scholarly journals Model-Checking Real-Time Control Programs. Verifying LEGO Mindstorms Systems Using UPPAAL

1999 ◽  
Vol 6 (53) ◽  
Author(s):  
Torsten K. Iversen ◽  
Kåre J. Kristoffersen ◽  
Kim G. Larsen ◽  
Morten Laursen ◽  
Rune G. Madsen ◽  
...  
Keyword(s):  
Real Time ◽  
Timed Automata ◽  
Scheduling Algorithm ◽  
Automatic Verification ◽  
Real Time Control ◽  
Time System ◽  
Real Time System ◽  
Control Programs ◽  
Time Control ◽  
Verification Tool

In this paper, we present a method for automatic verification<br />of real-time control programs running on LEGO <br />RCX bricks using the verification tool UPPAAL. The control<br />programs, consisting of a number of tasks running concurrently,<br />are automatically translated into the timed automata<br />model of UPPAAL. The fixed scheduling algorithm<br />used by the LEGO RCX processor is modeled in UPPAAL,<br />and supply of similar (sufficient) timed automata<br />models for the environment allows analysis of the overall<br />real-time system using the tools of UPPAAL. To illustrate<br />our techniques we have constructed, modeled and verified<br />a machine for sorting LEGO bricks by color.

Control of a Haptic Interface and a Micromachining Setup With an Open Source Real-Time System

2007 ◽  
Author(s):  
Evren Samur ◽  
Ulrich Spaelter ◽  
Lionel Flaction ◽  
Pascal Maillard ◽  
Hannes Bleuler ◽  
...  
Keyword(s):  
Data Acquisition ◽  
Open Source ◽  
Real Time ◽  
Haptic Interface ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Time System ◽  
Real Time System ◽  
Ongoing Research ◽  
Time Control

Open source software have evolved into powerful tools for real-time control of mechatronic systems. They are of interest for academic purposes, as they promise high flexibility at low cost. In this paper, we investigate the performance of an open source control architecture based on the Linux Real-Time Application Interface (RTAI) through two applications, a haptic interface for surgery simulation and a setup for the micromachining of glass. Both applications demand a compact real-time system with sufficient precision (i.e. low jitter) for online process control and data acquisition. The real-time control has been realized on a laptop with a USB-port data acquisition card. Performance measurement results show that high quality real-time control can be performed up to 2kHz via USB communication, which is sufficient for a large range of robotic or mechatronic applications. Drawbacks like the need for considerable knowledge of Linux internals for successful installation as well as the current limitations are discussed and strategies are proposed to overcome these. Both setups are currently being used for ongoing research as well as for educational purposes.

scholarly journals Improving utility accrual scheduling algorithm for adaptive real-time System

2008 ◽  
Author(s):  
Idawaty Ahmad ◽  
Mohamad Othman ◽  
Zuriati Zulkarnain ◽  
Muhammad Fauzan Othman
Keyword(s):  
Real Time ◽  
Scheduling Algorithm ◽  
Time System ◽  
Real Time System ◽  
Utility Accrual

scholarly journals On the Use of a Real-Time Control Approach for Urban Stormwater Management

Water ◽  
2020 ◽  
Vol 12 (10) ◽  
pp. 2842
Author(s):  
Mario Maiolo ◽  
Stefania Anna Palermo ◽  
Anna Chiara Brusco ◽  
Behrouz Pirouz ◽  
Michele Turco ◽  
...  
Keyword(s):  
Real Time ◽  
Stormwater Management ◽  
Risk Mitigation ◽  
Real Time Control ◽  
Urban Stormwater ◽  
Real Time System ◽  
Control Approach ◽  
Urban Stormwater Management ◽  
Time Control ◽  
Control Configuration

The real-time control (RTC) system is a valid and cost-effective solution for urban stormwater management. This paper aims to evaluate the beneficial effect on urban flooding risk mitigation produced by applying RTC techniques to an urban drainage network by considering different control configuration scenarios. To achieve the aim, a distributed real-time system, validated in previous studies, was considered. This approach uses a smart moveable gates system, controlled by software agents, managed by a swarm intelligence algorithm. By running the different scenarios by a customized version of the Storm Water Management Model (SWMM), the findings obtained show a redistribution of conduits filling degrees, exploiting the whole system storage capacity, with a significant reduction of node flooding and total flood volume.

scholarly journals Limited Non-Preemptive EDF Scheduling for a Real-Time System with Symmetry Multiprocessors

Symmetry ◽  
2020 ◽  
Vol 12 (1) ◽  
pp. 172 ◽  
Author(s):  
Hoyoun Lee ◽  
Jinkyu Lee
Keyword(s):  
Real Time ◽  
Scheduling Algorithm ◽  
Schedulability Analysis ◽  
Timing Constraints ◽  
Limited Information ◽  
Time System ◽  
Real Time System ◽  
System A ◽  
The Future ◽  
Earliest Deadline

In a real-time system, a series of jobs invoked by each task should finish its execution before its deadline, and EDF (Earliest Deadline First) is one of the most popular scheduling algorithms to meet such timing constraints of a set of given tasks. However, EDF is known to be ineffective in meeting timing constraints for non-preemptive tasks (which disallow any preemption) when the system does not know the future job release patterns of the tasks. In this paper, we develop a scheduling algorithm for a real-time system with a symmetry multiprocessor platform, which requires only limited information about the future job release patterns of a set of non-preemptive tasks, called LCEDF. We then derive its schedulability analysis that provides timing guarantees of the non-preemptive task set on a symmetry multiprocessor platform. Via simulations, we demonstrate the proposed schedulability analysis for LCEDF significantly improves the schedulability performance in meeting timing constraints of a set of non-preemptive tasks up to 20.16%, compared to vanilla non-preemptive EDF.

scholarly journals Automated programming robot component transfer system utilizing machine vision as detection interface

2018 ◽  
Vol 221 ◽  
pp. 03004
Author(s):  
H J Vermaak ◽  
L Rogers
Keyword(s):  
Machine Vision ◽  
Real Time ◽  
New Product Introduction ◽  
Real Time Control ◽  
Product Introduction ◽  
Real Time System ◽  
Flexible System ◽  
Time Control ◽  
Automation Systems ◽  
Automated Programming

Modern day automation systems rely on fixed programming routines to carry out their operations. If an automated flexible system is introduced onto such a production line, the complete reprogramming process required for new products needs could be automated with limited loss in production time. Therefore, instead of reprogramming each new position for the robot system the system takes over real-time control of the robot and carries out the required steps autonomously. The benefit with such a system would be that the robot would not need to be reprogrammed for every new routines but is controlled in a real-time environment to carry out new procedures based on external vision sensors. Using a real-time system could remove the need for a fixed programming environment and replace it with an automated changing programming setup. This could result in a system automatically adapting to a new product introduction through real-time machine vision processing techniques.

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