scholarly journals Hardware RTOS: Custom Scheduler Implementation Based on Multiple Pipeline Registers and MIPS32 Architecture

Electronics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 211 ◽  
Author(s):  
Ionel Zagan ◽  
Vasile Găitan
Keyword(s):  
Real Time ◽  
Response Speed ◽  
Real Time Control ◽  
Shared Resources ◽  
Time Control ◽  
Systems Software ◽  
Switch Operation ◽  
And Performance ◽  
Dynamic Scheduler ◽  
Time Systems

The task context switch operation, the inter-task synchronization and communication mechanisms, as well as the jitter occurred in treating aperiodic events, are crucial factors in implementing real-time operating systems (RTOS). In practice and literature, several solutions can be identified for improving the response speed and performance of real-time systems. Software implementations of RTOS-specific functions can generate significant delays, adversely affecting the deadlines required for certain applications. This paper presents an original implementation of a dedicated processor, based on multiple pipeline registers, and a hardware support for a dynamic scheduler with the following characteristics: performs unitary event management, provides access to architecture shared resources, prioritizes and executes the multiple events expected by the same task. The paper also presents a method through which interrupts are assigned to tasks. Through dedicated instructions, the integrated hardware scheduler implements tasks synchronization with multiple prioritized events, thus ensuring an efficient functioning of the processor in the context of real-time control.

Research on Real-Time Performance of the Distributed Control System Based on RTLinux

2014 ◽  
Vol 945-949 ◽  
pp. 1372-1375
Author(s):  
Peng Zhang ◽  
Qin Guo ◽  
Bin Wang
Keyword(s):  
Control System ◽  
Real Time ◽  
Robot Control ◽  
Real Time Control ◽  
Control Effect ◽  
The Real ◽  
Time Performance ◽  
Time Control ◽  
Testing Experiment ◽  
Time Systems

Through the analysis of RTLinux source code and real-time performance of various testing experiment on the RTLinux, and its application in a distributed robot control system using CAN bus, realize the real-time control of robot joints. Write the code of real-time module on RTLinux, analyzing the real-time performance using related kernel time testing function. Under Linux using QT write user interface for robot control, running on the Linux user space. The interface program and the real-time program communicate via RT-FIFO. Specify the location of each robot joint in the interface program, compared with the feedback from the actual joint position trajectory, evaluate the control effect of real-time systems.

scholarly journals Using Graphics Processing Units and Compute Shaders in Real Time Multimodel Adaptive Robust Control

Electronics ◽  
2021 ◽  
Vol 10 (20) ◽  
pp. 2462
Author(s):  
Cosmin-Constantin Mihai ◽  
Ciprian Lupu
Keyword(s):  
Robust Control ◽  
Real Time ◽  
Systems Engineering ◽  
Graphics Processing Units ◽  
Adaptive Robust Control ◽  
Real Time Control ◽  
Time Control ◽  
Control Scheme ◽  
Graphics Processing ◽  
Time Systems

Graphics processing units and video cards have seen a surge of usage in domains other than graphics computers, due to advances in hardware and software technologies; however, little uptake has been in the domain of systems engineering and real time control. This research article will demonstrate the use of video cards in multimodel adaptive robust control, using openGL and compute shaders. A software simulation will show the behavior of the adaptive robust multimodel control scheme as the target process is exposed to both parametric and structural disturbances and will show the viability of using graphics processing units in real time systems control.

Engineering of Flexible Software for Real-Time Systems

1987 ◽  
Author(s):  
S. L. Schmuter ◽  
Y. A. Hamidieh
Keyword(s):  
Real Time ◽  
Data Transfer ◽  
Control Level ◽  
Development Stage ◽  
Rule Base ◽  
Real Time Systems ◽  
Real Time Control ◽  
Time Control ◽  
Time Systems ◽  
Robotic Applications

Abstract Flexibility of software for real-time control of machinery becomes one of the major objectives in view of ever increasing software costs. Such flexibility promotes efficiency in the development stage, but even more so, it enhances maintainability and facilitates upgrade during retooling and job changeover. A multilevel organization of software is described whereby the computational units in a particular level perform a special class of tasks and have specific privileges assigned to that level. A slot-matrix frame of the top control level along with a knowledge base provides for flexible chaining of various functions from the levels below, thus allowing substantial new features to be incorporated into the system if and when required. At the interactive level, selection alternatives for the operator are intelligently inferred and displayed through a rule base, and inputs are interpreted. The entire software is embedded in a number of processes for off-line computations, real-time control, transformations and data transfer. An example for robotic applications is elaborated.

Real Time Control of Wastewater Treatment Operations

1992 ◽  
Vol 25 (4-5) ◽  
pp. 89-101 ◽  
Author(s):  
V. Novotny ◽  
A. Capodaglio ◽  
H. Jones
Keyword(s):  
Wastewater Treatment ◽  
Real Time ◽  
Operational Control ◽  
Real Time Control ◽  
Time Control ◽  
Treatment Processes ◽  
Treatment Facilities ◽  
And Performance ◽  
Time Invariant ◽  
Near Future

Real Time Control (RTC) of wastewater treatment processes is an alternative to the present static, or time-invariant, mode of control during which wastewater in excess of a predetermined capacity is bypassed or diverted into an overflow. RTC control relies on modeling to predict the near future (i.e. next operation interval) influent loads, parameters and performance of the system and effluent water quality characteristics. Based on these predictions the RTC system and/or the operator can adjust and optimize the performance of the system using the control options built into the system itself. The paper describes the concepts of the RTC operational control of wastewater treatment facilities, modeling techology, strategy and applications.

Modeling and Performance Identification for General Production System Using Sensor Data

2016 ◽  
Author(s):  
Jing Zou ◽  
Qing Chang ◽  
Yong Lei ◽  
Jorge Arinez ◽  
Guoxian Xiao
Keyword(s):  
Real Time ◽  
Production System ◽  
Complex Dynamics ◽  
Production Systems ◽  
General Structure ◽  
Sensor Data ◽  
Production Loss ◽  
Real Time Control ◽  
Time Control ◽  
And Performance

The productivity and efficiency of production systems are greatly influenced by their configuration and complex dynamics subject to constant changes caused by technology insertion, engineering modification, as well as disruption events. In this paper, we develop a mathematical model of production systems with general structure (tandem line, parallel, and etc.) to estimate the status of the system (production counts and processing speeds of the stations, buffer levels and production loss) by using sensor data of disruption events. Real-time production system performance such as effective disruption events, opportunity window, and permanent production loss are identified, which is very useful in real-time control to increase overall system efficiency.

scholarly journals Magnetic levitation planar motor and its adaptive contraction backstepping control for logistics system

2021 ◽  
Vol 13 (3) ◽  
pp. 168781402110047
Author(s):  
Weiran Wang ◽  
Guanjun Yang ◽  
Jinghao Yan ◽  
Huilin Ge ◽  
Pengfei Zhi
Keyword(s):  
Real Time ◽  
Magnetic Levitation ◽  
Good Control ◽  
Response Speed ◽  
Transportation System ◽  
Real Time Control ◽  
Control Effect ◽  
Logistics System ◽  
Time Control ◽  
Thrust And Torque

Magnetic levitation planar motor has the characteristics of no friction loss, fast dynamic response, and real-time change of transportation track according to the demand. Therefore, a kind of magnetic levitation planar motor based on logistics transportation system is designed, which can meet the transportation needs of the logistics system through any combination of unit modules. Firstly, based on the mechanical model of magnetic levitation float in Halbach permanent magnet array magnetic field, establishing the thrust and torque model of maglev float. Secondly, according to the force/current relationship, considering the influence of uncertain parameters and load disturbance on the system, the decoupling control model of six degree of freedom motion system of magnetic levitation planar motor is established. Thirdly the adaptive contraction backstepping (ACB) controller is derived that can eliminate the uncertain disturbance of the nonlinear model and realize the real-time control of the system. The simulation and experimental results demonstrate that the method has expected response speed, strong robustness, and good dynamic tracking performance. Applying it to the logistics transportation system described in this article and has a good control effect.

OBJECT ORIENTED DESIGN, MODULAR ANALYSIS, AND FAULT-TOLERANCE OF REAL-TIME CONTROL SOFTWARE SYSTEMS

1996 ◽  
Vol 06 (03) ◽  
pp. 447-476 ◽  
Author(s):  
ANGELO PERKUSICH ◽  
MARIA L.B. PERKUSICH ◽  
SHI-KUO CHANG
Keyword(s):  
Petri Nets ◽  
Real Time ◽  
Software Systems ◽  
Real Time Control ◽  
Object Oriented Design ◽  
Time Control ◽  
Analysis Methodology ◽  
Modular Analysis ◽  
High Level ◽  
Time Systems

When specifying, designing and analyzing complex real-time systems, it is necessary to adopt a modular or compositional methodology. This methodology shall allow the designer the ability to verify local properties of individual modules or components in the system, and also shall allow the verification of the correct behavior of interacting components. The application of Petri nets for the modeling and verification of systems, at specification and design levels are well known. Despite the powerful structuring mechanisms available in the Petri nets theory for the construction of the model of complex systems, the designer is still likely to face the problem of state explosion, when analyzing and verifying large systems. In this work we introduce a modular analysis methodology for a kind of high level Petri nets named G-Nets.

Sign in / Sign up

Export Citation Format

Share Document