WoTUG - The place for concurrent processes

Paper Details

LUNA: Hard Real-Time, Multi-Threaded, CSP-Capable Execution Framework

Authors: Bezemer, Maarten M., Wilterdink, Robert J.W., Broenink, Jan F.


Modern embedded systems have multiple cores available. The CTC++ library is not able to make use of these cores, so a new framework is required to control the robotic setups in our lab. This paper first looks into the available frameworks and compares them to the requirements for controlling the setups. It concludes that none of the available frameworks meet the requirements, so a new framework is developed, called LUNA. The LUNA architecture is component based, resulting in a modular structure. The core components take care of the platform related issues. For each supported platform, these components have a different implementation, effectively providing a platform abstraction layer. High-level components take care of platform-independent tasks, using the core components. Execution engine components implement the algorithms taking care of the execution flow, like a CSP implementation. The paper describes some interesting architectural challenges encountered during the LUNA development and their solutions. It concludes with a comparison between LUNA, C++CSP2 and CTC++. LUNA is shown to be more efficient than CTC++ and C++CSP2 with respect to switching between threads. Also, running a benchmark using CSP constructs, shows that LUNA is more efficient compared to the other two. Furthermore, LUNA is also capable of controlling actual robotic setups with good timing properties.


Communicating Process Architectures 2011, Peter H. Welch, Adam T. Sampson, Jan Bækgaard Pedersen, Jon Kerridge, Jan F. Broenink, Frederick R. M. Barnes, 2011, pp 157 - 175 published by IOS Press, Amsterdam

Files: Paper (PDF), Slides (PDF)

This record in other formats:

Web page: BibTEX, Refer
Plain text: BibTEX, Refer

If you have any comments on this database, including inaccuracies, requests to remove or add information, or suggestions for improvement, the WoTUG web team are happy to hear of them. We will do our best to resolve problems to everyone's satisfaction.

Copyright for the papers presented in this database normally resides with the authors; please contact them directly for more information. Addresses are normally presented in the full paper.

Pages © WoTUG, or the indicated author. All Rights Reserved.
Comments on these web pages should be addressed to: www at wotug.org

Valid HTML 4.01!