TY - GEN
T1 - Extended RT-component framework for RT-middleware
AU - Chishiro, Hiroyuki
AU - Fujita, Yuji
AU - Takeda, Akira
AU - Kojima, Yuta
AU - Funaoka, Kenji
AU - Kato, Shinpei
AU - Yamasaki, Nobuyuki
PY - 2009
Y1 - 2009
N2 - Modular component-based robot systems require not only an infrastructure for component management, but also scalability as well as real-time properties. Robot Technology (RT)-Middleware is a software platform for such component-based robot systems. Each component in the RT-Middleware, so-called "RT-Component" supporting particular robot functions, is based on Common Object Request Broker Architecture (CORBA). Unfortunately, the RT-Middleware lacks the mechanism for real-time control. In this paper, we extend the framework of the RT-Components to take care of timing constraints. We first enable tasks to have different periods within each RT-Component. We then modify the packet format of the General Inter-ORB Protocol (GIOP) to transfer the information of timing constraints over RT-Components. The performance evaluation on ART-Linux shows that the extended RT-Component framework improves the schedulability of distributed realtime tasks, without causing critical overheads in unmar-shaling the modified GIOP packets.
AB - Modular component-based robot systems require not only an infrastructure for component management, but also scalability as well as real-time properties. Robot Technology (RT)-Middleware is a software platform for such component-based robot systems. Each component in the RT-Middleware, so-called "RT-Component" supporting particular robot functions, is based on Common Object Request Broker Architecture (CORBA). Unfortunately, the RT-Middleware lacks the mechanism for real-time control. In this paper, we extend the framework of the RT-Components to take care of timing constraints. We first enable tasks to have different periods within each RT-Component. We then modify the packet format of the General Inter-ORB Protocol (GIOP) to transfer the information of timing constraints over RT-Components. The performance evaluation on ART-Linux shows that the extended RT-Component framework improves the schedulability of distributed realtime tasks, without causing critical overheads in unmar-shaling the modified GIOP packets.
UR - http://www.scopus.com/inward/record.url?scp=70350584480&partnerID=8YFLogxK
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U2 - 10.1109/ISORC.2009.40
DO - 10.1109/ISORC.2009.40
M3 - Conference contribution
AN - SCOPUS:70350584480
SN - 9780769535739
T3 - Proceedings of the 2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009
SP - 161
EP - 168
BT - Proceedings of the 2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009
T2 - 2009 IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2009
Y2 - 17 March 2009 through 20 March 2009
ER -