sophistication control systems are applied, the most demanding are of computing systems may become significant. To physics and nuclear applications, due to their accommodate this need, special computer archi- massive amounts of data (for example, in high- tecture was developed based on a concept of a bus, energy physics [2],[11]) and specific concerns to allow handling multiple data sources at a time. 93 Janusz Zalewski / International Journal of Computing, 15(2) 2016, 92-106 3. THE DEVELOPMENT OF CAMAC 3.1 PRINCIPLE AND OPERATION The initial CAMAC standard [4]-[7] was CAMAC was specified at three different levels: developed in response to urgent need, in the sixties, mechanical (physical dimensions of modules, their, to standardize transfer of digital data from housing and connectors), electrical (voltage levels measuring instruments to and between computers and signal timing), and logical (protocol for the and data processing devices. The use of interfacing modules to operate together and communicate). In standards of individual computer manufacturers, if addition, it was a crucial decision at that time that such standards existed at all, was no longer an data acquisition systems would need to be a bus option due to the rapidly increasing amounts of data, structured rather than individual point-to-point growing number of diverse instruments, and connections, which led to establishing a diversity of computing devices. As one author states communication principle via a bus, specified and it, the common interface was needed, which would named a Dataway. be independent of the type of the computer and the kind of data
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