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<p><b>Abstract</b>—The port-based object is a new software abstraction for designing and implementing dynamically reconfigurable real-time software. It forms the basis of a programming model that uses domain-specific elemental units to provide specific, yet flexible, guidelines to control engineers for creating and integrating software components. We use a port-based object abstraction, based on combining the notion of an object with the port-automaton algebraic model of concurrent processes. It is supported by an implementation using domain-specific communication mechanisms and templates that have been incorporated into the Chimera Real-Time Operating System and applied to several robotic applications. This paper describes the port-based object abstraction, provides a detailed analysis of communication and synchronization based on distributed shared memory, and describes a programming paradigm based on a framework process and code templates for quickly implementing applications.</p>
Dynamic reconfiguration, real-time operating system, software architecture, object-based design, port-automaton theory, reusable software, component-based design, evolutionary design, digital control systems, robotics.

D. B. Stewart, R. A. Volpe and P. K. Khosla, "Design of Dynamically Reconfigurable Real-Time Software Using Port-Based Objects," in IEEE Transactions on Software Engineering, vol. 23, no. , pp. 759-776, 1997.
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