Abstract
HEDRA, ESPRIT project (nr. 6768), aims to develop a heterogeneous distributed real-time architecture for robot and machine control. This paper describes an open and flexible programming system, as a part of this architecture, that is based on an existing system called VIRTUOSO. The programming system is an evolution of Virtuoso towards the aimed architecture. The work concentrates on the achievement of guaranteed real-time behavior, minimum interrupt latency and transparency of interprocessor data communication.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Clark, D. 1989. HIC: An Operating System for Hierarchies of Servo Loops. Proc. Int Conf. on Rob. and Automation, 2, pp. 1004–1009.
Jones, J., Butler, P., Johnston, S. and Heywood, T. 1992. Hetero Helix: Synchronous and asynchronous control systems in heterogeneous distributed networks. Robotics and Autonomous Systems 10:85–99.
Lee, I., King, R. 1988. Timix: A Distributed Real-Time Kernel for Multi-Sensor Robots. Proc. of IEEE Int. Conf on Rob. and Automation, 3 pp. 1587–1589.
Morgan, K.D. 1993. The HP-RT Real-Time Operating System. Hewlett-Packard Journal 8:23–30.
Stewart, D., Schmitz, D. and Khosla, P. 1990. Implementing Real-Time Robotic Systems Using CHIMERA II. Proc. Int. Conf. on Rob. and Automation, pp. 598–603.
Thielemans, H., Verhulst, E. 1991. Implementation issues of TRANS-RTXc on the Transputer. IFAC Algorithms and Architectures for Real-Time Control, pp. 123–128.
Verhulst, E., Thielemans, H. 1990(a). Pre-emptive scheduling and meeting hard real-time constraints with TRANS-RTXc on the Transputer. In Application of Transputers, 2, pp. 288–295, IOS Press.
Verhulst, E., Thielemans, H. 1990(b). Predictable response times and portable hard real-time systems with TRANS-RTXc on the Transputer. In Real-Time Systems with Transputers, pp. 232–240, IOS Press.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1998 Kluwer Academic Publishers
About this chapter
Cite this chapter
Thielemans, H., Demeestere, L., van Brussel, H. (1998). HEDRA: Heterogeneous Distributed Real-Time Architecture. In: Wikander, J., Svensson, B. (eds) Real-Time Systems In Mechatronic Applications. Springer, Boston, MA. https://doi.org/10.1007/978-0-585-35223-7_6
Download citation
DOI: https://doi.org/10.1007/978-0-585-35223-7_6
Publisher Name: Springer, Boston, MA
Print ISBN: 978-0-7923-8159-4
Online ISBN: 978-0-585-35223-7
eBook Packages: Springer Book Archive