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| 2. |
- Ive, Anders, et al.
(författare)
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Garbage collector interface
- 2002
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Ingår i: Proceedings of the Tenth Nordic Workshop on Programming and Software Development Tools and Techniques (NWPER 2002).
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Konferensbidrag (refereegranskat)abstract
- The purpose of the presented garbage collector interface is to provide a universal interface for many different implementations of garbage collectors. This is to simplify the integration and exchange of garbage collectors, but also to support incremental, non-conservative, and thread safe implementations. Due to the complexity of the interface, it is aimed at code generators and preprocessors. Experiences from ongoing implementations indicate that the garbage collector interface successfully provides the necessary functionality in an efficient way,
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| 3. |
- Robertz, Sven, et al.
(författare)
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Industrial robot motion control with real-time Java and EtherCAT
- 2007
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Ingår i: Proceedings of the12th IEEE Conference on Emerging Technologies and Factory Automation. - 1424408261 ; , s. 1453-1456
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Konferensbidrag (refereegranskat)abstract
- Safe object-oriented programming languages like Java provide a much more programmer-friendly environment than the low-level languages in which real-time and embedded software have traditionally been implemented. Therefore, with the recent popularity of real-time Java, it is interesting to examine its feasibility for robot motion control. We have implemented a motion control system, and an application, for an ABB IRB 340 industrial robot entirely in real-time Java, using standard computer hardware, off-the-shelf EtherCAT servo drives, and the Sun Java Real-Time System 2.0 on Solaris 10. This shows the feasibility of real-time Java for practical robot applications. It also shows one advantage of the EtherCAT field bus technology, that no special master hardware is required. To our knowledge, this is the first robot control system implemented entirely in Java and executed on a certified virtual machine.
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| 4. |
- Robertz, Sven, et al.
(författare)
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Time-triggered garbage collection - Robust and adaptive real-time GC scheduling for embedded systems
- 2003
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Ingår i: ACM SIGPLAN Notices (Proceedings of the 2003 ACM SIGPLAN conference on Language, compiler, and tool support for embedded systems). - : Association for Computing Machinery (ACM). - 0362-1340 .- 1558-1160. - 1581136471 ; 38:7, s. 93-102
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Konferensbidrag (refereegranskat)abstract
- The advent of Java and similar languages on the real-time system scene necessitates the development of efficient strategies for scheduling the work of a garbage collector in a non-intrusive way. We propose a scheduling strategy, time-triggered garbage collection, based on assigning the collector a deadline for when it must complete its current cycle. We show that a time-triggered CC with fixed deadline can have equal or better real-time performance than an allocation-triggered CC, which is the standard approach to real-time CC. Also, by using a deadline-based approach, the CC scheduling and, consequently, real-time performance, is independent of a complex and error-prone CC work metric. Time-triggered CC allows a more high-level view on CC scheduling; we look at the CC cycle level rather than at the individual work increments. This makes it possible to schedule CC as any other thread. It is also suitable for making the CC auto-tuning by dynamically adjusting its deadline as necessary. We have implemented our approach in a run-time system for Java and present experimental data to support the practical feasibility of the approach.
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| 5. |
- Robertz, Sven, et al.
(författare)
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Using Real-time Java for Industrial Robot Control
- 2007
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Ingår i: Proceedings of the 5th International Workshop on Java Technologies for Real-time and Embedded Systems. - New York, New York, USA : ACM Press. ; , s. 104-110
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Konferensbidrag (refereegranskat)abstract
- Safe languages like Java provide a much more programmerfriendly environment than the low-level languages in which real-time and embedded software have traditionally been implemented. However, an obstacle for widespread use of Java in control applications has been the predictability and real-time performance of garbage collection, and the cumbersome memory management associated with RTSJ NoHeapRealtimeThreads. The current version of the Sun Java Real-Time System includes a real-time garbage collector, and therefore, it is interesting to examine its feasibility for robot motion control. We have implemented a motion control system, and an application, for an ABB IRB 340 industrial robot entirely in real-time Java, using standard computer hardware, off-the shelf EtherCAT servo drives, and the Sun Java Real-Time System 2.0 on Solaris 10. To our knowledge, this is the first robot control system implemented entirely in Java and executed on a certified virtual machine.
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