This video presents the final prototype of FT4FTT, which is an infrastructure for dependable systems based on Ethernet. The communication subsystem of FT4FTT is built on top of Hard Real-Time Ethernet Switching (HaRTES), a switched-Ethernet implementation of the Flexible Time-Triggered paradigm (FTT). FTT, in turn, makes it possibles for distributed nodes to exchange real-time periodic and aperiodic data, in a flexible manner. By flexible we mean that FTT ensures that changes in the communication requirements can be managed on-line. Finally, to achieve high-reliability, FT4FTT provides redundancy at several different levels to distributed embedded systems.
Here we show how the FT4FTT prototype is able to tolerate permanent faults in the communication channel while a replicated distributed embedded system controls a simulated inverted pendulum.