Performance Evaluation of Real-Time System for Vision-Based Navigation of Small Autonomous Mobile Robots

Boltov, Yehor; Skarga-Bandurova, Inna; Kotsiuba, Igor; Hrushka, Mykhailo; Krivoulya, Gennady; Siriak, Rostyslav

doi:10.1109/dessert.2019.8770045

Cited by 7 publications

(2 citation statements)

References 11 publications

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“…The latest research shows that such Linux-based embedded systems play an important role in nearly every aspect of modern life, particularly in systems' real-time control [31][32][33]. However, there is still no sufficient research work on the evaluation of the real-time performance of Linux kernels patched with PREEMPT_RT on Raspberry Pi and BeagleBone Black development platforms.…”

Section: Related Workmentioning

confidence: 99%

Real-Time Performance and Response Latency Measurements of Linux Kernels on Single-Board Computers

Adam

2021

Computers

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This research performs real-time measurements of Linux kernels with real-time support provided by the PREEMPT_RT patch on embedded development devices such as BeagleBoard and Raspberry Pi. The experimental measurements of the Linux real-time performance on these devices are based on real-time software modules developed specifically for the purposes of this research. Taking in consideration the constraints of the specific hardware platforms under investigation, new measurements software was developed. The measurement algorithms are designed upon response and periodic task models. Measurements investigate latencies of real-time applications at user and kernel space. An outcome of this research is that the proposed performance measurements approach and evaluation methodology could be applied and deployed on other Linux-based boards and platforms. Furthermore, the results demonstrate that the PREEMPT_RT patch overall improves the Linux kernel real-time performance compared to the standard one. The reduced worst-case latencies on such devices running Linux with real-time support could make them potentially more suitable for real-time applications as long as a latency value of about 160 μs, as an upper bound, is an acceptable safety margin.

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Section: Related Workmentioning

confidence: 99%

Real-Time Performance and Response Latency Measurements of Linux Kernels on Single-Board Computers

Adam

2021

Computers

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“…The authors conclude that the best performances are achieved by the Xenomai kernel. In [22], a comparison related performances of the FreeRTOS and uC/OS-III is presented. The experimental tests are performed on Renesas RX63N MCU for the memory footprint, latency, and service performances.…”

Section: Related Workmentioning

confidence: 99%

Timing Comparison of the Real-Time Operating Systems for Small Microcontrollers

Ungurean

2020

Symmetry

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In automatic systems used in the control and monitoring of industrial processes, fieldbuses with specific real-time requirements are used. Often, the sensors are connected to these fieldbuses through embedded systems, which also have real-time features specific to the industrial environment in which it operates. The embedded operating systems are very important in the design and development of embedded systems. A distinct class of these operating systems is real-time operating systems (RTOSs) that can be used to develop embedded systems, which have hard and/or soft real-time requirements on small microcontrollers (MCUs). RTOSs offer the basic support for developing embedded systems with applicability in a wide range of fields such as data acquisition, internet of things, data compression, pattern recognition, diversity, similarity, symmetry, and so on. The RTOSs provide basic services for multitasking applications with deterministic behavior on MCUs. The services provided by the RTOSs are task management and inter-task synchronization and communication. The selection of the RTOS is very important in the development of the embedded system with real-time requirements and it must be based on the latency in the handling of the critical operations triggered by internal or external events, predictability/determinism in the execution of the RTOS primitives, license costs, and memory footprint. In this paper, we measured and compared the timing performance for synchronization throughout an event, semaphore, and mailbox for the following RTOSs: FreeRTOS 9.0.0, FreeRTOS 10.2.0, rt-thread, Keil RTX, uC/OS-II, and uC/OS-III. For the experimental tests, we developed test applications for two MCUs: ARM Cortex™-M4 and ARM Cortex™-M0+ based MCUs.

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