Real-Time Performance Evaluation for Robotics

Pinto, Matheus Leitzke; Wehrmeister, Marco A.; Oliveira, André Schneider de

doi:10.1007/s10846-020-01301-1

Cited by 3 publications

(1 citation statement)

References 43 publications

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“…The performance of real-time operating systems is the target of several studies by the academy. Areas such as robotics, aerospace and several industries such as manufacturing and energy are concerned with RTOS performance, evidenced by works such as the [Pinto et al 2020], in which a RTOS benchmark is created for the robotics area using FreeRTOS as a testing platform. The work in [Parikh et al 2013] proposes performance parameters to compare open source RTOS as well as benchmark techniques.…”

Section: Related Workmentioning

confidence: 99%

Analysis of FreeRTOS Overheads on Periodic Tasks

Miranda¹,

Oliveira²,

Carminati³

2021

Anais Do XX Workshop Em Desempenho De Sistemas Computacionais E De Comunicação (WPerformance 2021)

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Real-Time Operating Systems (RTOS) have their own modules that need to be executed to manage system resources and such modules add overhead to task response times. FreeRTOS is used for experimental purposes since its is a widely used open-source RTOS. This work presents the investigation of two important sources of overhead: Function Tick, a FreeRTOS time marker, and the Context Switch between tasks. In this paper we also describe a model for reducing Tick analysis pessimism due to its temporal variation. Experiments measuring the execution time of Tick and Context Switch on ARM-Cortex M4 microprocessor were made to present the Best-Case Execution Time and the Worst-Case Execution time within a periodic task scenario. Measurements are used to validate the analytic models.

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Section: Related Workmentioning

confidence: 99%

Analysis of FreeRTOS Overheads on Periodic Tasks

Miranda¹,

Oliveira²,

Carminati³

2021

Anais Do XX Workshop Em Desempenho De Sistemas Computacionais E De Comunicação (WPerformance 2021)

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Development of an Algorithm for Preparing Semi-finished Products for Packaging

Tarachkov,

Tolstel,

Kalabin

2023

Studies in Systems, Decision and Control

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An Explainable Data-Driven Optimization Method for Unmanned Autonomous System Performance Assessment

Yi,

Zhang,

Wang

et al. 2024

Electronics

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Unmanned autonomous systems (UASs), including drones and robotics, are widely employed across various fields. Despite significant advances in AI-enhanced intelligent systems, there remains a notable deficiency in the interpretability and comprehensive quantitative evaluation of these systems. The existing literature has primarily focused on constructing evaluation frameworks and methods, but has often overlooked the rationality and reliability of these methods. To address these challenges, this paper proposes an innovative optimization evaluation method for data-driven unmanned autonomous systems. By optimizing the weights of existing indicators based on data distribution characteristics, this method enhances the stability and reliability of assessment outcomes. Furthermore, interpretability techniques such as Local Interpretable Model-agnostic Explanations (LIMEs) and Partial Dependence Plots (PDPs) were employed to verify the effectiveness of the designed evaluation indicators, thereby ensuring the robustness of the evaluation system. The experimental results validated the effectiveness of the proposed approach.

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Real-Time Performance Evaluation for Robotics

Cited by 3 publications

References 43 publications

Analysis of FreeRTOS Overheads on Periodic Tasks

Analysis of FreeRTOS Overheads on Periodic Tasks

Development of an Algorithm for Preparing Semi-finished Products for Packaging

An Explainable Data-Driven Optimization Method for Unmanned Autonomous System Performance Assessment

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