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ALBATROSS The Communication Scheme as a Key to Fulfil Hard Real-Time Constraints

  • Based on experiences from an autonomous mobile robot project called MOBOT -III, we found hard realtime-constraints for the operating-system-design. ALBATROSS is "A flexible multi-tasking and realtime network-operatingsystem-kernel", not limited to mobile- robot-projects only, but which might be useful also wherever you have to guarantee a high reliability of a realtime-system. The focus in this article is on a communication-scheme fulfilling the demanded (hard realtime-) assurances although not implying time-delays or jitters on the critical informationchannels. The central chapters discuss a locking-free shared buffer management, without the need for interrupts and a way to arrange the communication architecture in order to produce minimal protocol-overhead and short cycle-times. Most of the remaining communication-capacity (if there is any) is used for redundant transfers, increasing the reliability of the whole system. ALBATROSS is actually implemented on a multi-processor VMEbus-system.

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Metadaten
Author:Uwe R. Zimmer, Ewald von Puttkamer, Christopher Wetzler
URN (permanent link):urn:nbn:de:hbz:386-kluedo-668
Document Type:Preprint
Language of publication:English
Year of Completion:1993
Year of Publication:1993
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/04/03
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011