µRT: A lightweight real-time middleware with integrated validation of timing constraints

Author:

Schöpping Thomas,Kenneweg Svenja,Hesse Marc,Rückert Ulrich

Abstract

Middlewares are standard tools for modern software development in many areas, especially in robotics. Although such have become common for high-level applications, there is little support for real-time systems and low-level control. Therefore, µRT provides a lightweight solution for resource-constrained embedded systems, such as microcontrollers. It features publish–subscribe communication and remote procedure calls (RPCs) and can validate timing constraints at runtime. In contrast to other middlewares, µRT does not rely on specific transports for communication but can be used with any technology. Empirical results prove the small memory footprint, consistent temporal behavior, and predominantly linear scaling. The usability of µRT was found to be competitive with state-of-the-art solutions by means of a study.

Funder

Ministerium für Wirtschaft, Innovation, Digitalisierung und Energie des Landes Nordrhein-Westfalen

Publisher

Frontiers Media SA

Subject

Artificial Intelligence,Computer Science Applications

Reference57 articles.

1. A survey of asynchronous remote procedure calls;Ananda;ACM SIGOPS Oper. Syst. Rev.,1992

2. Real-time computing with lock-free shared objects;Anderson;ACM Trans. Comput. Syst. (TOCS),1997

3. The BRICS component model: A model-based development paradigm for complex robotics software systems;Bruyninckx,2013

4. Open robot control software: The OROCOS project;Bruyninckx,2001

5. Toward a method of object-oriented concurrent programming;Caromel;Commun. ACM,1993

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3