Design and implementation of DROL runtime environment on Real-Time Mach kernel

  • Kazunori Takashio
  • Hidehisa Shitomi
  • Mario Tokoro
Dependable Distributed Computing
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1107)


This paper describes our design and implementation of a real-time object invocation model supported by the distributed real-time programming language DROL. The main characteristic of this model is the notion of least suffering. Least suffering assures users to be notified network and computer faults within a required timing constraint and supports rapid recovery from them. Consequently, this notion allows users to construct real-time applications on widely distributed environments. Through the design and implementation of a DROL runtime environment on the Real-Time Mach kernel, we examine costs of least suffering in a network-wide object invocation. We also show what functions are needed to real-time kernels to implement a distributed real-time programming environment.


Request Message Context Switch Reply Message Server Object Communication Primitive 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    M. Accetta, R. Baron, W. Bolosky, D. Golub, R. Rashid, A. Tevanian, and M. Young. Mach: A New Kernel Foundation for UNIX Development. In USENIX 1986 Summer Conference Proceedings, June 1986. USENIX Association.Google Scholar
  2. 2.
    P. Gopinath. CHAOS: Why One Cannot Have Only An Operating System for Real-Time Applications. Operating System Review, 23(3), July 1989.Google Scholar
  3. 3.
    A. S. Grimshaw, A. Silberman, and J. W. S. Liu. Real-Time Mentat, A Data-Driven, Object-Oriented System. 1989.Google Scholar
  4. 4.
    Y. Ishikawa, H. Tokuda, and C. W Mercer. Object-Oriented Real-Time Language Design: Constructs for Timing Constraints. In Proceedings of ECOOP/OOPSLA '90, October 1990.Google Scholar
  5. 5.
    K. B. Kenny and K.-J. Lin. Building Flexible Real-Time Systems Using the Flex Language. IEEE COMPUTER, 24(5), May 1991.Google Scholar
  6. 6.
    S. T. Levi, S. K. Tripathi, S. D. Carson, and A. K. Agrawala. The MARUTI Hard Real-Time Operating System. Operating System Review, 23(3), July 1989.Google Scholar
  7. 7.
    J. W. S Liu, K.-J. Lin, C. L. Liu, W. K. Shih, and J. Y. Chung. Imprecise Computations: A Means to Provide Scheduling Flexibility and Enhance Dependability. In Y. H. Lee and C. M. Krishna, editors, Readings in Real-Time Systems. IEEE Computer Society Press, 1993.Google Scholar
  8. 8.
    W.-K. Shih and J. W. S. Liu. On-line Scheduling of Imprecise Computations to Minimize Error. In Proceedings of 13th IEEE Real-Time Systems Symposium, 1992.Google Scholar
  9. 9.
    W.-K. Shih, J. W. S. Liu, and J.-Y. Chung. Fast Algorithms for Scheduling Imprecise Computations. In Proceedings of 10th IEEE Real-Time Systems Symposium, 1989.Google Scholar
  10. 10.
    K. Takashio and M. Tokoro. DROL: An Object-Oriented Programming Language for Distributed Real-time Systems. In Proceedings of ACM OOPSLA'92, October 1992.Google Scholar
  11. 11.
    K. Takashio and M. Tokoro. Time Polymorphic Invocation: A Real-Time Communication Model for Distributed Systems. In Proceedings of IEEE 1st Workshop on Parallel and Distributed Real-Time Systems (WPDRTS'93), April 1993.Google Scholar
  12. 12.
    K. Takashio and M. Tokoro. Least Suffering Strategy in Distributed Real-Time Programming Language DROL. Real-Time Systems, 9, 1996. To be appeared.Google Scholar
  13. 13.
    H. Tokuda and C. W. Mercer. ARTS: A Distributed Real-Time Kernel. Operating System Review, 23(3), 1989.Google Scholar
  14. 14.
    H. Tokuda, T. Nakajima, and P. Rao. Real-Time Mach: Towards a Predictable Real-Time System. In Proceedings of USENIX Mach Workshop, October 1990.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1996

Authors and Affiliations

  • Kazunori Takashio
    • 1
  • Hidehisa Shitomi
    • 2
  • Mario Tokoro
    • 2
    • 3
  1. 1.Department of Computer ScienceThe University of Electro-CommunicationsTokyoJapan
  2. 2.Department of Computer ScienceKeio UniversityYokohamaJapan
  3. 3.Sony Computer Science Laboratory Inc.TokyoJapan

Personalised recommendations