Untitled

Ekman

Proceedings of the International Conference on Compilers, Architecture, and Synthesis for Embedded Systems - CASES '02

2002

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The Java programming language, being a portable and safe object-oriented language, has gained much interest among embedded and real-time systems developers. However, standard Java implementations exhibit problems with performance, memory footprint, and predictability. The question is then, are these limitations inherent in the technology?Reviewing run-time aspects and the possibility to compile Java to native code, reveals some real limitations as well as common misconceptions. Investigation of the real limitations shows that for implementing real-time Java on small embedded platforms, native compilation via C is an appropriate solution for many platforms and applications.A revised technique for Java-compatible memory management is proposed to reduce latencies, and linkage of externally generated (C) code with natively compiled Java is considered in a prototype that has been implemented. Based on application demands and experimental verification, we find that real-time Java can, and should, retain the standard simple Java memory model to the programmer.

Section: Dynamic Class Loadingmentioning

confidence: 99%

Real Java for real time - gain and pain

Ekman

Proceedings of the International Conference on Compilers, Architecture, and Synthesis for Embedded Systems - CASES '02

2002

Self Cite

“…For controller implementation the code generated by the language processor must be executed in real time by a digital system with proper interruption system, digital to analogue converter (DAC), analogue to digital converter (ADC), etc. (Nilsson, et al, 1998). Until recently, most digital boards based on micro-controllers, lacked the resources for running a real-time operating system (RTOS) so that a code could be loaded and executed in real time.…”

Section: Introductionmentioning

confidence: 99%

A Domain-specific Language for Real-time Dynamical Systems Emulation on a Microcontroller

Hernandez¹,

Cortés²,

Salinas³

et al. 2019

SIC

Translating a control law to code so that it can be executed in real time by a microcontroller is time-consuming and requires knowledge in diverse areas. There are powerful tools like Matlab and DSpace, that can ease the process, however, these tools are expensive and hide the way the translation is actually made. These two factors greatly diminish the use of these tools in education and small business. This paper presents SystDynam, a high-level language designed for describing static and dynamical systems and hence, controllers. The language was purposely created to be easy to process in order to obtain a C code by using free software tools. Therefore, a senior student or a control engineer with a short training in language processors can understand how the translation is made. The necessary code for translation is described here and is freely available. Having the controller described by C code, it can be compiled to be executed as the main task in a real-time operating systems, thereby obtaining the real-time controller. The complete process can also be used for emulating dynamical systems, thereby enabling the use of hardware in the loop simulations and low-cost rapid prototyping and providing an auxiliary tool for teaching some engineering courses.

Integrated architecture for industrial robot programming and control

Robotics and Autonomous Systems

Johansson

1999

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As robot control systems are traditionally closed, it is difficult to add supplementary intelligence. Accordingly, as based on a new notion of user views, a layered system architecture is proposed. Bearing in mind such industrial demands as computing efficiency and simple factory-floor operation, the control layers are parameterized by means of functional operators consisting of pieces of compiled code that can be passed as parameters between the layers. The required interplay between application-specific programs and built-in motion control is thereby efficiently accomplished. The results from experimental evaluation and several case studies suggest the architecture to be very useful also in an industrial context.