Evaluation of the Komodo microcontroller and the OSA+ middleware using an autonomous guided vehicle

Author

Brinkschulte, Uwe ; Pacher, Mathias ; Picioroaga, Florentin ; Gaa, Stefan

Author_Institution

Inst. for Process Control & Robotics, Karlsruhe Univ.

fYear

2006

fDate

24-26 April 2006

Abstract

The main focus of this work is to evaluate and study the real-time properties of the Komodo Java microcontroller and the OSA+ middleware in a non-trivial real-world example. We describe an approach to control an autonomous guided vehicle (AGV) by the Komodo microcontroller, a multi-threaded Java microcontroller. The main challenge is that the microcontroller has to meet hard real-time constraints to ensure a faultless drive. Then we show that we are also able to run the AGV using a real-time middleware and we measure the overhead in time and memory introduced by the middleware

Keywords

Java; control engineering computing; microcontrollers; middleware; multi-threading; real-time systems; remotely operated vehicles; Komodo Java microcontroller; OSA+ middleware; autonomous guided vehicle; multithreaded Java microcontroller; real-time middleware; Computer languages; Hardware; Java; Microcontrollers; Middleware; Mobile robots; Process control; Remotely operated vehicles; Robotics and automation; Time measurement; Autonomous guided vehicle; microcontroller; multi-threaded; real-time middleware;

fLanguage

English

Publisher

ieee

Conference_Titel

Object and Component-Oriented Real-Time Distributed Computing, 2006. ISORC 2006. Ninth IEEE International Symposium on

Conference_Location

Gyeongju

Print_ISBN

0-7695-2561-X

Type

conf

DOI

10.1109/ISORC.2006.34

Filename

1630523