Modechart: A Specification Language for Real-Time Systems
IEEE Transactions on Software Engineering
Real-Time Systems: Design Principles for Distributed Embedded Applications
Real-Time Systems: Design Principles for Distributed Embedded Applications
Software-Implemented Hardware Fault Tolerance
Software-Implemented Hardware Fault Tolerance
Software protection mechanisms for dependable systems
Proceedings of the conference on Design, automation and test in Europe
Low-latency time-portable real-time programming with Exotasks
ACM Transactions on Embedded Computing Systems (TECS)
Design principles of large quadrotors for practical applications
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
CiAO: an aspect-oriented operating-system family for resource-constrained embedded systems
USENIX'09 Proceedings of the 2009 conference on USENIX Annual technical conference
An infrastructure for composing build systems of software product lines
Proceedings of the 15th International Software Product Line Conference, Volume 2
Automated application of fault tolerance mechanisms in a component-based system
Proceedings of the 9th International Workshop on Java Technologies for Real-Time and Embedded Systems
Exploiting static application knowledge in a Java compiler for embedded systems: a case study
Proceedings of the 9th International Workshop on Java Technologies for Real-Time and Embedded Systems
Tailor-made JVMs for statically configured embedded systems
Concurrency and Computation: Practice & Experience
A JVM for soft-error-prone embedded systems
Proceedings of the 14th ACM SIGPLAN/SIGBED conference on Languages, compilers and tools for embedded systems
Hi-index | 0.00 |
Quadrotor helicopters are micro air vehicles with vertical take-off and landing capabilities controlled by varying the rotation speed of four fixed pitch propellers. Due to their rather simple mechanical design they have grown to popularity as platform for various research projects. Despite most of them being individually highly successful, they are typically tailored to a specific purpose making it hard to utilise them for further research and education. In this paper, we present the novel design of the I4Copter quadrotor. It has been developed to provide a stable demonstration quadrotor platform for various kinds of research and education projects targeting cross-field challenges in real-time and embedded systems, distributed systems, robotics and cybernetics. The modular and open architecture of our platform allows an application-specific, fine-grained extension, adaption and replacement of software and hardware components. The safe extensibility is supported by strict temporal and spatial isolation between the software modules. We validated our approach by two distinct cross-field use cases: an evaluation platform for modularised control algorithms enabling trajectory tracking and an implementation that is resilient to transient hardware errors.