A survey of recent MARTe based systems

Abstract

The Multithreaded Application Real-Time executor (MARTe) is a data driven framework environment for the development and deployment of real-time control algorithms. The main ideas which led to the present version of the framework were to standardise the development of real-time control systems, while providing a set of strictly bounded standard interfaces to the outside world and also accommodating a collection of facilities which promote the speed and ease of development, commissioning and deployment of such systems. At the core of every MARTe based application, is a set of independent inter-communicating software blocks, named Generic Application Modules (GAM), orchestrated by a real-time scheduler. The platform independence of its core library provides MARTe the necessary robustness and flexibility for conveniently testing applications in different environments including non-real-time operating systems. MARTe is already being used in several machines, each with its own peculiarities regarding hardware interfacing, supervisory control configuration, operating system and target control application. This paper presents and compares the most recent results of sys tems using MARTe: the JET Vertical Stabilisation system, which uses the Real Time Application Interface (RTAI) operating system on Intel multi-core processors; the COMPASS plasma control system, driven by Linux RT also on Intel multi-core processors; ISTTOK real-time tomography equilibrium reconstruction which shares the same support configuration of COMPASS; JET error field correction coils based on VME, PowerPC and VxWorks; FTU LH reflected power system running on VME, Intel with RTAI. ). A. Barbalace is with the Associazione EURATOM/ENEA, Consorzio RFX, A new real-time plasma position controller, based on to mography, was recently developed at ISTTOK [21]. The hardware is again based on the same ATCA ® solution used for the JET VS and COMPASS. The system uses 30 ADC inputs, from one acquisition board, acquired at 2 MHz and later downsampled to 20 kHz inside the board FPGAs. The communication with the horizontal and vertical field power supplies is performed using a serial link over fiber optics, sharing the same protocol used in COMPASS. Due to the amount of calculations which have to be performed in the real time tomography algorithm, the cycle time was set to 100 fls. B. Software ArchitectureA collection of 10 GAMs is executed for each control loop. After acquiring the data from the ATCA ® IOGAM, the ISTTOK tomography reconstruction and PID algorithms are executed and the system synchronized to the timing system.Subsequently to the module which generate the references, the next step is the execution of the GAMs responsible for the communication with the power supplies, followed by a set of utility and collection GAMs.

Progress of Design and Development for the ITER Radial Neutron Camera

“…The real-time implementation of tasks 2 and 3 was carried out on the Host PC using the Multithreaded Application Real-Time executor (MARTe, [15]), a multiplatform open source framework widely used in fusion experiments. Two separate MARTe Generic Application Modules have been developed to perform tasks 2 and 3 and their performances evaluated for various ITER plasma scenarios considering line-integrated input data (b) with different random noise level (1%, 3%, 12%) and 20 magnetic surfaces for the reconstruction.…”

Methodology for the integration of high-throughput data and image acquisition systems in EPICS

“…The distributed control philosophy and the heterogeneity of the systems present in JET influenced in the creation of the Multithreaded Application Real-Time executor (MARTe) [27], [28]. MARTe is a C++ multi-platform framework for the…”