Related papers: Real-time Linux communications: an evaluation of t…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
Real-time operating systems employ spatial and temporal isolation to guarantee predictability and schedulability of real-time systems on multi-core processors. Any unbounded and uncontrolled cross-core performance interference poses a…
In this paper, we introduce a novel approach in controlling robot systems over the Internet. The Real-time Transport Protocol (RTP) is used as the communication protocol instead of traditionally using TCP and UDP. The theoretic analyses,…
As the automotive industry transitions toward centralized Linux-based architectures, ensuring the predictable execution of mixed-criticality applications becomes essential. However, concurrent use of the Linux network stack introduces…
Real-time responsiveness in Linux is often constrained by interrupt contention and timer handling overhead, making it challenging to achieve sub-microsecond latency. This work introduces an interrupt isolation approach that centralizes and…
The article provides a comparative analysis of four communication protocols between Omron PLC and PC for their use in real-time control of an industrial robot. The need for real-time communication appears when the robot control system is…
The performance of control systems with input packet losses on the controller to plant communication channel is analysed. The main contribution of this work is a proof that linear optimal control systems operating with UDP-like…
For ultra-reliable, low-latency communications (URLLC) applications such as mission-critical industrial control and extended reality (XR), it is important to ensure the communication quality of individual packets. Prior studies have…
Robustly compensating network constraints such as delays and packet dropouts in networked control systems is crucial for remotely controlling dynamical systems. This work proposes a novel prediction consistent method to cope with delays and…
The Linux kernel is mostly designed for multi-programed environments, but high-performance applications have other requirements. Such applications are run standalone, and usually rely on runtime systems to distribute the application's…
Transport protocols continue to evolve to meet the demands of new applications, workloads, and network environments, yet implementing and evolving transport protocols remains difficult and costly. High-performance transport stacks tightly…
Packet processing on Linux can be slow due to its complex network stack. To solve this problem, there are two main solutions: eXpress Data Path (XDP) and Data Plane Development Kit (DPDK). XDP and the AF XDP socket offer full…
Several novel industrial applications involve human control of vehicles, cranes, or mobile robots through various high-throughput feedback systems, such as Virtual Reality (VR) and tactile/haptic signals. The near real-time interaction…
The Transmission Control Protocol (TCP) is one of the most important protocols in today's Internet. Its specification and implementations have been refined for almost forty years. The Linux TCP stack is one of the most widely used TCP…
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (SoCs) introduce significant timing…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Transmission Control Protocol (TCP) has been profusely used by most of internet applications. Since 1970s, several TCP variants have been developed in order to cope with the fast increasing of network capacities especially in high Bandwidth…
User Datagram Protocol (UDP) is a commonly used protocol for data transmission in small embedded systems. UDP as such is unreliable and packet losses can occur. The achievable data rates can suffer if optimal packet sizes are not used. The…
An important ingredient of the future 5G systems will be Ultra-Reliable Low-Latency Communication (URLLC). A way to offer URLLC without intervention in the baseband/PHY layer design is to use interface diversity and integrate multiple…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…