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Design of dynamically reconfigurable real-time software using port-based objects

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3 Author(s)
Stewart, D.B. ; Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA ; Volpe, R.A. ; Khosla, P.K.

The port-based object is a new software abstraction for designing and implementing dynamically reconfigurable real-time software. It forms the basis of a programming model that uses domain-specific elemental units to provide specific, yet flexible, guidelines to control engineers for creating and integrating software components. We use a port-based object abstraction, based on combining the notion of an object with the port-automaton algebraic model of concurrent processes. It is supported by an implementation using domain-specific communication mechanisms and templates that have been incorporated into the Chimera real-time operating system and applied to several robotic applications. This paper describes the port-based object abstraction, provides a detailed analysis of communication and synchronization based on distributed shared memory, and describes a programming paradigm based on a framework process and code templates for quickly implementing applications

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Software Engineering, IEEE Transactions on  (Volume:23 ,  Issue: 12 )