Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Real-Time Characteristics Analysis and Improvement for OPRoS Component Scheduler on Windows NT Operating System

Windows NT상에서의 OPRoS 컴포넌트 스케줄러의 실시간성 분석 및 개선

  • Lee, Dong-Su (Seoul National University of Science and Technology) ;
  • Ahn, Hee-June (Seoul National University of Science and Technology)
  • 이동수 (서울과학기술대학교 제어계측공학과) ;
  • 안희준 (서울과학기술대학교 제어계측공학과)
  • Received : 2010.08.23
  • Accepted : 2010.12.26
  • Published : 2011.01.01
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Abstract

The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10ms.

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