NDLI: Real-time motion control on Android platform

Content Provider	Springer Nature Link
Author	Kang, Hyeongseok Kim, Dohyeon Kang, Jeongnam Kim, Kanghee
Copyright Year	2015
Abstract	Recently, it is increasingly important to provide good real-time performance with the Android platform, since it has been used in industrial devices. The Android platform, however, does not provide a tight real-time guarantee that is required by such industrial devices as robots. Until a real-time extension of the Android platform becomes publicly available, application developers need a lightweight application-centric approach to achieve good real-time performance on the existing platform. This paper proposes an application-centric approach requiring no real-time extensions of the Android platform, which centers around multi-core partitioning and partition-aware application design. Following the proposed approach, we present an implementation study of motion control applications where the real-time tasks of the target application run on dedicated processor cores as a native Linux process while the non-real-time tasks run on other cores as an Android process. In the paper, we prove that the proposed approach is enough effective to deal with motion control applications on the existing Android platform with no real-time extensions. Our experiments show that on a quad-core Android board we can achieve such a good real-time performance as 99 % task activation jitters less than 5 µs for a motion control application with four real-time tasks and a period of 500 µs.
Starting Page	196
Ending Page	213
Page Count	18
File Format	PDF
ISSN	09208542
Journal	The Journal of Supercomputing
Volume Number	72
Issue Number	1
e-ISSN	15730484
Language	English
Publisher	Springer US
Publisher Date	2015-10-24
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Real-time motion control Multi-core partitioning Partition-aware application design Android platform Programming Languages, Compilers, Interpreters Processor Architectures Computer Science
Content Type	Text
Resource Type	Article
Subject	Theoretical Computer Science Information Systems Hardware and Architecture Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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