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Embedded Controllers form a vital part of the industrial control system. The typical implementation of such controller is around a multitasking kernel which periodically executes the control and systems tasks. Delay in the control task execution can lead to jitter and unexpected behavior of the system under control. In this paper we investigate the case of malicious attacks on the scheduler and its...
The authors have developed a mechatronic tracking system controlled by a hard real-time embedded Linux based system. The control software is implemented on a standard PC/104-Plus embedded single board computer (CoreModule745 with Intel Atom processor). The paper is focused on various aspects of developing an embedded version of Linux software that are mostly not dependent on the application. The reader...
In order to address the trade-off between certification and resource efficiency, researchers are recently trying to apply a criticality mode change mechanism to mixed-criticality systems. However, the actual implementation of the criticality mode change has not been studied rigorously. In this paper, we suggest a practical design to implement the criticality mode change framework for Real-Time Operating...
Model-Based Design is widely adopted in control domains for the early validation of systems properties using simulation or formal verification and the possibility of automatic generation of code. Most tools used in the industrial practice allow for the representation of the controller functionality abstracted from the implementation details. These models may be inaccurate in those cases in which computation...
The Integrated Modular Avionic (IMA) architecture has been proposed for the next-generation avionics systems. ARINC 653 is the standards for Application Programming Interfaces (APIs) of avionics software for IMA architecture [1]. There are a great many researches on design and implementation of ARINC 653. Though some of them including VxWorks recently show high potential of providing software platform...
This research goal is to analyze Real Time Operating System (RTOS) performance on Single Board Computer for wheeled mobile robot. RTOS have better system response than General Purpose Operating System (GPOS), this system response is important for mobile robot, for example mobile robot should stop as soon as possible when the sensor detect the wall. RTOS system analysis on SBC covers several points...
The correctness of a hard real-time system depends upon its ability to meet all its deadlines. Existing real-time systems use either a pure real-time scheduler or a real-time scheduler embedded as a real-time scheduling class in the scheduler of an operating system (OS). Existing implementations of schedulers in multicore systems that support real-time and non-real-time tasks, permit the execution...
In this paper we introduce exact and non-exact real-time waits in reactive Globally Asynchronous Locally Synchronous (GALS) programming languages and synchronous languages as their subset. The language constructs that allow use of real-time waits are illustrated on the SystemJ GALS language. They allow system designers to explicitly use, at the specification level, not only logical time but also the...
Circulant Structure Kernel (CSK) has recently been introduced as a simple and extremely efficient tracking method. In this paper, we propose an extension of CSK that explicitly addresses partial occlusion problems which the original CSK suffers from. Our extension is based on a part-based scheme, which improves the robustness and localisation accuracy. Furthermore, we improve the robustness of CSK...
Multi-core operating systems inherently face the problem of concurrent access to internal kernel state held in shared memory. Previous work on the Sloth real-time kernel proposed to offload the scheduling decisions to the interrupt hardware, thus removing the need for a software scheduler, no state has to be managed in software. While our existing design covers single-core platforms only, we now present...
Commodity hardware can be used to build a software router that is capable of high-speed packet processing while being programmable and extensible. Therefore, software routers provide a cost-efficient alternative to expensive, special hardware routers. The efficiency of packet processing in resource-constrained nodes (e.g. software routers) can be strongly increased through parallel processing with...
Pedestrian detection is a challenging task, due to wide variety of appearances, especially in complex real world scenes. The use of real-time pedestrian detection is of great use for a broad range of applications in multiple domains, such as surveillance and Intelligent Transportation System. In this paper we present a fast implementation of a robust pedestrian detector by using OpenCL, which is a...
A design method of slot-embedded industrial personal computer (IPC) system based on ARM9 is presented in this paper. This method includes the design of hardware structure and software management platform of the IPC system. The hardware structure, which includes PCI communication module, man-machine interface module, Ethernet communication module and CAN bus communication module, is addressed in detail...
Multi-core processors are gaining a foothold in the domain of embedded automotive systems. The AUTOSAR Release 4.1 establishes a common standard for the use of multi-core processors in automotive systems. While interfaces and functionalities are well defined in the specification, the actual implementation is left open to the software manufacturers. We exploit this room that is left by the specification...
Modern aerospace vehicles are expected to have non-conventional flight envelopes and, in order to operate in uncertain environments, they must guarantee a high level of robustness and adaptability. A Neural Networks (NN) controller, with real-time learning capability, can be used in applications with manned or unmanned aerial vehicles. In this paper we propose a realtime system, based on a NN model,...
In this paper we discuss how an efficient online model checker and a small-footprint RTOS can be integrated. Alternative approaches are discussed, leading to the decision for a federated approach. An implemented prototype is described and some analytical as well as experimental evaluations are presented.
Cyber-physical systems increasingly rely on distributed computing platforms where sensing, computing, actuation, and communication resources are shared by a multitude of applications. Such 'cyber-physical cloud computing platforms' present novel challenges because the system is built from mobile embedded devices, is inherently distributed, and typically suffers from highly fluctuating connectivity...
In this paper, we propose an algorithm called SVM-WKNN for precisely indoor positioning, which can be applied to intelligent robot and wireless sensor network to achieve great performance. The key issue of indoor positioning is how to use the instable wireless network and nonlinear wireless signal strengths to accurately locate the position of a person or object. However, the traditional linear methods,...
This work-in-progress paper presents an extension to the Arduino framework that introduces multitasking support. This allows to have more concurrent tasks instead of the single cyclic execution provided by the standard Arduino framework. The extension is implemented by integrating in a seamless way the ERIKA opensource Real-Time OS, maintaining the simplicity of the programming paradigm typical of...
Function Blocks provides a means to model and program industrial control systems. The recently acclaimed IEC 61499 standard allows such system models to be partitioned and executed in a distributed fashion. At device level, such models are traditionally implemented onto programmable logic controllers and industrial PCs. In this paper, we discuss work in progress on developing a mapping allowing to...
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