The Design and Performance of a Real-Time CORBA SchedulingService
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RTAS '05 Proceedings of the 11th IEEE Real Time on Embedded Technology and Applications Symposium
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ISORC '07 Proceedings of the 10th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing
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Advanced Engineering Informatics
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IEEE Transactions on Parallel and Distributed Systems
On the schedulability of a data-centric real-time distribution middleware
Computer Standards & Interfaces
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IEEE Communications Magazine
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Analysis of embedded CORBA middleware performance on urban distributed transportation equipments
Computer Standards & Interfaces
Computer Standards & Interfaces
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This paper presents a new service for CORBA applications that orchestrates the timely execution of the tasks of a distributed real-time system in a flexible way. It follows the CORBA philosophy of complementing the CORBA standard with additional services that solve specific problems and facilitate using CORBA in complex applications. The service has been designed for highly coupled applications that execute over LANs. It provides a synchronous framework to synchronize distributed applications that is open to accepting and removing components on-line, with reduced impact on the application timing. It also provides the flexibility to use different distributed scheduling policies that can override the local operating systems schedulers. This paper describes the service architecture and implementation as well as its best-case performance on low computing power hardware with the QNX OS and connected to a switched Ethernet network. Finally the usage and of the service is illustrated with one case study: the synchronization of several robots in a welding process.