Real-Time Arena A User-level Operating System for Co-operating Robots
نویسندگان
چکیده
This paper presents the design of a new version of the Arena operating system targeted at real-time applications. Arena is a run-time operating system for parallel applications. The main principle of Arena is to provide predictable and controllable resource management. This is achieved by placing resource management at the user level of the system, thereby allowing any degree of application influence. Extensions to the system for improved real-time performance are discussed in detail. This version of Arena is to provide a research platform into co-operative robotics, and so the interface between the target robot hardware (built especially for this project) and Arena is also examined in detail.
منابع مشابه
Arena - A run-time operating system for parallel applications
This paper presents the case for a run-time operating system to provide predictable and controllable resource management for parallel applications. Developments in compilers for parallel applications, which depend on analysis of program behaviour, require corresponding developments in predictable and controllable operating systemlevel resource management. A customisable system, Arena, is descri...
متن کاملDynamic Loading in an Application Specific Embedded Operating System
Traditionally, configuration of operating systems is done statically at compileor link-time, but recently dynamic runtime configuration has become possible. Embedded systems however have constraints, such as limited memory and real-time requirements, that prevent many dynamically configurable operating systems from being used in an embedded system. Dynamic configuration has associated limitatio...
متن کاملOperating System Support for Adaptable Real-Time Systems†
This paper outlines our plans for a real-time systems research program to support the longterm goal of developing intelligent robots. The distinguishing characteristic of our approach to real-time systems is an emphasis on system adaptability in a dynamic real-world environment. We achieve adaptability by allowing multiple real-time process models, with different known properties and timing con...
متن کاملThe need for autonomy and real-time in mobile robotics: a case study of XO/2 and Pygmalion
Starting from a user point of view the paper discusses the requirements of a development environment (operating system and programming language) for mechatronic systems, especially mobile robots. We argue that user requirements from research, education, ergonomics and applications impose a certain functionality on the embedded operating system and programming language, and that a deadline-drive...
متن کاملLinux as a Software Platform for Mobile Robots
The requirements for a mobile robot operating system are analyzed and the suitability of Linux and similar operating systems is discussed. The use of Linux in two mobile robots built in our labs is described. The real time system is based on custom drivers for the real time clock and a POSIX threads library. A complex real time task is analyzed and experimental data is presented to validate the...
متن کامل