Real-time control architecture based on Xenomai using ROS packages for a service robot

Delgado, Raimarius; You, Bum-Jae; Choi, Byoung Wook

doi:10.1016/j.jss.2019.01.052

Cited by 34 publications

(25 citation statements)

References 31 publications

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“…In this section, we provide the complete development details of a real-time environment employing Xenomai as the dual-kernel approach of real-time Linux and the implementation of an open-source EtherCAT master for our own developed embedded platform, namely JECS-600ITX. Due to mode switching [23,24], a communication interface integrating Android applications with Xenomai real-time tasks is also introduced. Figure 1 shows the simplified software architecture of the Android operating system for our own developed embedded system, namely JECS-600ITX.…”

Section: Android-based Industrial Controller For Safety-critical Applmentioning

confidence: 99%

“…This results in a chaotic scenario where RT tasks lose their hard real-time capabilities, causing the entire system to become unstable and non-deterministic. In our previous work, we implemented a cross-domain datagram protocol (XDDP) to address the communication issue between standard Linux and Xenomai [23].…”

Section: Integration Of Android Applications and Real-time Xenomai Tasksmentioning

confidence: 99%

“…To date, communication between the App Looper and the Message Handler is successfully realized. Given that the Message Handler task should act as a bridge between Android applications and Xenomai real-time tasks, we employ the XDDP mechanism [23]. XDDP serves as the communication interface between Linux and Xenomai tasks.…”

Section: Integration Of Android Applications and Real-time Xenomai Tasksmentioning

confidence: 99%

“…In this paper, we develop a safe and secure Android-based embedded system applicable as a main controller of industrial control systems. To address the safety and real-time issues of Android, the real-time characteristics of Xenomai [23], a dual-kernel approach of real-time Linux, were explored and implemented on our own developed NXP i.MX6-based embedded platform, namely JECS-600ITX. Although the Linux kernel and Android sources are provided as board support packages (BSP) by NXP, compatibility with Xenomai and other patches is trivial.…”

Section: Introductionmentioning

confidence: 99%

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Safe and Policy Oriented Secure Android-Based Industrial Embedded Control System

Delgado

Park

Lee³

et al. 2020

Applied Sciences

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Android is gaining popularity as the operating system of embedded systems and recent demands of its application on industrial control are steadily increasing. However, its feasibility is still in question due to two major drawbacks: safety and security. In particular, ensuring the safe operation of industrial control systems requires the system to be governed by stringent temporal constraints and should satisfy real-time requirements. In this sense, we explore the real-time characteristics of Xenomai to guarantee strict temporal deadlines, and provide a viable method integrating Android processes to real-time tasks. Security is another issue that affects safety due to the increased connectivity in industrial systems provoking a higher risk of cyber and hardware attacks. Herein, we adopted a hardware copy protection chip and enforced administrative security policies in the booting process and the Android application layer. These policies ensure that the developed system is protected from physical tampering and unwanted Android applications. The articulacy of the administrative policies is demonstrated through experiments. The developed embedded system is connected to an industrial EtherCAT motion device network exhibiting operability on an actual industrial application. Real-time performance was evaluated in terms of schedulability and responsiveness, which are critical in determining the safety and reliability of the control system.

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Section: Android-based Industrial Controller For Safety-critical Applmentioning

confidence: 99%

Section: Integration Of Android Applications and Real-time Xenomai Tasksmentioning

confidence: 99%

Section: Integration Of Android Applications and Real-time Xenomai Tasksmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Safe and Policy Oriented Secure Android-Based Industrial Embedded Control System

Delgado

Park

Lee³

et al. 2020

Applied Sciences

Self Cite

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“…A similar heterogeneous framework to ours is proposed in [8]. A RT architecture based on ROS and Xenomai is developed by adapting a communication interface of the cross-domain datagram protocol (XDDP).…”

Section: Related Workmentioning

confidence: 99%

Motion Generation Interface of ROS to PODO Software Framework for Wheeled Humanoid Robot

Lee

Heo

Cho

et al. 2019

2019 19th International Conference on Advanced Robotics (ICAR)

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This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close integration of high-level perception and low-level control is required. However, many available open-source perception modules are developed in ROS, which operates on Linux OS that don't guarantee RT performance. This can lead to non-deterministic responses and stability problems that can adversely affect robot control. As a result, many robotic systems devote RTOS for low-level motion control. Similarly, the humanoid robot platform developed at KAIST, Hubo, utilizes a custom real-time software framework called PODO. Although PODO provides easy interface for motion generation, it lacks interface to high-level frameworks such as ROS. As such, we present a new motion generation interface between ROS and PODO that enables users to generate motion trajectories through standard ROS messages while leveraging a real-time motion controller. With the proposed communication interface, we demonstrate series of manipulator tasks on the actual wheeled humanoid platform, M-Hubo. The overall communication interface responsiveness was at most 27 milliseconds.

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Real-Time Design Based on PREEMPT_RT and Timing Analysis of Collaborative Robot Control System

et al. 2021

Intelligent Robotics and Applications

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Real-time control architecture based on Xenomai using ROS packages for a service robot

Cited by 34 publications

References 31 publications

Safe and Policy Oriented Secure Android-Based Industrial Embedded Control System

Safe and Policy Oriented Secure Android-Based Industrial Embedded Control System

Motion Generation Interface of ROS to PODO Software Framework for Wheeled Humanoid Robot

Real-Time Design Based on PREEMPT_RT and Timing Analysis of Collaborative Robot Control System

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