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