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Many sensor-based control systems are dynamically changing, and thus require a flexible scheduler. The rate monotonic (RM) real-time scheduling algorithm does not support such dynamic systems very well. On the other hand, with earliest-deadline-first (EDF) and minimum-laxity-first (MLF) dynamic scheduling algorithms, a transient overload in the system may(More)
The port-based object is a new software abstraction for designing and implementing dynamically reconfigurable real-time software. It forms the basis of a programming model that uses domain-specific elemental units to provide specific, yet flexible, guidelines to control engineers for creating and integrating software components. We use a port-based object(More)
This paper describes the Chimera II Real-time Operating System, which has been developed for advanced sensor-based control applications. It has been designed as a local operating system, to be used in conjunction with a global operating system. It executes on one or more single board computers in a VMEbus-based system. Advanced sensor-based control systems(More)
This study focuses on the current state of error-handling technology and concludes with recommendations for further research in error handling for component-based real-time software. With real-time programs growing in size and complexity, the quality and cost of developing and maintaining them are still deep concerns to embedded software industries.(More)
This paper presents a time division multiple access medium access control protocol for wireless sensor / actuator networks implemented with a contention-free message scheduler. A message scheduler is used to determine which message has access to the medium at any time. A set of messages is contention-free if only one message is ready at a time. Otherwise,(More)
ily based on knowing worst-case execution times (WCET) of periodic threads and aperiodic servers. Accurately measuring WCET, however, is often difficult and sometimes impossible, for several reasons: • Interrupts in the system, which either execute longer than expected or occur more frequently than anticipated , may steal critical execution time from the(More)
The Chimera Methodology is a software engineering paradigm that enables rapid development of real-time applications through use of dynamically reconfigurable and reusable software. It is targeted towards a distributed shared memory computing environment. The primary contribution of this research is the port-based object model of a real-time software(More)