Programming perl
Concurrent programming in ERLANG (2nd ed.)
Concurrent programming in ERLANG (2nd ed.)
Advances in Real-Time Systems
Hard Real-Time Systems
Real Java for real time - gain and pain
CASES '02 Proceedings of the 2002 international conference on Compilers, architecture, and synthesis for embedded systems
Interactive language development for embedded systems
Nordic Journal of Computing
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Embedded control devices today usually allow parameterchanges, and possibly activation of different pre-implementedalgorithms. Full reprogramming using the complete source codeis not allowed for safety, efficiency, and proprietary reasons.For these reasons, embedded regulators are quite rigid and closedconcerning the control structure. In several applications, likeindustrial robots, there is a need to tailor the low level controlto meet specific application demands. In order to meet the efficiencyand safety demands, a way of building more generic and open regulatorshas been developed. The key idea is to use pieces of compiledexecutable code as functional operators, which in the simplestcase may appear as ordinary control parameters. In an objectoriented framework, this means that new methods can be addedto controller objects after implementation of the basic control,even at run-time. The implementation was carried out in industriallywell accepted languages such as C and C++. The dynamic bindingat run-time differs from ordinary dynamic linking in that onlya subset of the symbols can be used. This subset is defined bythe fixed part of the system. The safety demands can thereforestill be fulfilled. Encouraged by results from fully implementedtest cases, we believe that extensive use of this concept willadmit more open, still efficient, embedded systems.