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Mechanisms for detecting and handling timing errors
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ACM SIGOPS Operating Systems Review
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IEEE Transactions on Software Engineering
Time weaver: a software-through-models framework for embedded real-time systems
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Pattern Based Software Re-engineering: A Case Study
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APSEC '99 Proceedings of the Sixth Asia Pacific Software Engineering Conference
The Performance and Energy Consumption of Embedded Real-Time Operating Systems
IEEE Transactions on Computers
TinyGALS: a programming model for event-driven embedded systems
Proceedings of the 2003 ACM symposium on Applied computing
Automated Software Engineering
A Contract-Based Component Model for Embedded Systems
QSIC '04 Proceedings of the Quality Software, Fourth International Conference
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IEEE Transactions on Software Engineering
Plebes, dogs, and robots: the Umbra simulation framework as applied to building HLA federates
Proceedings of the 34th conference on Winter simulation: exploring new frontiers
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The port-based object is a new software abstraction for designing and implementing dynamically reconfigurable real-time software. It forms the basis of a programming model that uses domain-specific elemental units to provide specific, yet flexible, guidelines to control engineers for creating and integrating software components. We use a port-based object abstraction, based on combining the notion of an object with the port-automaton algebraic model of concurrent processes. It is supported by an implementation using domain-specific communication mechanisms and templates that have been incorporated into the Chimera Real-Time Operating System and applied to several robotic applications. This paper describes the port-based object abstraction, provides a detailed analysis of communication and synchronization based on distributed shared memory, and describes a programming paradigm based on a framework process and code templates for quickly implementing applications.