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Paper Details

  title = "{LUNA}: {H}ard {R}eal-{T}ime, {M}ulti-{T}hreaded, {CSP}-{C}apable {E}xecution {F}ramework",
  author= "Bezemer, Maarten M. and Wilterdink, Robert J.W. and Broenink, Jan F.",
  editor= "Welch, Peter H. and Sampson, Adam T. and Pedersen, Jan B√¶kgaard and Kerridge, Jon and Broenink, Jan F. and Barnes, Frederick R. M.",
  pages = "157--175",
  booktitle= "{C}ommunicating {P}rocess {A}rchitectures 2011",
  isbn= "978-1-60750-773-4",
  year= "2011",
  month= "jun",
  abstract= "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."

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