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When Hard Realtime Matters: Software for Complex Mechatronic Systems

Bäuml, Berthold and Hirzinger, Gerd (2007) When Hard Realtime Matters: Software for Complex Mechatronic Systems. Robotics and Autonomous Systems: Special Issue on Humanoid Technologies. Elsevier.

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Abstract

A still growing number of software concepts and frameworks have been proposed to meet the challenges in the development of more and more complex robotic systems, like humanoids or networked robotics. The issue of hard realtime, however, has not been the main focus of such concepts, but is essential for building and controlling mechatronic systems. Here we discuss the specific demands of complex mechatronic systems and present a software concept, the "agile Robot Development" (aRD) concept, which we developed at our institute to pragmatically address these demands. We show that the performance of current computing and communication hardware allows for a flexible component-based concept with distributed execution, even in hard realtime with rates in the kHz range.

Document Type:Article
Title:When Hard Realtime Matters: Software for Complex Mechatronic Systems
Authors:
AuthorsInstitution or Email of Authors
Bäuml, BertholdUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2 September 2007
Journal or Publication Title:Robotics and Autonomous Systems: Special Issue on Humanoid Technologies
Publisher:Elsevier
Status:Accepted
Keywords:software concept, hard realtime, mechatronic system, distributed computing, component-based software engineering
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:04 Nov 2008
Last Modified:12 Dec 2013 20:33

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