Abstract
The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots.As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernelbased operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundantdeveloper pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component schedulerof OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPUcontrol. And then the component scheduler suspends and resumes each periodic component executors based on its priority andprecedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis onthe performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposedscheduler guarantees highly reliable timing down to the resolution of 10ms.
| Original language | English |
|---|---|
| Pages (from-to) | 38-46 |
| Number of pages | 9 |
| Journal | Journal of Institute of Control, Robotics and Systems |
| Volume | 17 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 2011 |
Keywords
- OPRoS (Open platform for robotic service)
- Real-time system
- Task scheduling
- Windows NT