Synchronization scheduling methods for robot’s sensor and actuator

As the recent robots require high performances, accurate synchronization is considered more important. So we need suitable scheduling algorithms, which is deeply related to real-time issue. There are many cases that each sensor, actuator have un-synchronized actions. To solve these problems, we have to benchmark and survey the existing algorithms. We have to find a model to evaluate the performance of different kinds of synchronization mechanisms or scheduling policies, and will validate it by comparing each mechanisms on Matlab Simulink. The model leads to the conclusion that scheduling keeps itpsilas deadline and make the system approximately synchronization on three servo motors.