掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/access.2019.2902353

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Information Processing Society of Japan  

Current embedded systems are usually based on real-time operating system (RTOS). In the near future, embedded systems will include parallel applications for tasks like autonomous driving, and adopt many-core processors to satisfy the performance requirements. However, traditional RTOSes are not designed for high performance applications and whether they can scale well on many-core processors remains unclear. Meanwhile, research has shown that Linux can provide good scalability for processors with tens of cores. In this paper, an experiment environment based on a traditional multi-core RTOS (TOPPERS/FMP) and an off-the-shelf 72-core many-core processor (TILE-Gx72) is presented. By a comparative analysis of RTOS based and Linux based runtime systems, several bottlenecks in RTOS are identified and the methods to avoid them are proposed. After that, the PARSEC benchmark suite is used to evaluate the performance of RTOS and Linux. The results show that the optimized RTOS runtime system tends to deliver better scalability than Linux in many cases. Therefore, we believe that traditional RTOS like TOPPERS/FMP can still be a good choice for embedded many-core processors in the near future.

DOI： 10.2197/ipsjjip.26.225

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：日本ソフトウェア科学会  

EV3RT is, to our knowledge, the first RTOS-based software platform for LEGO Mindstorms EV3 robotics kit. It is faster and more suitable for developing applications with real-time requirements than other existing software platforms. In practice, EV3RT has been selected as one of the officially supported platforms of ET Robocon, a popular robot competition in Japan, since 2015 and used by many participating teams to make their robots accomplish the assigned tasks more stably and precisely. In this paper, the usage and architecture of EV3RT are firstly introduced. We then explain TOPPERS/HRP2 kernel, the RTOS of EV3RT, and how to use its protection functionalities to build a reliable platform. A mechanism to support dynamic module loading in a static RTOS is proposed to implement the application loader for EV3RT. Implementation techniques like approach to reusing Linux device drivers are also described. Finally, the advantages of EV3RT are shown by evaluating and comparing its performance with other platforms.

DOI： 10.11309/jssst.34.4_91

担当区分：筆頭著者   掲載種別：研究論文（国際会議プロシーディングス）