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Master's Dissertation
DOI
10.11606/D.18.2008.tde-09012009-210323
Document
Author
Full name
Rafael Vidal Aroca
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2008
Supervisor
Committee
Caurin, Glauco Augusto de Paula (President)
Oliveira, Rômulo Silva de
Rodrigues, Evandro Luis Linhari
Title in Portuguese
Análise de sistemas operacionais de tempo real para aplicações de robótica e automação
Keywords in Portuguese
Latência de interrupções
Pior caso de resposta
Sistemas de tempo real
Sistemas operacionais de tempo real
Abstract in Portuguese
Este trabalho apresenta um estudo sobre sistemas operacionais de tempo real (RTOS) utilizados na implementação da infraestrutura de controle digital para sistemas mecatrônicos, mas serve também como referência para outros sistemas que possuam restrições de tempo. Além de ter um caráter experimental, onde foram medidos e analisados dados como o pior tempo de resposta dos sistemas e a latência para tratamento de interrupções, este trabalho de pesquisa ainda contempla a implementação e uso de RTOS em situações práticas, bem como contempla a construção de uma plataforma geral de pesquisa que servirá de base para futuros trabalhos no laboratório de mecatrônica. Os sistemas analisados neste trabalho foram o VxWorks, QNX, Linux, RTAI, Windows XP, Windows CE e 'mü'C/OS-II. Outro produto gerado durante este trabalho foi um Live CD para auxiliar na implementação e ensino de conceitos e sistemas de tempo real.
Title in English
Analysis of real time operating systems for robotics and automation applications
Keywords in English
Interrupt latency
Real time operating systems
Real time systems
Worst case response time
Abstract in English
This work presents a study about real time operating systems (RTOS) that are utilized as infrastructure to create digital control systems for mechatronics systems, and also for systems that have critical time constraints. Parameters like worst case response time and interrupt latency were measured for each operating system. This research project also covers the implementation and use of RTOS in practical situations. A general research platform for robotics and real time research was also developed and will be used for future works in the Mechatronics Laboratory. The tested systems were VxWorks, QNX, Linux, RTAI, Windows XP, Windows CE and 'mü'C/OS-II. Another product released during this work was a Live CD to aid the implementation and teaching of real time systems and concepts.
 
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Publishing Date
2009-02-16
 
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