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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.
| Item URL in elib: | https://elib.dlr.de/55985/ | |||||||||
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| Document Type: | Article | |||||||||
| Title: | When Hard Realtime Matters: Software for Complex Mechatronic Systems | |||||||||
| Authors: |
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| Date: | 2 September 2007 | |||||||||
| Journal or Publication Title: | Robotics and Autonomous Systems: Special Issue on Humanoid Technologies | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| 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 (until 2012) > Robotic Systems | |||||||||
| Deposited By: | Klauer, Monika | |||||||||
| Deposited On: | 04 Nov 2008 | |||||||||
| Last Modified: | 12 Dec 2013 20:33 |
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