Earticle

초록

영어

In most advanced real-time control applications such as service robots, the tasks have different criticality, flexible timing constraints and variable execution time. For instance, autonomous service robots perform their activities in dynamic environments, share resources and have to cooperate to fulfill their objectives. These changing environmental conditions produce a variability of the system load. Firstly, the computational requirements of recognition tasks are variable and dependent on the number of objects perceived in scenes. Secondly, the application processes are executed at different frequencies with varying periods and deadlines that are dependent on robot speeds. To tackle these aspects a flexible real-time architecture is implemented in rt-linux in this paper. Moreover, the architecture permits to extract the slack time, enabled in the system due to load variability, and to invest it in improving the communication performances of the robots. Experimental evaluations of the architecture have been carried out with real autonomous robots.

목차

Abstract
 1. Introduction
 2. Related work
 3. Real-time architecture
  3.1 Service robots
  3.2 Task model
  3.3 Feedback control scheduler
  3.4 Flexible server
  3.5. Schedulability analysis
 4 Architecture Implementation
 5. Experimental evaluation
  5.1. FCS: a flexible real-time scheduler
  5.2. Slack time controller: Extracting idle capacity
  5.3 Heuristic scheduling strategies
 6 Conclusions
 Acknowledgments
 Reference

저자

• David Ramada [ Department of Computer Engineering Universidad Politécnica de Valencia ]
• Carlos Domínguez [ Department of Computer Engineering Universidad Politécnica de Valencia ]
• Houcine Hassan [ Department of Computer Engineering Universidad Politécnica de Valencia ]
• Alfons Crespo [ Department of Computer Engineering Universidad Politécnica de Valencia ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Smart Home

• 간기

  격월간

• pISSN

  1975-4094

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605