Stack-based scheduling for realtime processes
Real-Time Systems
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
A real-time on-chip algorithm for IMU-Based gait measurement
PCM'12 Proceedings of the 13th Pacific-Rim conference on Advances in Multimedia Information Processing
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Micro-Electro-Mechanical Systems (MEMS) sensors are used nowadays in a wide range of applications, from robotics to entertainment. Recently, this technology has also been adopted to equip Inertial Measurement Units (IMUs) replacing traditional electro-mechanical sensors. In this work we present a low-cost embedded IMU which is based on a low-cost embedded microcontroller with limited resources in terms of computing power and memory. The developed software runs on the top of the ERIKA Enterprise real-time kernel to manage the computing tasks that perform sensor data sampling and processing. Low-cost MEMS accelerometers, gyroscopes and magnetometers provide the required data and a Kalman filter analyses raw values in real-time. Experimental results are obtained using a six degrees of freedom anthropomorphic manipulator to drive the IMU with accurate known trajectory, acceleration and rotation. Performances are evaluated both in terms of sensor fusion effectiveness and real-time execution.