Virtualisation first and cloud computing later has led to a consolidation of workload in data centres that also comprises latency-sensitive application domains such as High Performance Computing and telecommunication. These types of applications require strict latency guarantees to maintain their Quality of Service. In virtualised environments with their churn, this demands for adaptability and flexibility to satisfy. At the same time, the mere scale of the infrastructures favours commodity (Ethernet) over specialised (Infiniband) hardware. For that purpose, this paper introduces a novel traffic management algorithm that combines Rate-limited Strict Priority and Deficit round-robin for latency-aware and fair scheduling respectively. In addition, we present an implementation of this algorithm on the bmv2 P4 software switch by evaluating it against standard priority-based and best-effort scheduling.
Network-based distributed processing and hard So, various Open Architecture Control (OAC) systems real-time requirement significantly increase the complexity of were introduced during the last decade [6]. Though, in this a robot hardware and software system. This paper describes way, the openness issue is limitedly addressed most of the the open and modular approach to design and implement a proprietary implementations still have serious real-time robot control system using Open Source Software disadvantages as they do not provide the source code of the (OSS) which include a Linux-based Real-Time Operating ding sotheysdo n d the soue code ote Systm (TOS, Xnomi (ormrlyknon a th fuion underlying software system and also some systems are System (RTOS), Xenomai (formerly known as the fusion hilyepnvefrmslvlipeetao. branch of Real Time Application Interface, RTAI/fusion), highly expensive formass level implementation. real-time IEEE 1394 device driver and other middlewareHaving the best hardware in hand, it is not easy to develop components. The real-time performance of our system has the desired modular, scalable or general purpose robot been evaluated in a mobile robot control platform and we control system with a proprietary expensive RTOS (e.g. have compared the performance of our system with that of a QNX VxWorks etc) [12]. Consequently this phenomenon commercial RTOS, RTLinux Pro, based system using the QnX, VxW ot [12].acourently this he-no e same set of hardware. From the comparison it is seen that our preventste robotmnfters fr omof nwdrae system is also capable of satisfying the similar hard-real time of real-time robotic systems to the common market. requirements with a greater flexibility in overall However, the appearance and growing maturity of the open implementation. In this work, the high performance IEEE source Linux-based RTOS like RTLinux [15], RTAI [16], 1394 serial bus is used as the field-bus of our robot control
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