scholarly journals RTROS – A real-time extension to the Robot Operating System

2016 ◽  
Author(s):  
Jan Carstensen ◽  
Axel Rauschenberger
Keyword(s):  
Operating System ◽  
Real Time ◽  
Robot Operating System ◽  
Time Extension

scholarly journals Design and implementation of real-time robot operating system based on freertos

2020 ◽  
Vol 1449 ◽  
pp. 012115
Author(s):  
Li Shao ◽  
Chuanxi Wang ◽  
Chong Chu ◽  
Yinan Song ◽  
Haoyu Hu ◽  
...  
Keyword(s):  
Operating System ◽  
Real Time ◽  
Robot Operating System ◽  
Design And Implementation

A ROS-Simulink Real-Time Communication Bridge Using UDP With a Driver-in-the-Loop Application

2016 ◽  
Author(s):  
Mohamed Wahba ◽  
Robert Leary ◽  
Nicolás Ochoa-Lleras ◽  
Jariullah Safi ◽  
Sean Brennan
Keyword(s):  
Operating System ◽  
Real Time ◽  
High Speed ◽  
Performance Metrics ◽  
Proof Of Concept ◽  
Physical Separation ◽  
Robot Operating System ◽  
Time Latency ◽  
And Performance ◽  
Fast Transmission

This paper presents implementation details and performance metrics for software developed to connect the Robot Operating System (ROS) with Simulink Real-Time (SLRT). The communication takes place through the User Datagram Protocol (UDP) which allows for fast transmission of large amounts of data between the two systems. We use SLRT’s built-in UDP communication and binary packing blocks to send and receive the data over a network. We use implementation metrics from several examples to illustrate the effectiveness and drawbacks of this bridge in a real-time environment. The time latency of the bridge is analyzed by performing loop-back tests and obtaining the statistics of the time delay. A proof of concept experiment is presented that utilizes two laboratories that ran a driver-in-the-loop system despite a large physical separation. This work provides recommendations for implementing data integrity measures as well as the potential to use the system with other applications that demand high speed real-time communication.

scholarly journals Survey on Cloud Robotics and Robot Operating System

2021 ◽  
pp. 179-184
Author(s):  
Karan Sanghvi ◽  
Pratik Shah
Keyword(s):  
Operating System ◽  
Cloud Computing ◽  
Software Architecture ◽  
Real Time ◽  
Smart City ◽  
Web Technology ◽  
Robot Operating System ◽  
Research Fields ◽  
Cloud Robotics ◽  
Cloud Technologies

The paper proposes cloud robotics which intends five parts which are for software architecture, trends and challenges, design based on a web technology, cloud computing platforms and cloud robotics in practical smart city applications. Software architecture involves lots of different cloud technologies like cloud storage and shared services for robotics for Robot Operating System. There are lots of trends in cloud robotics as it uses cloud technologies for robotics. The use of the cloud for automation brings some largely ameliorating the performance of robotics. Besides, the trends, there are some challenges in cloud robotics. Robot Operating System has been a standard tool in the design for cloud robotics. It always runs at the on-board computer but some resources of CPU do not allow the ability of robotics. In this problem, a good solution is to transfer the task to the cloud. Hence, the design of a cloud robotics middleware is based on web technology. Robotics with cloud computing gives lots of research scopes and research fields. In Smart City Applications, Real-Time Cloud Robotics is present. Real Time Cloud Robotics has emerged as an efficient computing means in data processing applications. By this we introduce CR20 cloud robotics platform that uses real time stream technology virtually to connect to different devices.

A Chess-Playing Robot Based on SERCOS

2012 ◽  
Vol 271-272 ◽  
pp. 1536-1540
Author(s):  
Ji Lin He ◽  
Zhi Xian Chen
Keyword(s):  
Operating System ◽  
Control System ◽  
Real Time ◽  
System Software ◽  
Hardware Platform ◽  
Windows Nt ◽  
Time Property ◽  
Time Extension ◽  
Chess Playing

This paper presents a chess-playing robot and its control system based on SERCOS. Thanks to Windows NT operating system and RTX real-time extension, the control system is excellent in real-time property. The whole system, supported by a standard IPC hardware platform and a modularized architecture of system software, is open-ended and expansible. In addition, the chess-playing software makes a contribution to the excellent interaction between players and the chess-playing robot.

scholarly journals A Hybrid Multiprocessor Scheduler for Soft Real-Time System with Processor Affinity Concept

2021 ◽  
Vol 2089 (1) ◽  
pp. 012022
Author(s):  
Ms Jayna Donga ◽  
M.S. Holia
Keyword(s):  
Operating System ◽  
Real Time ◽  
Migration Policy ◽  
Time System ◽  
Real Time System ◽  
Real Time Operating System ◽  
Flexible Approach ◽  
Time Extension ◽  
Overall Performance ◽  
Traditional Approaches

Abstract Now a days numerous real-time OS like QNX, VxWorks, LynxOS and real-time extension of Linux practicing the processor affinity concept to schedule the real-time tasks and it offers more flexible approach instead of traditional approaches defined in the literature. Limiting the migration may reduce the context switch overhead and improve the cache performance but it largely influence on other parameters which are most important for the any real-time operating system. It degrades overall performance by decreasing the schedulability of tasks, increase the deadline miss ratio. This paper presents the problem in existing processor affinity based approach which confines the schedulability of the tasks and designed a novel processor affinity based algorithm to enhance the schedulability of the tasks and decreases the average deadline miss ratio by providing the flexible migration policy with the priority reassignment mechanism.

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