ART-Linux 2.6 for Single CPU: Design and Implementation
ART-Linux 2.6 for Single CPU: Design and Implementation
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单CPU ART-Linux 2.6：设计与实现
DOI：
10.7210/jrsj.26.546
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
T. Matsui
中科院分区：
文献类型：
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作者：
Y. Ishiwata;S. Kagami;K. Nishiwaki;T. Matsui
本文介绍了基于Linux 2.6内核修改的单CPU ART-Linux 2.6的设计与实现。该实时操作系统在用户空间提供实时（周期性）任务执行系统调用。为了实现可预测的唤醒延迟，引入了以下机制：（1）通过虚拟处理器号实现互斥执行，（2）传输队列以避免互斥锁互斥执行，（3）多级优先级反转功能。因此，用户可以利用整个系统调用、用户空间库以及设备驱动程序。还指出了我们的人形机器人 HRP-2 No.12 的实验结果和未来的工作。
This paper describes design and implementation of ART-Linux 2.6 for single CPU that is modified from Linux 2.6 kernel. This realtime operating system provides realtime (periodic) task execution system call in user space. In order to achieve predictable latency for wakeup, following mechanisms are introduced: (1) mutual-exclusive execution realized by virtual processor number, (2) transfer queue to avoid mutex-locked mutual-exclusive execution, (3) multi-level priority inversion function. Therefore, user can utilize entire system calls, user space libraries, as well as device drivers. Experimental results with our humanoid robot HRP-2 No.12 and future work are also denoted.