Abstract
Many small Unmanned Ground Vehicle today are used as IoT systems. Some of these systems are equipped with low-cost resources that are not guaranteed to perform the high quality movements that are required by an operator or an application. To improve the quality of these systems they should be equipped with real-time functions. For this type of solutions, embedded systems are often constructed as soft real-time systems that are equipped with a microcontroller without a real-time clock. The authors focus on possibilities and limitations of soft real-time systems implemented on Raspberry Pi based on measurements with usage cyclictest and ftrace tools. The prepared experiments allowed to determine which configuration of a soft real-time system gives the minimum jitter for the set period of cycle time and the stability of execution of a real-time process.
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Acknowledgements
This publication was supported as part of the Rector’s grant in the field of scientific research and development works. Silesian University of Technology, grant no. 02/020/RGJ18/0124.
This work was supported by the Polish National Centre of Research and Development from the project “Knowledge integrating shop floor management system supporting preventive and predictive maintenance services for automotive polymorphic production framework” (grant agreement no: POIR.01.02.00-00-0307/16-00). The project is realised as Operation 1.2: “B+R sector programmes” of the Intelligent Development operational programme from 2014–2020 and is co-financed by the European Regional Development Fund.
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Ziebinski, A., Cupek, R., Drewniak, M., Wolny, B. (2019). Soft Real-Time Systems for Low-Cost Unmanned Ground Vehicle. In: Nguyen, N., Chbeir, R., Exposito, E., Aniorté, P., Trawiński, B. (eds) Computational Collective Intelligence. ICCCI 2019. Lecture Notes in Computer Science(), vol 11684. Springer, Cham. https://doi.org/10.1007/978-3-030-28374-2_17
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