µRT: A lightweight real-time middleware with integrated validation of timing constraints

Schöpping T, Kenneweg S, Hesse M, Rückert U (2023)
Frontiers in Robotics and AI 10: 23.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Abstract / Bemerkung
Middlewares are standard tools for modern software development in many areas, especially in robotics. Although such have become common for high-level applications, there is little support for real-time systems and low-level control. Therefore, µRT provides a lightweight solution for resource-constrained embedded systems, such as microcontrollers. It features publish–subscribe communication and remote procedure calls (RPCs) and can validate timing constraints at runtime. In contrast to other middlewares, µRT does not rely on specific transports for communication but can be used with any technology. Empirical results prove the small memory footprint, consistent temporal behavior, and predominantly linear scaling. The usability of µRT was found to be competitive with state-of-the-art solutions by means of a study.
Stichworte
middleware; real-time computing; distributed computing; embedded; microcontroller; publish–subscribe; remote procedure call; prevention through design
Erscheinungsjahr
2023
Zeitschriftentitel
Frontiers in Robotics and AI
Band
10
Seite(n)
23
eISSN
2296-9144
Finanzierungs-Informationen
Open-Access-Publikationskosten wurden durch die Universität Bielefeld gefördert.
Page URI
https://pub.uni-bielefeld.de/record/2969731

Zitieren

Schöpping T, Kenneweg S, Hesse M, Rückert U. µRT: A lightweight real-time middleware with integrated validation of timing constraints. Frontiers in Robotics and AI. 2023;10:23.
Schöpping, T., Kenneweg, S., Hesse, M., & Rückert, U. (2023). µRT: A lightweight real-time middleware with integrated validation of timing constraints. Frontiers in Robotics and AI, 10, 23. https://doi.org/10.3389/frobt.2023.1081875
Schöpping, Thomas, Kenneweg, Svenja, Hesse, Marc, and Rückert, Ulrich. 2023. “µRT: A lightweight real-time middleware with integrated validation of timing constraints”. Frontiers in Robotics and AI 10: 23.
Schöpping, T., Kenneweg, S., Hesse, M., and Rückert, U. (2023). µRT: A lightweight real-time middleware with integrated validation of timing constraints. Frontiers in Robotics and AI 10, 23.
Schöpping, T., et al., 2023. µRT: A lightweight real-time middleware with integrated validation of timing constraints. Frontiers in Robotics and AI, 10, p 23.
T. Schöpping, et al., “µRT: A lightweight real-time middleware with integrated validation of timing constraints”, Frontiers in Robotics and AI, vol. 10, 2023, pp. 23.
Schöpping, T., Kenneweg, S., Hesse, M., Rückert, U.: µRT: A lightweight real-time middleware with integrated validation of timing constraints. Frontiers in Robotics and AI. 10, 23 (2023).
Schöpping, Thomas, Kenneweg, Svenja, Hesse, Marc, and Rückert, Ulrich. “µRT: A lightweight real-time middleware with integrated validation of timing constraints”. Frontiers in Robotics and AI 10 (2023): 23.
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2023-03-21T12:42:08Z
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