Naslov
A Real-Time Embedded Kernel for Nonvisual Robotic Sensors

Autori
Mumolo, Enzo ; Nolich, Massimiliano ; Lenac, Kristijan

Izvornik
EURASIP Journal on Embedded Systems (1687-3955) 2008 (2008) (2007); 1-13

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
embedded system; real-time system; scheduling; EDF; performance evaluation

Sažetak
We describe a novel and flexible real-time kernel, called Yartek, with low overhead and low footprint suitable for embedded systems. The motivation of this development was due to the difficulty to find a free and stable real-time kernel suitable for our necessities. Yartek has been developed on a Coldfire microcontroller. The real-time periodic tasks are scheduled using nonpreemptive EDF, while the non-real-time tasks are scheduled in background. It uses a deferred interrupt mechanism, and memory is managed using contiguous allocation. Also, a design methodology was devised for the nonpreemptive EDF scheduling, based on the computation of bounds on the periodic task durations. Finally, we describe a case study, namely, an embedded system developed with Yartek for the implementation of nonvisual perception for mobile robots. This application has been designed using the proposed design methodology.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

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