NDLI: HARTIK: a hard real-time kernel for programming robot tasks with explicit time constraints and guaranteed execution

Content Provider	IEEE Xplore Digital Library
Author	Buttazzo, G.C. Di Natale, M.
Copyright Year	1993
Description	Author affiliation: ARTS Lab., Scuola Superiore S. Anna, Pisa, Italy (Buttazzo, G.C.; Di Natale, M.)
Abstract	The characteristics of HARTIK, a hard real-time kernel capable of managing concurrent activities with explicit time constraints under guaranteed execution are described. This kernel is designed to extend the C language with a set of library functions, which allow easy modification of a sequential C program into a set of concurrent processes that can be executed with specified time constraints, such as periods and deadlines. The capability of guaranteeing the execution of time critical tasks, and the possibility of taking alternative actions if a time critical task cannot be completed within its deadline, represent two aspects of the kernel. These are of crucial importance for developing reliable real-time control applications. An effort is made to provide tools for realizing time-bounded programs and real-time tracer, which records all context switches that occur in the system evolution. HARTIK is being used as a platform for programming reliable real-time tasks in robotics applications.
Starting Page	404
Ending Page	409
File Size	606569
Page Count	6
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292178
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kernel Robot programming Time factors Real time systems Timing Scheduling algorithm Control systems Delay Code standards Libraries
Content Type	Text
Resource Type	Article

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