A framework to support real-time features of intelligent service robots
Pages 8 - 12
Abstract
In the ubiquitous environment, the real-time features for intelligent service robots are necessary to insure statistical and deterministic quality of service (QoS) guarantees for latency. In this paper, we design and implement the real-time framework for intelligent service robots to support real-time features. The real-time framework with the priority-based real-time scheduling service will be operated on the general operating systems. It resolves a problem that the scheduler of general operating system can't support real-time features. It has been implemented on Windows operating system for providing the QoS guarantees for deterministic real-time robot applications. The performance measurements include both thread's response time and overhead to execute internal function of the real-time framework.
References
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R. A. Brooks, "A robust layered control system for a mobile robot," IEEE J. Robot. Automat., vol. RA-2, pp. 14--23, Mar. 1986.
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The Robotic Technology Component Specification. OMG Adopted Specification, ptc/06-11-07 (2006).
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Hans Utz, etc., "Miro-Middleware for Mobile Robot Applications", Robotics and automation, IEEE, Vol. 18, pp. 493--497, 2002.
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OROCOS, http://www.orocos.org/
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H. Bruyninckx, P. Soetens, B. Koninckx, "The Real-Time Motion Control Core of the Orocos Project", IEEE International Conference on Robotics&Automation, Vol. 2, pp. 2766--2771, 2003
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Herman Bruyninckx, "Open Robot Control Software the OROCOS project", Robotics and automation, IEEE, Vol. 3, pp. 2523--2528, 2001.
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Choulsoo Jang, etc., "A Robot Component Container for Open Platform for Robotic Services (OPRoS)", Ubiquitous Robots and Ambient Intelligence 2008, pp. 739--744, 2008.
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IEEE Standards Project P1003.4, "Draft Standard for Information Technology - Portable Operating System Interface (POSIX) - Part 1: System Application: Realtime Extension {C Language}," Draft13, The Institute of Electrical and Electronics Engineers, 1992.
[9]
POSIX standard library for windwos operating system, http://sourceware.org/pthreads-win32/
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Windows XP, http:\\www.micorsoft.com
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MSDN, Scheduling Priorities of Windows, http://msdn.microsoft.com/en-us/library/ms685100(VS.85).aspx
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MSDN, Process and Thread Functions, http://msdn.microsoft.com/en-us/library/s684847(VS.85).aspx
Index Terms
- A framework to support real-time features of intelligent service robots
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Information & Contributors
Information
Published In
August 2009
687 pages
ISBN:9781605586625
DOI:10.1145/1644993
- General Chairs:
- Geuk Lee,
- Daniel Howard,
- Jeong Jin Kang,
- Program Chairs:
- Dominik Slezak,
- Tae Nam Ahn,
- Chung-Huang Yang
Copyright © 2009 ACM.
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 27 August 2009
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ICHIT '09
ICHIT '09: International Conference on Convergence and Hybrid Information Technology
August 27 - 29, 2009
Daejeon, Korea
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