The JAKOBI architecture - a distributed dynamic execution environment in Java

The JAKOBI (Java and component based industrial control) concept is a fully Java based architecture which provides an execution environment for distributed control applications based on real-time Java following the RTSJ-specification. A special focus was on concepts providing the possibility to exchange parts of the control application during runtime. Problematic aspects of a RTSJ based implementation are discussed and a test system proving the applicability of these mechanisms is described.