scholarly journals A joint trajectory generator for motion recovery

Robotica ◽  
2003 ◽  
Vol 21 (2) ◽  
pp. 185-191 ◽  
Author(s):  
Wei Li ◽  
Edward Red
Keyword(s):  
Operating System ◽  
Real Time ◽  
Tool Path ◽  
Reverse Direction ◽  
The Real ◽  
Servo Controller ◽  
S Curve ◽  
Pass Through ◽  
Recovery Trajectory ◽  
Trajectory Generator

This paper describes an adaptive S-curve used to recover a tool path upon a system crash in the Windows operating system (OS). For a mechanism such as a robot or machine tool, the joint values, being delivered as setpoints to the servo-controller, are dynamically recorded by the real-time operating system also residing on the computer. The real-time OS can control the abort and record pertinent motion data after Windows OS crash.Upon system recovery, the recovery trajectory generator examines the setpoints intervals to determine the current slow joint. At every trajectory step, and for the current slow joint, the S-curve velocity profile applies the joint entry state (position, speed, acceleration, and jerk) to interpolate the motion between the setpoints in a reverse direction. The other joints are proportionally interpolated (slowed) so that they pass through each setpoint simultaneously with the slow joint, but in a reverse direction.The trajectory algorithm is optimal since the slow joint always uses the maximum allowable jerk to change the profile speed and acceleration for each trajectory step.

scholarly journals Mixed-mode Operating System for Real-time Performance

2017 ◽  
Vol 26 (1) ◽  
pp. 43-56
Author(s):  
M.M. Hasan ◽  
S. Sultana ◽  
C.K. Foo
Keyword(s):  
Operating System ◽  
Real Time ◽  
Mixed Mode ◽  
Graphic User Interface ◽  
The Real ◽  
Practical Applications ◽  
Windows Nt ◽  
Time Systems ◽  
Realtime System ◽  
Load Tolerance

The purpose of the mixed-mode system research is to handle devices with the accuracy of real-time systems and at the same time, having all the benefits and facilities of a matured Graphic User Interface (GUI) operating system which is typically nonreal-time. This mixed-mode operating system comprising of a real-time portion and a non-real-time portion was studied and implemented to identify the feasibilities and performances in practical applications (in the context of scheduled the real-time events). In this research an i8751 microcontroller-based hardware was used to measure the performance of the system in real-time-only as well as non-real-time-only configurations. The real-time portion is an 486DX-40 IBM PC system running under DOS-based realtime kernel and the non-real-time portion is a Pentium III based system running under Windows NT. It was found that mixed-mode systems performed as good as a typical realtime system and in fact, gave many additional benefits such as simplified/modular programming and load tolerance.

Virtual Test Environment for Self-Optimizing Systems

2013 ◽  
Author(s):  
Jörg Stöcklein ◽  
Daniel Baldin ◽  
Wolfgang Müller ◽  
Tao Xie
Keyword(s):  
Operating System ◽  
Real Time ◽  
Virtual Prototype ◽  
Test Cases ◽  
Test Environment ◽  
Dead Code ◽  
Real Time Operating System ◽  
The Real ◽  
Code Coverage ◽  
Virtual Test

In our paper we present a virtual test environment for self-optimizing systems based on mutant based testing to validate user tasks of a real-time operating system. This allows the efficient validation of the code coverage of the test cases and therefore helps to detect errors in order to improving the reliability of the system software. Technically we are able to run and test the software on both systems. By writing application software and setting up the virtual test environment properly, we define our test cases. To validate the code coverage for our test cases, we use the approach of mutant based testing. By running this mutated code on our virtual prototype in the virtual test environment, we are able to efficiently validate the code coverage and are able to detect bugs in the application code or detect dead code that is not executed. Finding non-executing code leads to redefinition of our test cases by either changing the test environment or the application code in the case of dead code. We implemented the virtual test environment on top of the third party low cost VR system Unity 3D, which is frequently used in entertainment and education. We demonstrate our concepts by the example of our BeBot robot vehicles. The implementation is based on our self-optimizing real-time operating system ORCOS and we used the tool CERTITUDE(TM) for generating the mutations in our application code. Our BeBot virtual prototype in our virtual test environment implements the same low-level interface to the underlying hardware as the real BeBot. This allows a redirection of commands in ORCOS to either the real or the virtual BeBot in order to provide a VR based platform for early software development as well as ensures comparable conditions under both environments. Our example applies a virtual BeBot that drives through a labyrinth utilizing its IR sensors for navigation. The mutant based testing checks if all situations implemented by the software to navigate through the labyrinth are covered by our tests.

A Study on the Design Method of the Real-Time System Software Based on RTOS

2014 ◽  
Vol 513-517 ◽  
pp. 2487-2491
Author(s):  
Dong Zhao ◽  
Shang Wei Jiang ◽  
Hong Wei Zhao ◽  
Xin Tong Yu
Keyword(s):  
Operating System ◽  
Real Time ◽  
Design Method ◽  
Control Flow ◽  
Functional Requirements ◽  
Time System ◽  
Real Time System ◽  
Real Time Operating System ◽  
The Real ◽  
Structured Analysis

This paper combines the characteristics of real-time embedded systems and the real-time operating system to propose a software engineering method and process which bases on the function structured analysis and task structured design. First in the process of structured analysis based on the Hatley-Pirbhai method, extracting and sorting out the data flow and control flow according to the functional requirements of the system, analyzing and processing the functions of the system, the dependency among the functions and the timing sequence, and then realizing the design of the specific functions of the system, next achieving the structural design through the improving method, it also simplifies the system design processes. At this time, just need to analyze and divide the processing which is obtained from the structural analysis to get the specific task, design the interfaces among the tasks and also every task to get the new design method of the embedded real-time operating system, which also solves hard issue of the traditional method which is the weak extracting and developing iteration in the embedded real-time system.

High Precision Timing of the Copying Control System Based on Windows 2000

2009 ◽  
Vol 626-627 ◽  
pp. 87-92
Author(s):  
X.H. Lu ◽  
Zhen Yuan Jia ◽  
Y.Z. Lv ◽  
J.Y. Yang
Keyword(s):  
Operating System ◽  
Control System ◽  
Real Time ◽  
High Precision ◽  
High Frequency ◽  
Timing Error ◽  
The Real ◽  
Timing Function ◽  
Design Proposal ◽  
Windows 2000

A design proposal for developing a high-precision timer of the real-time digital copying control system is put forward by analyzing the real-time characteristics of Windows 2000 operating system. Proposals of using information systems timer—WM_TIMER, multimedia timer, VxD and hardware to achieve high-precision timing in Windows operating system are analyzed and compared. Based on computer high-frequency timer and multi-thread technology, timing function provided by Microsoft Visual C++ is used to achieve a high-precision software timer of the system. Finally, the researched timing method is tested in Advantech IPC-610 host with Intel Pentium 4 processor, and the maximum timing error is less than 5μs which meets the system timing requirements.

The Design and Implementation of RTOS Based on YL-236 Single Chip Microcomputer Training Device

2014 ◽  
Vol 543-547 ◽  
pp. 554-557
Author(s):  
Ming Fei Qu ◽  
Dan Zhao ◽  
Sha Tao
Keyword(s):  
Operating System ◽  
Real Time ◽  
Signal Transmission ◽  
Control Device ◽  
Training Device ◽  
Single Chip ◽  
Single Chip Microcomputer ◽  
The Real ◽  
Design And Implementation ◽  
Time Performance

Using the equipment, YL-236 single chip microcomputer (SCM) control device installation and debugging training platform, used in the SCM event of the National Vocational Students Skills Competition (NVSSC) as hardware carrier, this paper researched the application method of real-time operating system (RTOS) in the implementation of the SCM Skills Competition task, and apply the real-time multitasking operating system (RTMOS), RTX51, in the 8-bit 51 SCM. That allows switch of circulation tasks, supports the signal transmission, utilizes the interrupt function in parallel, and has very small demand for RAM. That makes whole SCM task to develop much easier and more convenient, and enhances the real-time performance and reliability of the SCM Skills Competition task at the same time.

Implementation of Embedded Linux Systems on FPGA Based Circuits for Real Time Process Control

MACRo 2015 ◽  
2015 ◽  
Vol 1 (1) ◽  
pp. 145-154 ◽  
Author(s):  
Szabolcs Hajdu ◽  
Sándor-Tihamér Brassai
Keyword(s):  
Operating System ◽  
Process Control ◽  
Real Time ◽  
Data Exchange ◽  
Control Unit ◽  
Control Algorithms ◽  
Time Process ◽  
The Real ◽  
Measurement Results ◽  
Embedded Soc

AbstractThis paper presents a framework based on embedded SOC systems, which allows the testing and use of control algorithms implemented on FPGA circuits. For monitoring and parameterization a real-time Linux operating system was used. In this paper different methods for data exchange between the operating system and the control unit were introduced. The delay between the operating system and the control unit during the data exchange was studied and the measurement results discussed reflect the real-time functionality of the system.

Research on Mechanical Industry through Control Systems of Intelligent Robots Based on ARM

2013 ◽  
Vol 675 ◽  
pp. 77-81
Author(s):  
Lian Jun Hu ◽  
Xiao Hui Zeng ◽  
Hong Song ◽  
Wei Li
Keyword(s):  
Operating System ◽  
Control System ◽  
Control Systems ◽  
Real Time ◽  
Mechanical Systems ◽  
Intelligent Robot ◽  
The Real ◽  
Intelligent Robots ◽  
Great Advance

Mechanical industry has made a great advance in automation with increasing developments in performances of processing devices. A control system of intelligent robot is designed in the paper, which based on microprocessor S3C2410 with the kernel ARM 920T and the real-time embedded μC/OS-II operating system. The design proposed extends functions of intelligent robots and improve its ability to adapt environments. Otherwise, it will do great help in automations of mechanical systems.

Motion of Digital Precision Forming Machine without Pattern Casting and Tool Path Simulation Based on VRML

2013 ◽  
Vol 774-776 ◽  
pp. 1355-1360 ◽  
Author(s):  
Zheng Xu ◽  
Zhong De Shan ◽  
Xiao Lei Zhan
Keyword(s):  
Design Optimization ◽  
Real Time ◽  
Tool Path ◽  
Motion Simulation ◽  
Practical Application ◽  
Simulation Technology ◽  
The Real ◽  
Actual Operating ◽  
Time Simulation ◽  
Simulation Based

In this pape, we have researched the digital precision forming machine without pattern casting, and discussed the motion of the machine and tool path simulation technology based on VRML. By updating IndexedLineSet node, we have realized the real-time display of tool path; and by setting DOF node, we have simplified motion simulation of the machine, and completed the synchronous, real-time simulation for motion of the machine and display of the tool path. The final simulation result is approach to the actual operating status of equipment, and the application results are of great theoritical significance and practical application value to design optimization and operation training of the code.

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