A robust layered control system for a mobile robot
Artificial intelligence at MIT
Parallel processing in industrial real-time applications
Parallel processing in industrial real-time applications
Issues in the static allocation and scheduling of complex periodic tasks
RTOSS '93 Proceedings of the tenth IEEE workshop on Real-time operating systems and software
Holistic schedulability analysis for distributed hard real-time systems
Microprocessing and Microprogramming - Parallel processing in embedded real-time systems
BASEMENT: a distributed real-time architecture for vehicle applications
Real-Time Systems - Special issue on the engineering of complex real-time computer control systems
A methodology for reliability analysis of fault-tolerant systems with repairable subsystems
MDS '95 Proceedings of the second international conference on Mathematics of dependable systems II
Distributed Operating Systems: The Logical Design
Distributed Operating Systems: The Logical Design
IEEE Transactions on Software Engineering
Event-Triggered Versus Time-Triggered Real-Time Systems
Proceedings of the International Workshop on Operating Systems of the 90s and Beyond
HARTEX: a safe real-time kernel for distributed computer control systems
Software—Practice & Experience
The SAVE approach to component-based development of vehicular systems
Journal of Systems and Software
Scalable autonic processing systems
International Journal of Computer Applications in Technology
Cross-layer customization for rapid and low-cost task preemption in multitasked embedded systems
ACM Transactions on Embedded Computing Systems (TECS)
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BASEMENTTM is a distributed real-time architecture developed for vehicle internal use in the automotive industry. BASEMENT covers application development, as well as the hardware and software that provide execution and communication support. This paper gives an overview of the BASEMENT concept, as well as presenting two system realizations. The first realization is based on the commercial real-time kernel Rubus, while the second is an ultra-dependable architecture (DACAPO) with provisions for fault tolerance at various system levels.BASEMENT is designed for the automotive systems of the future. These systems will be required to simultaneously handle multiple safety critical functions and a large number of less critical functions. All of these features are to be provided at a production cost substantially lower than that of current systems, and, at the same time, with a reliability allowing vehicles to be built without mechanical backup systems, even for safety critical subsystems such as braking and steering.The key constituents of the concept are: 1) resource sharing (multiplexing) of processing and communication resources, 2) a guaranteed real-time service for safety critical applications, 3) a best-effort service for nonsafety critical applications, 4) a communication infrastructure providing efficient communication between distributed devices, 5) a program development methodology allowing resource independent and application oriented development of application software, and 6) a straightforward and well-defined operation principle enabling efficient fault tolerance mechanisms to be employed.