A predictive real-time software for robotic application

In the design and implementation of the software structure used in the distributed execution of a robotics language, there arises the problem of the modelization of distributed applications in a real-time context. Robotics applications need rigorous validation of the control software, at both the logic level and the temporal level. For a developer, one expected goal is to find an appropriate model of the runtime system. So, he has to verify that the model corresponds to the features offered by the software and hardware architecture. This allows to predict the performance of the application as soon as possible. This prediction of the application behavior will increase the speed and the robustness of its realization. This paper presents a new approach for the design and realization of distributed applications in a real-time contest. This application is done with the Ada language applied on Motorola 680x0 targets. Our method is not another formal model. It's, in fact, an instance of standard formalisms for the design and construction of a predictable real-time application. As it shows in this paper, the proposed method takes into account the features of the hardware as well as the characteristics of the runtime kernel from the first step of the construction of the application. By this way, the method can be applied to several hardware architectures and several programming languages.