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We describe a layered approach to the specification and verification of real-time systems. Application processes are specified in the CSR application language, which includes high-level language constructs such as timeouts, deadlines, periodic processes, interrupts and exception-handling. Then, a configuration schema is used to map the processes to system resources, and to specify the physical communication...
An increasing amount of distributed real-time systems and other critical infrastructure now rely on Data Distribution Service (DDS) middleware for timely dissemintation of data between system nodes. While DDS has been designed specifically for use in distributed real-time systems and exposes a number of QoS properties to programmers, DDS fails to lift time fully into the programming abstraction. The...
Multicore processors are becoming ubiquitous, and it is becoming increasingly common to run multiple real-time systems on a shared multicore platform. While this trend helps to reduce cost and to increase performance, it also makes it more challenging to achieve timing guarantees and functional isolation. One approach to achieving functional isolation is to use virtualization. However, virtualization...
Modular robots are a powerful concept for robotics. A modular robot consists of many individual modules so it can adjust its configuration to the problem. However, the fact that a modular robot consists of many individual modules makes it a highly distributed, highly concurrent real-time system, which are notoriously hard to program. In this work, we present our programming framework for writing control...
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