Use of open source software for hard real-time experiments

2004 ◽  
Author(s):  
R. Ostrovrsnik ◽  
A. Hace ◽  
M. Terbuc
Keyword(s):  
Open Source ◽  
Real Time ◽  
Open Source Software ◽  
Hard Real Time

SoftPLC-Based Control

2012 ◽  
pp. 440-463 ◽  
Author(s):  
Stefano Scanzio
Keyword(s):  
Open Source ◽  
Control Systems ◽  
Real Time ◽  
Open Source Software ◽  
Industrial Ethernet ◽  
Programmable Logic ◽  
Programmable Logic Controllers ◽  
Hard Real Time ◽  
Logic Controllers

Nowadays, most control systems are based on programmable logic controllers (PLCs) and on commercial programs, but the use of conventional PCs is becoming an increasing by popularity and competitive alternative. After an introduction that underlines the positive and negative aspects of both solutions, EtherCAT, a hard real-time industrial Ethernet protocol that allows the use of both conventional PCs and open-source software, is analyzed. Two different EtherCAT master implementations are compared, which are based on a commercial and on a open-source software, respectively. In order to highlight differences and provide a short reference, a simple example was implemented in the two environments.

Open-Source Real-Time Robot Operation and Control System for Highly Dynamic, Modular Machines

2013 ◽  
Author(s):  
Andrew Peekema ◽  
Daniel Renjewski ◽  
Jonathan Hurst
Keyword(s):  
Control System ◽  
Open Source ◽  
Real Time ◽  
High Frequency ◽  
Performance Test ◽  
Frequency Control ◽  
Human Robot Interaction ◽  
Sensors And Actuators ◽  
Key Innovation ◽  
Hard Real Time

The control system of a highly dynamic robot requires the ability to respond quickly to changes in the robot’s state. This type of system is needed in varying fields such as dynamic locomotion, multicopter control, and human-robot interaction. Robots in these fields require software and hardware capable of hard real-time, high frequency control. In addition, the application outlined in this paper requires modular components, remote guidance, and mobile control. The described system integrates a computer on the robot for running a control algorithm, a bus for communicating with microcontrollers connected to sensors and actuators, and a remote user interface for interacting with the robot. Current commercial solutions can be expensive, and open source solutions are often time consuming. The key innovation described in this paper is the building of a control system from existing — mostly open source — components that can provide realtime, high frequency control of the robot. This paper covers the development of such a control system based on ROS, OROCOS, and EtherCAT, its implementation on a dynamic bipedal robot, and system performance test results.

Prospects of Open Source Software for Maximizing the User Expectations in Heterogeneous Network

2021 ◽  
pp. 257-271
Author(s):  
Pushpa Singh ◽  
Rajeev Agrawal
Keyword(s):  
Machine Learning ◽  
Open Source ◽  
Real Time ◽  
Open Source Software ◽  
Heterogeneous Networks ◽  
Heterogeneous Network ◽  
Research Work ◽  
Software Tool ◽  
Knn Classifier ◽  
User Expectations

This article focuses on the prospects of open source software and tools for maximizing the user expectations in heterogeneous networks. The open source software Python is used as a software tool in this research work for implementing machine learning technique for the categorization of the types of user in a heterogeneous network (HN). The KNN classifier available in Python defines the type of user category in real time to predict the available users in a particular category for maximizing profit for a business organization.

scholarly journals Development of an All-Fiber Coherent Doppler Lidar in the IAO SB RAS

2020 ◽  
Vol 237 ◽  
pp. 06005
Author(s):  
Artem Sherstobitov ◽  
Viktor Banakh ◽  
Alexander Nadeev ◽  
Igor Razenkov ◽  
Igor Smalikho ◽  
...  
Keyword(s):  
Signal Processing ◽  
Radial Velocity ◽  
Open Source ◽  
Real Time ◽  
Open Source Software ◽  
Stream Line ◽  
Doppler Lidar ◽  
Hardware System ◽  
Coherent Doppler Lidar

Paper presents a model of the all-fiber pulsed coherent Doppler lidar (IAO-lidar) build in the IAO SB RAS. Here is described lidar design, the algorithm for processing of lidar signals and the software-hardware system that implements signal processing in real time, created with the use of open source software. The results of joint measurements of the radial velocity by the IAO-lidar and the HALO Photonics (Stream Line) lidar are given.

Embedded Real-Time Linux for Cable Robot Control

2002 ◽  
Author(s):  
Frederick M. Proctor ◽  
William P. Shackleford
Keyword(s):  
Open Source ◽  
Real Time ◽  
Open Source Software ◽  
Hard Disk Drives ◽  
Source Model ◽  
Disk Drives ◽  
Deterministic Scheduling ◽  
Cable Robot ◽  
Real Time Computing ◽  
Embedded Applications

Linux is a version of the Unix operating system distributed according to the open source model. Programmers are free to adapt the source code for their purposes, but are required to make their modifications or enhancements available as open source software as well. This model has fostered the widespread adoption of Linux for typical Unix server and workstation roles, and also in more arcane applications such as embedded or real-time computing. Embedded applications typically run in small physical and computing footprints, usually without fragile peripherals like hard disk drives. Special configurations are required to support these limited environments. Real-time applications require guarantees that tasks will execute within their deadlines, something not possible in general with the normal Linux scheduler. Real-time extensions to Linux enable deterministic scheduling, at task periods at tens of microseconds. This paper describes embedded and real-time Linux, and an application for distributed control of a Stewart Platform cable robot. Special Linux configuration requirements are detailed, and the architecture for teleoperated control of the cable robot is presented, with emphasis on the resolved-rate control of the suspended platform.

Sign in / Sign up

Export Citation Format

Share Document