Control system development for test handler

The core idea in this project is to have two operating systems for both cores of dual core processor individually. General purpose operating system on one core and Real time operating system (RTOS) on second core. Implementation of same will be done by making one of core independent from General purpose operating system and install RTOS in that core so that both will work as one system i.e. General purpose operating system will look after the non-real time applications and RTOS will ensure that all real time application should not miss their deadline and executed as fast as they can. As by installing general purpose operating system and RTOS in both the cores of dual core processors of system and running them in parallel way, dual core processors is being used to its maximum efficiency. The advantage is that if one of OS gets crashed, whole system will not crash instead one of OS which didn't crash hold the system to safe mode till damaged OS is recovered.

The IGEM (Industrial Global Environment Manager), which is a real-time operating system with ITRON specifications, has been developed and applied to the mobile radio communication systems. This system is used for AVM (Automatic Vehicle Monitoring) and MCA systems (Multi Channel Access) which uses M68000 (MCP-16 board) CPUs, having several connections to more than one microcomputer. In this system, a general purpose operating system (OS-9)* and real-time operating system (IGEM) coexist,and they work together. This paper introduces examples of the use of this system and gives an evaluation of its operating system.

This paper investigates the possibilities of using virtualization in multicore real-time embedded systems based on combination of general-purpose and real-time operating systems running on separate processor cores. The research is focused on ARM processor architecture due to its widespread usage in numerous application domains. The paper describes the concepts and practical considerations of using virtualization to achieve better interrupt latency both in Linux, as a typical representative of commonly used general-purpose operating system in applications requiring real-time response, and real-time operating system running on separate cores. In the proposed approach we demonstrate how to use virtualization mechanism to decouple cores responsible for real-time and non real-time tasks in a multiprocessor system with real-time requirements. Xen Hypervisor is used as a virtual machine monitor with default credit and new experimental null scheduler. The aim of research was to study the system response time characteristics and to assess practical usability of such approach in applications with hard real-time requirements.

The picky needs raised in the embedded market lead to the growth of real-time operating systems (RTOS), which differ from the general-purpose operating systems (GPOS) by applying strict timing and providing predictable execution of tasks. Some features of a real-time application, such as human interaction and some data transfers to other components are not time-critical. As the general-purpose operating system requires access to the data gathered by the real-time operating system, these two should be consolidated on the same platform form a hybrid system. This proposal examines how the existing Sloth approach of interrupt-driven scheduling can apply to a hybrid system running both a real-time and the Linux kernel simultaneously on the unchanged hardware. This entails a make another study of existing approaches towards a real-time capable Linux and the design of a communication channel between the real-time core and processes running in Linux kernel. The evaluation of the resulting Slothful Linux is supposed to show the advantages of the Sloth approach in a hybrid system compared to both the standalone Sloth and another real-time conservatory for Linux.

With the wide-spread using of LinuxOS, the Real-time requirement in certain applications is heighly demanded. So the Xenomai comes up, it has a higher priority than Linux kernel, so it can deal with the tasks which need real-time requirement.In order to set up the real-time Linux based on the ARM platform, the mini2440 development board contained s3c2440 as its MCU is used to set up the real-time operation system. Design and test the performs of the system. The results show that the embeded real-time Linux system based on the Xenomai has the good quality of real-time and can be used in the soft real-time system or the hard real-time system.

Real-time Linux operating system for plasma control on FTU—implementation advantages and first experimental results

Remote Patient Monitoring (RPM) systems will play an important role in the future of healthcare. They will be used to monitor chronic conditions, but may also be employed to detect acute medical conditions and generate alarms in real-time. This real-time responsiveness is a critical design criterion for acute condition detection. The data rate of each sensor represents a hard real-time threshold; if an RPM system cannot process incoming data as quickly as it arrives, its perception of a patient's health status will gradually begin to lag behind that patient's actual status. One effective way to address this issue is to select an operating system (OS) that can effectively manage data analysis for the highest priority tasks under all possible CPU load conditions. This paper evaluates the performance of a real-time operating system (RTOS)-based multi-sensor RPM system. The real-time system performance is measured against a hard realtime processing threshold for five simulated sensor inputs with varying priority levels. The results demonstrate that preemptive scheduling, employed by the RTOS, allows an RPM system under heavy processing load to consistently meet the hard real-time threshold requirements for acute condition detection.

As a standard of operating system in automotive industry, OSEK/VDX is applied on dozens of mature industrial operating systems and widely installed on the products of major automotive manufacturers. In this empirical report, we introduce our experience on verifying OSEK/VDX real-time operating system. From both source code and binary code level, the OSEK/VDX operating system is verified based on approaches comprising Hoare Logic, Communicating Sequential Processes, Binary Code Analysis and Discrete-Time Markov Chains model checking. Based on our approach, a commercial OSEK/VDX standard automotive operating system is verified and it is proved to be of great help to the development of software.

A real-time operating system (RTOS) provides a platform for the design and implementation of a wide range of applications in real-time systems, embedded systems, and mission-critical systems. This paper presents a formal design model for a general RTOS known as RTOS+ that enables a specific target RTOS to be rigorously and efficiently derived in real-world applications. The methodology of a denotational mathematics, Real-Time Process Algebra (RTPA), is described for formally modeling and refining architectures, static behaviors, and dynamic behaviors of RTOS+. The conceptual model of the RTOS+ system is introduced as the initial requirements for the system. The architectural model of RTOS+ is created using RTPA architectural modeling methodologies and refined by a set of Unified Data Models (UDMs). The static behaviors of RTOS+ are specified and refined by a set of Unified Process Models (UPMs). The dynamic behaviors of the RTOS+ system are specified and refined by the real-time process scheduler and system dispatcher. This work is presented in two papers; the conceptual and architectural models of RTOS+ is described in this paper, while the static and dynamic behavioral models of RTOS+ will be elaborated in a forthcoming paper.

Digital controllers are increasingly designed and built using commercial off-the-shelf (COTS) hardware and software components. This is a result of the availability of high-performance, low-cost microcontrollers, specialized embedded processors, and various real-time operating systems (RTOSs). The wide selection of RTOSs does not necessarily translate into an increased availability of systems that are capable of facilitating the construction of controllers meeting the performance and stability requirements demanded by the mechatronics applications. A primary contributing factor to that disparity is that the design goals of many RTOSs focus on the overall system response time and may neglect other timing constraints in the controller.This chapter examines the major components of an RTOS and the implementation of the controller using those components from a computing science perspective. By introducing the various operating system concepts and the way in which these concepts affect the digital controller design, this chapter aims to aid control engineers in better understanding an RTOS. With this knowledge, design decisions can be made to compensate for the deficiencies in the underlying software platform. This chapter also provides a survey of the results of the various research topics in the field of computer-controlled systems design. The contribution of this chapter is its synthesis of topics from control engineering theory with concepts from real-time systems in the RTOS context. We thus aim to help the control engineer to develop a systematic approach to the implementation of control systems using either a COTS RTOS or an open source-based research RTOS.The main objective of this chapter is to assist the control engineer in architecting the controller implementation while taking into consideration the issues that are present in the underlying supporting RTOS, thus creating an optimal design.

System design kit for the 8051

Virtualization technology can provide a transparent and efficient software development environment at the development phase of embedded systems. In addition, virtualization can be exploited to provide strong resource isolation between real-time applications. However, since virtualization incurs noticeable overheads, we need to minimize these to utilize virtualization technology for either a software development environment or a runtime environment of real-time embedded systems. In this letter, we particularly focus on virtualization overheads of network I/O and present an implementation of standardized (i.e., virtio) front-end network driver for a real-time operating system (RTOS). Although there have been several studies for virtio on general-purpose OS, our implementation is the first open-source virtio for an RTOS. The measurement results show that our implementation can improve the bandwidth and latency up to 168% and 52%, respectively. In addition, the memory usage can be saved up to 36%.

Controlling accurately the position and velocity of robots in a given time is an important requirement in the industry. The open-source real-time operating systems not only have more advantages than the normal operating systems in both economy and flexibility but also meet the needs. This paper concentrates on building algorithms for controlling the robot trajectory in time using a modern real-time operating system called Linux-Xenomai. Firstly, the paper analyzes several advantages of the real-time operating system Linux-Xenomai comparing general operating systems and other real-time operating systems. Secondly, a real-time controller of a 5 degree-of-freedom (DOF) robot is built based on the real-time operating system Linux-Xenomai. After that, the paper proposes algorithms to test the ability of working in time of the robot. Finally, the real experiments are done to verify the proposed algorithms.

Although Java as expected to have a wide range of embedded applications, there exist some problems in applying Java to real-time systems. It is practical to have a hybrid architecture, in which the Java runtime environment is implemented on a real-time operating system (OS), where those parts of the application requiring real-time properties are implemented in the real-time OS, while those parts requiring GUI features, extensions of features and replacement of programs should be implemented in the Java runtime environment. In this paper, we present interface specifications between Java threads and real-time tasks based the hybrid architecture we have built, called the JTRON (Java on The industrial Real-time Operating system Nucleus) specification, and experiences based on application development using its implementation. First, cooperative computation models between Java threads and real-time tasks in the architecture are described. Based on these models, we categorize three types of communication interfaces between Java threads and real-time tasks: the real-time/OS attachment class, shared objects with explicit locking mechanisms, and stream-based communication. By standardizing the interface, not only Java programs but also real-time programs become portable and reusable. Two of the three types of interface can also be applied to other real-time OSs.

Many modern embedded applications need the execution support of a real-time operating system. Such applications have usually critical or hard timing requirements, but giving the high presence of multimedia devices, real-time operating systems can also be used to manage the tasks that execute within multimedia devices. This paper focuses on identifying the requirements of a real-time operating system capable of fulfilling the needs of the multimedia applications typically executed on multiprocessor, mobile-oriented systems such as the Movidius platform.