Design of Dynamically Reconfigurable Real-Time Software Using Port-Based Objects

摘要

The current development of applications for sensor-based robotic and automation(RA) systems is typically a 'one-of-a-kind' process, where most software is developed from scratch, even though much of the code is similar to code written for other applications. The cost of these systems can be drastically reduced and the capability of these systems improved by providing a suitable software framework for all RA systems. We describe a novel software framework, based on the notion of dynamically reconfigurable software for sensor-based control systems. Tools to support the implementation of this framework have been built into the Chimera 3.0 Real-Time Operating System. The framework provides for the systematic development and predictable execution of flexible RA applications while maintaining the ability to reuse code from previous applications. It combines object-oriented design of software with port-automaton design of digital control systems. A control module is an instance of a class of port-based objects.