jUAV: A Java Based System for Unmanned Aerial Vehicles
jUAV: A Java Based System for Unmanned Aerial Vehicles
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jUAV：基于 Java 的无人机系统
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Lukasz Ziarek
中科院分区：
文献类型：
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作者：
Adam Czerniejewski;Shaun Cosgrove;Yin Yan;Karthik Dantu;Steven Y. Ko;Lukasz Ziarek
Paparazzi UAV是目前使用的最流行的开源无人机（UAV）平台之一。Paparazzi UAV的代码库已经作为实时嵌入式系统的C和Java开源基准的基础。这些基准，PapaBench和jPapaBench，已经被各自的社区广泛接受，因为它们提供了具有代表性的复杂工作负载。然而，PapaBench和jPapaBench在执行过程中不使用功能模拟，而是侧重于测试任务之间的争用。
Paparazzi UAV is one of the most popular open-source Unmanned Aerial Vehicle (UAV) platforms in use today. The code base of Paparazzi UAV has served as the basis for both C and Java open-source benchmarks for real-time embedded systems. These benchmarks, PapaBench and jPapaBench, have been widely accepted by their respective communities as they provide a representative and complex workload. However PapaBench and jPapaBench do not utilize a functional simulation in their execution, but rather focus on testing the contention between tasks.
In this paper, we first detail our attempt at adapting jPapaBench to utilize the New Paparazzi Simulator (NPS) developed by the Paparazzi UAV team, which provides the underlying sensor models and allows for the use of different Flight Dynamic Models (FDM), which simulate actual environmental influence on the airframe [1]. We then compare jPapaBench performance to its C-based inspiration, Paparazzi UAV. Our results show that jPapaBench is quite different in implementation and performance from Paparazzi UAV. Following this finding, we target a more direct port of Paparazzi UAV to Java named jUAV using a one-component-at-a-time approach, allowing for each component to be validated in isolation for correctness. The paper then compares the correctness of the initial prototype of jUAV consisting of a subset of the Paparazzi UAV code implemented in Java. We believe that jUAV will be greatly beneficial to the real-time Java community since it will provide a means for benchmarking a real-time Java Virtual Machine (JVM) with representative real-world workloads and allowing for an open-source solution used for flying airframes using real-time Java.