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Humanoid robots are typical application of real-time systems and have required timing constraints, low-latency, and parallel/distributed processing to achieve fine-grained real-time execution. Therefore, we have developed Dependable Responsive Multithreaded Processor I (D-RMTP I), which has one Responsive Multithreaded Processing Unit with an 8-way prioritized Simultaneous Multithreading architecture...
The robotics field provides with many typical applications of Cyber-Physical Systems (CPS). Robots are expected to be deployed in a wide variety of applications including life supporting work or disaster response and therefore they need to follow strict safety and dependability constraints. In order to create robots with high utility, safety and dependability, research has focused both on creating...
Cyber-Physical Systems (CPS) are tight integrations of computational and physical worlds for various kinds of applications. For example, a humanoid robot, which is a typical application of CPS, has required timing constraints, low-latency execution, and parallel processing to achieve fine-grained real-time execution. Therefore low-latency parallel real-time computing is an important factor for CPS...
Optimal multiprocessor real-time scheduling can achieve full system utilization with implicit-deadline periodic task sets. However, worst case execution time (WCET) analysis is difficult on state-of-the-art hardware/software platforms because of the complex hierarchy of shared caches and multiprogramming. The actual case execution time (ACET) of each task is usually shorter than its WCET, and imprecise...
The continuing economic boom has seen that many people become interested in automated trading systems with timing constraints and quality of service, called real-time trading systems. In order to realize such real-time trading systems, multi-/many-core processors are required. However, real-time trading systems are somewhat complex, and real-time operating systems struggle to offer continuous support...
This paper proposes Reduction to Uniprocessor Transformation (RUNT), which is an optimal multiprocessor real-time scheduling algorithm based on RUN with Real-Time Static Voltage and Frequency Scaling, called S-RUNT, and Real-Time Dynamic Voltage and Frequency Scaling, called D-RUNT. D-RUNT uses Enhanced Cycle-Conserving Earliest Deadline First to make use of slack produced during execution. In addition,...
We introduce the research overview of the practical imprecise computation model to achieve imprecise real-time applications. The practical imprecise computation model has multiple mandatory parts as real-time parts and multiple optional parts as non-real-time parts. We explain a new concept of real-time scheduling in the practical imprecise computation model, called semi-fixed-priority scheduling...
An imprecise computation model has the advantage of supporting overloaded conditions in dynamic real-time environments, compared to Liu and Layland's model. However, the imprecise computation model is not practical because the termination of each optional part cannot guarantee the schedulability. In order to guarantee the schedulability of the termination of the optional part, a practical imprecise...
Nowadays multicore systems have been used in real-time applications such as robots. In robots, imprecise tasks such as image processing tasks are required to detect and avoid objects. However, existing real-time operating systems have evaluated multiprocessor real-time scheduling algorithms in Liu and Lay land's model and have not evaluated those in the imprecise computation model. This paper performs...
This paper presents RT-Est, which is a real-time operating system for semi-fixed-priority scheduling algorithms. RT-Est implements the following mechanisms: (i) the hybrid O(1) scheduler, which is an extension of the O(1) scheduler in Linux kernel 2.6, to achieve semi-fixed-priority scheduling with low overhead, (ii) the high resolution timer, which performs to terminate optional parts at optional...
Cyber Physical Systems are composed of many embedded systems which monitor and control the physical processes for tight integrations of computation and physical processes. Such embedded systems require not only real-time capabilities but also high throughput and low power consumption. High throughput is mainly achieved by parallel architectures such as Simultaneous Multithreading (SMT) and Chip Multiprocessor...
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