HARTIK: A real-time kernel for robotics applications

Author

Buttazzo, Giorgio C.

Author_Institution

A.R.T.S. Lab., Pisa, Italy

fYear

1993

fDate

1-3 Dec 1993

Firstpage

201

Lastpage

205

Abstract

This paper presents a hard real-time kernel, called HARTIK, specifically designed to handle robotics applications with predictable response time. The main relevant features of this kernel include: direct specification of time constraints, such as periods and deadlines; preemptive scheduling; coexistence of hard soft, and non real-time tasks, separation between time constraints and importance; deadline tolerance; dynamic guarantee of critical tasks; and graceful degradation in overload conditions. The functionality of the kernel is then shown by presenting a concrete example of a robot system that has to explore unknown objects by visual and force feedback

Keywords

formal specification; operating system kernels; performance evaluation; real-time systems; robots; scheduling; HARTIK; critical tasks; deadline tolerance; deadlines; dynamic guarantee; force feedback; graceful degradation; hard real-time kernel; importance; overload conditions; periods; predictable response time; preemptive scheduling; robotics applications; specification; time constraints; unknown objects; visual feedback; Control systems; Degradation; Delay; Dynamic scheduling; Intelligent robots; Kernel; Robot sensing systems; Servomechanisms; Time factors; Timing;

fLanguage

English

Publisher

ieee

Conference_Titel

Real-Time Systems Symposium, 1993., Proceedings.

Conference_Location

Raleigh Durham, NC

Print_ISBN

0-8186-4480-X

Type

conf

DOI

10.1109/REAL.1993.393499

Filename

393499