By Topic

HARTIK: a hard real-time kernel for programming robot tasks with explicit time constraints and guaranteed execution

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Buttazzo, G.C. ; ARTS Lab., Scuola Superiore S. Anna, Pisa, Italy ; Di Natale, M.

The characteristics of HARTIK, a hard real-time kernel capable of managing concurrent activities with explicit time constraints under guaranteed execution are described. This kernel is designed to extend the C language with a set of library functions, which allow easy modification of a sequential C program into a set of concurrent processes that can be executed with specified time constraints, such as periods and deadlines. The capability of guaranteeing the execution of time critical tasks, and the possibility of taking alternative actions if a time critical task cannot be completed within its deadline, represent two aspects of the kernel. These are of crucial importance for developing reliable real-time control applications. An effort is made to provide tools for realizing time-bounded programs and real-time tracer, which records all context switches that occur in the system evolution. HARTIK is being used as a platform for programming reliable real-time tasks in robotics applications

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993