@InProceedings{Bezemer11,
  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 Bækgaard 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."
}