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A Real-Time Embedded Kernel for Nonvisual Robotic Sensors

Abstract

We describe a novel and flexible real-time kernel, called Yartek, with low overhead and low footprint suitable for embedded systems. The motivation of this development was due to the difficulty to find a free and stable real-time kernel suitable for our necessities. Yartek has been developed on a Coldfire microcontroller. The real-time periodic tasks are scheduled using nonpreemptive EDF, while the non-real-time tasks are scheduled in background. It uses a deferred interrupt mechanism, and memory is managed using contiguous allocation. Also, a design methodology was devised for the nonpreemptive EDF scheduling, based on the computation of bounds on the periodic task durations. Finally, we describe a case study, namely, an embedded system developed with Yartek for the implementation of nonvisual perception for mobile robots. This application has been designed using the proposed design methodology.

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Correspondence to Enzo Mumolo.

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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License (https://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Mumolo, E., Nolich, M. & Lenac, K. A Real-Time Embedded Kernel for Nonvisual Robotic Sensors. J Embedded Systems 2008, 390106 (2008). https://doi.org/10.1155/2008/390106

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Keywords

  • Mobile Robot
  • Control Structure
  • Embed System
  • Design Methodology
  • Electronic Circuit