Practical approach towards porting drivers for data acquisition cards under real-time operating system Linux Xenomai

• Autorzy: Domski W.
• Języki publikacji: EN

Abstrakty

EN

The paper highlights the necessity of hard real-time operating systems and real-time drivers for robotic systems, careful attention was devoted to the medical systems such as ReMeDi [4]. The paper explains demand for real-time device drivers in terms of filling the gap between the control algorithm output and actuators. It is important to develop robotic systems that are deterministic and safe especially while human factor is present and safety requirements has to be taken into account. Furthermore, a framework is presented that facilitates the real-time requirements.

Słowa kluczowe

EN

drivers; programming; access card; data; operating system; Linux

PL

sterowniki; programowanie; karta dostępu; dane; system operacyjny; Linux

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Prace Naukowe Politechniki Warszawskiej. Elektronika
• Rocznik: 2016
• Tom: z. 195, t. 1
• Strony: 91--100
• Opis fizyczny: Bibliogr. 16 poz., rys., tab.

Twórcy

autor

Domski W.

• Chair of Cybernetics and Robotics, Wrocław University of Science and Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław

Bibliografia

• [1] Jr3, multi-axis load cell technologies. http://www.jr3.com/.
• [2] Open Robot Control Software (OROCOS). http://orocos.org/.
• [3] Robot Operating System (ROS). http://ros.org/.
• [4] Remedi project. http://www.remedi-project.eu/.
• [5] Xenomai. http://xenomai.org/.
• [6] Instruction manual, Sensoray Model 626, PCI Multifunction I/O Board, January 2004. http://www.sensoray.com/downloads/man_626_1.0.5.pdf.
• [7] K. Arent, W. Domski, and M. Cholewiński. Deployment of model based robotic control algorithms, designed using Matlab/Simulink, in the form of OROCOS components Operating under Linux Xenomai. In Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on, pages 632-637, Aug 2015.
• [8] A. Barbalace, A. Luchetta, G. Manduchi, M. Moro, A. Soppelsa, and C. Taliercio. Performance Comparison of VxWorks, Linux, RTAI and Xenomai in a Hard Real-time Application. In Real-Time Conference, 2007 15th IEEE-NPSS, pages 1-5, April 2007.
• [9] B. W. Choi, D. G. Shin, J. H. Park, S. Y. Yi, and S. Gerald. Real-time control architecture using xenomai for intelligent service robots in usn environments. Intelligent Service Robotics, 2(3):139-151, 2009.
• [10] M. Cholewiński, M. Janiak, and Ł. Juszkiewicz. Software platform for practical verification of control algorithms developed for rescue and exploration mobile platform. In Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on, pages 388-393, Aug 2015.
• [11] W. Domski. From Simulink block diagram to real-time OROCOS component. Chair of Cybernetics and Robotics, Wrocław University of Technology, SPR number nr 15/2014, October 2014.
• [12] J. Kiszka. The real-time driver model and first applications. In 7th Real-Time Linux Workshop, Nov.
• [13] R. Oftadeh, M.M. Aref, R. Ghabcheloo, and J. Mattila. Unified framework for rapid prototyping of linux based real-time controllers with matlab and simulink. In Advanced Intelligent Mechatronics (A/M), 2012 IEEE/ASME International Conference on, pages 274-279, July 2012.
• [14] A. Peer, M. Buss, B. Stańczyk, D. Szczęśniak-Stańczyk, W. Brzozowski, A. Wysokiński, M. Tscheligi, C. A. Avizzano, E. Ruffaldi, L. v. Gool, A. Fossati, K. Arent, J. Jakubiak, and M. Janiak. Towards a remote medical diagnostican for medical examination. In NextMed MMVR21. ·
• [15] M. Piątek. Real-time application interface and Xenomai modified GNU/Linux real-time Operating systems dedicated to control. In 6th Conference on Computer Methods and Systems, pages 179-184.
• [16] Y. Zhou and Q. Zhou. The embeded real-time linux operation system based on the xenomai. In Electrical and Control Engineering (ICECE), 2011 International Conference on, pages 3286-3290, Sept 2011.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.