Towards resource sharing by message passing among real-time components on multi-cores

ETFA2011 ◽  
2011 ◽  
Author(s):  
Farhang Nemati ◽  
Rafia Inam ◽  
Thomas Nolte ◽  
Mikael Sjodin
Keyword(s):  
Real Time ◽  
Resource Sharing ◽  
Message Passing

scholarly journals Continuity and monotonicity of solutions to a greedy maximization problem

2020 ◽  
Vol 92 (1) ◽  
pp. 33-76
Author(s):  
Łukasz Kruk
Keyword(s):  
Real Time ◽  
Network Topology ◽  
Resource Sharing ◽  
Time Parameter ◽  
Maximization Problem ◽  
Fluid Models ◽  
Admissible Set ◽  
Network Modelling ◽  
Underlying Network ◽  
Real Time Transmission

Abstract Motivated by an application to resource sharing network modelling, we consider a problem of greedy maximization (i.e., maximization of the consecutive minima) of a vector in $${\mathbb {R}}^n$$ R n , with the admissible set indexed by the time parameter. The structure of the constraints depends on the underlying network topology. We investigate continuity and monotonicity of the resulting maximizers with respect to time. Our results have important consequences for fluid models of the corresponding networks which are optimal, in the appropriate sense, with respect to handling real-time transmission requests.

Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications

2011 ◽  
Vol 45 (3) ◽  
pp. 25-36 ◽  
Author(s):  
Brian S. Bingham ◽  
Jeffrey M. Walls ◽  
Ryan M. Eustice
Keyword(s):  
Software Architecture ◽  
Real Time ◽  
Supervisory Control ◽  
Message Passing ◽  
Autonomous Underwater Vehicle ◽  
Modular System ◽  
Port Security ◽  
Software Infrastructure ◽  
Marine Robotics ◽  
Robotic Applications

AbstractThis paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server Iver2) for visual feature-based navigation. In both cases, the modular vehicle software infrastructures are based around the open-source LCM software library for low-latency, real-time message passing. To elucidate the real-world application of LCM in marine robotic systems, we present the software architecture of these two successful marine robotic applications and illustrate the capabilities and flexibilities of this approach to real-time marine robotics. We present benchmarking test results comparing the throughput of LCM with the Mission-Oriented Operating Suite, another robot software system popular in marine robotics. Experimental results demonstrate the capacity of the LCM framework to make large amounts of actionable information available to the operator and to allow for distributed supervisory control. We also provide a discussion of the qualitative tradeoffs involved in selecting software infrastructure for supervisory control.

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