Semi-Fixed-Priority Scheduling
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Real-Time, Safe and Certified OS
Real-Time, Safe and Certified OS Roman Kapl <[email protected]> drivers, customer projects, development Tomas Martinec <[email protected]> testing and certification © SYSGO AG · INTERNAL 1 Introduction • PikeOS – real-time, safety certified OS • Desktop and Server vs. • Embedded • Real-Time • Safety-Critical • Certified • Differences • Scheduling • Resource management • Features • Development © SYSGO AG · INTERNAL 2 Certification • Testing • Analysis • Lot of time • Even more paper • Required for safety-critical systems • Trains • Airplanes © SYSGO AG · INTERNAL 3 PikeOS • Embedded, real-time, certified OS • ~150 people (not just engineers) • Rail • Avionics • Space • This presentation is not about PikeOS specifically © SYSGO AG · INTERNAL 4 PikeOS technical • Microkernel • Inspired by L4 • Memory protection (MMU) • More complex than FreeRTOS • Virtualization hypervisor • X86, ARM, SPARC, PowerPC • Eclipse IDE for development © SYSGO AG · INTERNAL 5 Personalities • General • POSIX • Linux • Domain specific • ARINC653 • PikeOS native • Other • Ada, RT JAVA, AUTOSAR, ITRON, RTEMS © SYSGO AG · INTERNAL 6 PikeOS Architecture App. App. App. App. App. App. Volume Syste m Provider Partition PikeOS Para-Virtualized HW Virtualized File System (Native, POSIX, Guest OS PikeOS Native ARINC653, ...) Guest OS Linux, Android Linux, Android Device Driver User Space / Partitions Syste m PikeOS System Software ExtensionSyste m Extension PikeOS Microkernel Kernel Space / Hypervisor Architecture Platform Kernel Level Support Package Support Package Driver SoC / -
Sistemi Operativi Real-Time Marco Cesati Lezione R13 Sistemi Operativi Real-Time – II Schema Della Lezione
Sistemi operativi real-time Marco Cesati Lezione R13 Sistemi operativi real-time – II Schema della lezione Caratteristiche comuni VxWorks LynxOS Sistemi embedded e real-time QNX eCos Windows Linux come RTOS 15 gennaio 2013 Marco Cesati Dipartimento di Ingegneria Civile e Ingegneria Informatica Università degli Studi di Roma Tor Vergata SERT’13 R13.1 Sistemi operativi Di cosa parliamo in questa lezione? real-time Marco Cesati In questa lezione descriviamo brevemente alcuni dei più diffusi sistemi operativi real-time Schema della lezione Caratteristiche comuni VxWorks LynxOS 1 Caratteristiche comuni degli RTOS QNX 2 VxWorks eCos 3 LynxOS Windows Linux come RTOS 4 QNX Neutrino 5 eCos 6 Windows Embedded CE 7 Linux come RTOS SERT’13 R13.2 Sistemi operativi Caratteristiche comuni dei principali RTOS real-time Marco Cesati Corrispondenza agli standard: generalmente le API sono proprietarie, ma gli RTOS offrono anche compatibilità (compliancy) o conformità (conformancy) allo standard Real-Time POSIX Modularità e Scalabilità: il kernel ha una dimensione Schema della lezione Caratteristiche comuni (footprint) ridotta e le sue funzionalità sono configurabili VxWorks Dimensione del codice: spesso basati su microkernel LynxOS QNX Velocità e Efficienza: basso overhead per cambi di eCos contesto, latenza delle interruzioni e primitive di Windows sincronizzazione Linux come RTOS Porzioni di codice non interrompibile: generalmente molto corte e di durata predicibile Gestione delle interruzioni “separata”: interrupt handler corto e predicibile, ISR lunga -
POLITECNICO DI MILANO DEPARTMENT of CIVIL and ENVIRONMENTAL ENGINEERING – Environmental Section
POLITECNICO DI MILANO DEPARTMENT OF CIVIL AND ENVIRONMENTAL ENGINEERING – Environmental Section AWARE – Assessment on Waste and Resources – Research group LITERATURE REVIEW ON THE ASSESSMENT OF THE CARBONATION POTENTIAL OF LIME IN DIFFERENT MARKETS AND BEYOND Customer: EuLA – the European Lime Association Authors: Prof. Mario Grosso (Principal Investigator) Eng. Laura Biganzoli, Francesco Pietro Campo, Sara Pantini, Camilla Tua July 2020 Report n. 845.0202.70.02 To refer to this report, please use the following reference: Grosso M., Biganzoli L., Campo F. P., Pantini S., Tua C. 2020. Literature review on the assessment of the carbonation potential of lime in different markets and beyond. Report prepared by Assessment on Waste and Resources (AWARE) Research Group at Politecnico di Milano (PoliMI), for the European Lime Association (EuLA). Pp. 333. CHAPTER AUTHORS 1 EXECUTIVE SUMMARY F. P. Campo, C. Tua, M. Grosso 2 METHODOLOGY AND SCOPE OF THE WORK F. P. Campo, M. Grosso 3 INTRODUCTION: LIME USE AND APPLICATIONS F. P. Campo, M. Grosso 3.1 USE OF LIME IN IRON AND STEEL INDUSTRY L. Biganzoli, M. Grosso 3.2.1 USE OF LIME IN SAND LIME BRICK C. Tua, M. Grosso APPLICATION 3.2.2 USE OF LIME IN LIGHT-WEIGHT LIME C. Tua, M. Grosso CONCRETE 3.2.3 USE OF LIME IN MORTARS F. P. Campo, M. Grosso 3.2.4 USE OF LIME IN HEMP LIME F. P. Campo, M. Grosso 3.2.5 USE OF LIME IN OTHER CONSTRUCTION F. P. Campo, M. Grosso MATERIALS 3.3.1 USE OF LIME IN SOIL STABILISATION F. P. Campo, C. -
Performance Study of Real-Time Operating Systems for Internet Of
IET Software Research Article ISSN 1751-8806 Performance study of real-time operating Received on 11th April 2017 Revised 13th December 2017 systems for internet of things devices Accepted on 13th January 2018 E-First on 16th February 2018 doi: 10.1049/iet-sen.2017.0048 www.ietdl.org Rafael Raymundo Belleza1 , Edison Pignaton de Freitas1 1Institute of Informatics, Federal University of Rio Grande do Sul, Av. Bento Gonçalves, 9500, CP 15064, Porto Alegre CEP: 91501-970, Brazil E-mail: [email protected] Abstract: The development of constrained devices for the internet of things (IoT) presents lots of challenges to software developers who build applications on top of these devices. Many applications in this domain have severe non-functional requirements related to timing properties, which are important concerns that have to be handled. By using real-time operating systems (RTOSs), developers have greater productivity, as they provide native support for real-time properties handling. Some of the key points in the software development for IoT in these constrained devices, like task synchronisation and network communications, are already solved by this provided real-time support. However, different RTOSs offer different degrees of support to the different demanded real-time properties. Observing this aspect, this study presents a set of benchmark tests on the selected open source and proprietary RTOSs focused on the IoT. The benchmark results show that there is no clear winner, as each RTOS performs well at least on some criteria, but general conclusions can be drawn on the suitability of each of them according to their performance evaluation in the obtained results. -
Security Target Pikeos Separation Kernel V4.2.2
Security Target PikeOS Separation Kernel v4.2.2 Document ID Revision DOORS Baseline Date State 00101-8000-ST 20.6 N.A. 2018-10-10 App Author: Dominic Eschweiler SYSGO AG Am Pfaffenstein 14, D-55270 Klein-Winternheim Notice: The contents of this document are proprietary to SYSGO AG and shall not be disclosed, disseminated, copied, or used except for purposes expressly authorized in writing by SYSGO AG. Doc. ID: 00101-8000-ST Revision: 20.6 This page intentionally left blank Copyright 2018 Page 2 of 47 All rights reserved. SYSGO AG Doc. ID: 00101-8000-ST Revision: 20.6 This page intentionally left blank Copyright 2018 Page 3 of 47 All rights reserved. SYSGO AG Doc. ID: 00101-8000-ST Revision: 20.6 Table of Contents 1 Introduction .................................................................................................................... 6 1.1 Purpose of this Document ........................................................................................... 6 1.2 Document References ................................................................................................ 6 1.2.1 Applicable Documents......................................................................................... 6 1.2.2 Referenced Documents ....................................................................................... 6 1.3 Abbreviations and Acronyms ....................................................................................... 6 1.4 Terms and Definitions................................................................................................ -
Soft Tools for Robotics and Controls Implementations
Soft Tools for Robotics and Controls Implementations A Thesis Submitted to the Faculty of Drexel University by Robert M. Sherbert in partial fulfillment of the requirements for the degree of Master of Science in Electrical Engineering June 2011 c Copyright 2011 Robert M. Sherbert. All rights reserved. ii Dedications To the parents who placed me on my path, to the mentors who guided me along its many turns, and to the friends who made the long journey swift. iii Acknowledgments There are a number of people to whom I owe a great deal of thanks in completing this document. While the labor has been my own, the inspiration for it and the support to finish it have come from the community around me. In creating this work I have taken on the role of toolsmith and, as tools are worthless without their users, it is to these individuals that I am especially indebted. I would like to thank Dr. Oh for lending his vision of robotics testing and prototyping which inspired this work. You have taught me more than I realized there was to know about the modern practice of science. I would also like to thank Dr. Chmielewski for lending his experience, insight, and enthusiasm to the project. Having these ideas weighed against and improved by your practical knowledge has provided a very important validation for me. Above all I would like to thank my friends at DASL, without whom the entirety of this project would have been consigned to the dust bin long ago. You have given me not only critical feedback and suggestions but also the support and encouragement that has helped me carry this to completion. -
Access Control and Operating System
Outline (may not finish in one lecture) Access Control and Operating Access Control Concepts Secure OS System Security • Matrix, ACL, Capabilities • Methods for resisting • Multi-level security (MLS) stronger attacks OS Mechanisms Assurance • Multics • Orange Book, TCSEC John Mitchell – Ring structure • Common Criteria • Amoeba • Windows 2000 – Distributed, capabilities certification • Unix Some Limitations – File system, Setuid • Information flow • Windows • Covert channels – File system, Tokens, EFS • SE Linux – Role-based, Domain type enforcement Access control Access control matrix [Lampson] Common Assumption Objects • System knows who the user is File 1 File 2 File 3 … File n – User has entered a name and password, or other info • Access requests pass through gatekeeper User 1 read write - - read – OS must be designed monitor cannot be bypassed User 2 write write write - - Reference Subjects monitor User 3 - - - read read User process ? Resource … User m read write read write read Decide whether user can apply operation to resource Two implementation concepts Capabilities Access control list (ACL) File 1 File 2 … Operating system concept • “… of the future and always will be …” • Store column of matrix User 1 read write - Examples with the resource User 2 write write - • Dennis and van Horn, MIT PDP-1 Timesharing Capability User 3 - - read • Hydra, StarOS, Intel iAPX 432, Eros, … • User holds a “ticket” for … • Amoeba: distributed, unforgeable tickets each resource User m read write write • Two variations References – store -
Research Purpose Operating Systems – a Wide Survey
GESJ: Computer Science and Telecommunications 2010|No.3(26) ISSN 1512-1232 RESEARCH PURPOSE OPERATING SYSTEMS – A WIDE SURVEY Pinaki Chakraborty School of Computer and Systems Sciences, Jawaharlal Nehru University, New Delhi – 110067, India. E-mail: [email protected] Abstract Operating systems constitute a class of vital software. A plethora of operating systems, of different types and developed by different manufacturers over the years, are available now. This paper concentrates on research purpose operating systems because many of them have high technological significance and they have been vividly documented in the research literature. Thirty-four academic and research purpose operating systems have been briefly reviewed in this paper. It was observed that the microkernel based architecture is being used widely to design research purpose operating systems. It was also noticed that object oriented operating systems are emerging as a promising option. Hence, the paper concludes by suggesting a study of the scope of microkernel based object oriented operating systems. Keywords: Operating system, research purpose operating system, object oriented operating system, microkernel 1. Introduction An operating system is a software that manages all the resources of a computer, both hardware and software, and provides an environment in which a user can execute programs in a convenient and efficient manner [1]. However, the principles and concepts used in the operating systems were not standardized in a day. In fact, operating systems have been evolving through the years [2]. There were no operating systems in the early computers. In those systems, every program required full hardware specification to execute correctly and perform each trivial task, and its own drivers for peripheral devices like card readers and line printers. -
Bb8c0bd8f46479fe1bc7360a57c
Sensors 2015, 15, 22776-22797; doi:10.3390/s150922776 OPEN ACCESS sensors ISSN 1424-8220 www.mdpi.com/journal/sensors Article A Wireless Optogenetic Headstage with Multichannel Electrophysiological Recording Capability Gabriel Gagnon-Turcotte 1, Alireza Avakh Kisomi 1, Reza Ameli 1, Charles-Olivier Dufresne Camaro 1, Yoan LeChasseur 2, Jean-Luc Néron 2, Paul Brule Bareil 2, Paul Fortier 1, Cyril Bories 3, Yves de Koninck 3,4,5 and Benoit Gosselin 1,* 1 Department of Electrical and Computer Engineering, Université Laval, Quebec, QC G1V 0A6, Canada; E-Mails: [email protected] (G.G.-T.); [email protected] (A.A.K.); [email protected] (R.A.); [email protected] (C.-O.D.C.); [email protected] (P.F.) 2 Doric Lenses Inc., Quebec, QC G1P 4N7, Canada; E-Mails: [email protected] (Y.L.); [email protected] (J.-L.N.); [email protected] (P.B.B.) 3 Institut Universitaire en Santé Mentale de Québec, Quebec, QC G1J 2G3, Canada; E-Mails: [email protected] (C.B.); [email protected] (Y.K.) 4 Centre d’Optique, Photonique et Laser (COPL), Université Laval, Quebec, QC G1V 0A6, Canada 5 Department of Psychiatry & Neuroscience, Université Laval, Quebec, QC G1V 0A6, Canada * Author to whom correspondence should be addressed; E-Mail: [email protected]; Tel.: +1-418-656-2131; Fax: +1-418-656-3159. Academic Editor: Alexander Star Received: 15 July 2015 / Accepted: 29 August 2015 / Published: 9 September 2015 Abstract: We present a small and lightweight fully wireless optogenetic headstage capable of optical neural stimulation and electrophysiological recording. -
CSE I Sem Question Bank
M.Tech (Computer Science and Engineering) R-15 MALLA REDDY COLLEGE OF ENGINEERING & TECHNOLOGY (Autonomous Institution – UGC, Govt. of India) Sponsored by CMR Educational Society (Affiliated to JNTU, Hyderabad, Approved by AICTE - Accredited by NBA & NAAC – ‘A’ Grade - ISO 9001:2008 Certified) Maisammaguda, Dhulapally (Post Via Hakimpet), Secunderabad – 500100, Telangana State, India. Contact Number: 040-23792146/64634237, E-Mail ID: [email protected], website: www.mrcet.ac.in MASTER OF TECHNOLOGY COMPUTER SCIENCE AND ENGINEERING DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING ACADEMIC REGULATIONS COURSE STRUCTURE AND SYLLABUS (Batches admitted from the academic year 2016 - 2017) Note: The regulations hereunder are subject to amendments as may be made by the Academic Council of the College from time to time. Any or all such amendments will be effective from such date and to such batches of candidates (including those already pursuing the program) as may be decided by the Academic Council. Malla Reddy College of Engineering & Technology Page 0 M.Tech (Computer Science and Engineering) R-15 CONTENTS S.No Name of the Subject Page no 1 Advanced Data Structures and Algorithms 7 2 Course Coverage 9 3 Question Bank 10 4 Advanced Operating System 19 5 Course Coverage 20 6 Question Bank 21 7 Computer System Design 31 8 Course Coverage 33 9 Question Bank 34 10 Software Process And Project Management 39 11 Course Coverage 41 12 Question Bank 42 13 Natural Language Processing 49 14 Internet of Things 51 15 Machine Learning 52 16 Software Architecture -
Firmware Pro Robotické Vozítko
VYSOKÉ UČENÍ TECHNICKÉ V BRNĚ BRNO UNIVERSITY OF TECHNOLOGY FAKULTA ELEKTROTECHNIKY A KOMUNIKAČNÍCH TECHNOLOGIÍ ÚSTAV AUTOMATIZACE A MĚŘICÍ TECHNIKY FACULTY OF ELECTRICAL ENGINEERING AND COMMUNICATION DEPARTMENT OF CONTROL AND INSTRUMENTATION FIRMWARE PRO ROBOTICKÉ VOZÍTKO FIRMWARE FOR THE ROBOTIC VEHICLE DIPLOMOVÁ PRÁCE MASTER'S THESIS AUTOR PRÁCE Bc. LUKÁŠ OTAVA AUTHOR VEDOUCÍ PRÁCE Ing. PAVEL KUČERA, Ph.D. SUPERVISOR BRNO 2013 ABSTRAKT Tato práce je zaměřena na vytvoření firmware pro robotické vozítko, založené na ar- chitektuře ARM Cortex-M3, který využívá operační systém reálného času. Úvodní část obsahuje informace o dostupných operačních systémech reálného času pro malé vestavné systémy, popis architektury ARM Cortex-M3 a hardwarového řešení řídicího systému. Praktická část se zabývá výběrem a měřením zvolených operačních systémů reálného času. Výsledkem práce je firmware složený z programových modulů, které slouží kovlá- dání jednotlivých HW prvků. Je vytvořena také ukázková aplikace, která umožňuje na dálku ovládat pohyb robota a ukládat provozní data robota. KLÍČOVÁ SLOVA ARM, Cortex M3, LM3S8962, reálný čas, RTOS, FreeRTOS, CooCox, CoOS, uC/OSIII, absolutní časování, přepnutí kontextu, DC motor, akcelerometr, FreeRTOS+TRACE, synchronizace, regulátor, SLIP, diagnostika RTOS ABSTRACT This thesis is focused on a firmware for robotic vehicle based on the ARM Cortex- M3 architecture that is running a real-time operating system (RTOS). Theoretical part describes available solutions of embedded RTOS and concrete HW implementation of the robotic vehicle. There is also comparison of the three selected RTOS with their measurements. Result of this thesis is base firmware compounded by a program modules that controls HW parts. There is also a sample PC and firmware application that extends base firmware. -
Operating System Structure
Operating System Structure Joey Echeverria [email protected] modified by: Matthew Brewer [email protected] Nov 15, 2006 Carnegie Mellon University: 15-410 Fall 2006 Overview • Motivations • Kernel Structures – Monolithic Kernels ∗ Kernel Extensions – Open Systems – Microkernels – Exokernels – More Microkernels • Final Thoughts Carnegie Mellon University: 15-410 Fall 2006 1 Motivations • Operating systems have a hard job. • Operating systems are: – Hardware Multiplexers – Abstraction layers – Protection boundaries – Complicated Carnegie Mellon University: 15-410 Fall 2006 2 Motivations • Hardware Multiplexer – Each process sees a “computer” as if it were alone – Requires allocation and multiplexing of: ∗ Memory ∗ Disk ∗ CPU ∗ IO in general (network, graphics, keyboard etc.) • If OS is multiplexing it must also allocate – Priorities, Classes? - HARD problems!!! Carnegie Mellon University: 15-410 Fall 2006 3 Motivations • Abstraction Layer – Presents “simple”, “uniform” interface to hardware – Applications see a well defined interface (system calls) ∗ Block Device (hard drive, flash card, network mount, USB drive) ∗ CD drive (SCSI, IDE) ∗ tty (teletype, serial terminal, virtual terminal) ∗ filesystem (ext2-4, reiserfs, UFS, FFS, NFS, AFS, JFFS2, CRAMFS) ∗ network stack (TCP/IP abstraction) Carnegie Mellon University: 15-410 Fall 2006 4 Motivations • Protection Boundaries – Protect processes from each other – Protect crucial services (like the kernel) from process – Note: Everyone trusts the kernel • Complicated – See Project 3 :) – Full