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Ninth IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC'06) (2006)
Gyeongju, Korea
Apr. 24, 2006 to Apr. 26, 2006
ISBN: 0-7695-2561-X
pp: 550-557
Uwe Brinkschulte , University of Karlsruhe, Germany
Mathias Pacher , University of Karlsruhe, Germany
Florentin Picioroaga , University of Karlsruhe, Germany
Stefan Gaa , University of Karlsruhe, Germany
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.
INDEX TERMS
Autonomous guided vehicle, multi-threaded microcontroller, real-time middleware
CITATION

M. Pacher, U. Brinkschulte, S. Gaa and F. Picioroaga, "Evaluation of the Komodo Microcontroller and the OSA+ Middleware Using an Autonomous Guided Vehicle," Ninth IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC'06)(ISORC), Gyeongju, Korea, 2006, pp. 550-557.
doi:10.1109/ISORC.2006.34
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