Wheeled Inverted Pendulum with Embedded Component System: A Case Study

Author

Azumi, Takuya ; Takada, Hiroaki ; Ukai, Takayuki ; Oyama, Hiroshi

Author_Institution

Grad. Sch. of Inf. Sci., Nagoya Univ., Nagoya, Japan

fYear

2010

fDate

5-6 May 2010

Firstpage

151

Lastpage

155

Abstract

Software component techniques have been widely used for enhancement and the cost reduction of software development. We herein introduce a component system with a real-time operating system (RTOS). A case study of a two-wheeled inverted pendulum balancing robot with the component system is presented. The component system can deal with RTOS resources, such as tasks and semaphores, as components. Moreover, a trace functionality which is a new functionality to confirm the state of components or calling components without modification of C source code is introduced.

Keywords

embedded systems; operating systems (computers); pendulums; robots; software engineering; C source code; embedded component system; real-time operating system; software component techniques; software development cost reduction; two-wheeled inverted pendulum balancing robot; Costs; Distributed computing; Embedded software; Embedded system; Information science; Kernel; Operating systems; Programming; Real time systems; Robots; component-based development; real-time operating system;

fLanguage

English

Publisher

ieee

Conference_Titel

Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC), 2010 13th IEEE International Symposium on

Conference_Location

Carmona, Seville

ISSN

1555-0885

Print_ISBN

978-1-4244-7083-9

Electronic_ISBN

1555-0885

Type

conf

DOI

10.1109/ISORC.2010.21

Filename

5479561