RTAI Conference Papers

Last week, I have introduced to RealTime Application Interface for Linux, now I would like to give you some RTAI Conference Papers. Those papers could be a very good reference for everyone who is working with RTAI, as well as people doesn’t play with RTAI before to have more motivation.
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1. PC-based feedback acceleration control using Linux RTAI

ABSTRACT
Linux operative system, extended with the real time application interface (RTAI), makes it possible to realize industrial motion controls. This requires general purpose processors (GPPs) instead of dedicated DSPs or microcontrollers. RTAI offers the possibility of designing and developing motion controls using high level object languages (i.e., Simulink). The main advantages brought using Linux-RTAI and a PC as a controller platform are: very reduced time for development, diagnostics, design of controls; cost reduction offered by the open-source status of the operating system; high availability of the hardware. This paper shows that such a system offers adequate digital programming and signal processing capabilities to make real time motion control applications. An industrial-PC based acceleration control is presented and points of strength of RTAI solution are shown.

2. Industrial motion control applications using linux RTAI

ABSTRACT
RTAI extension to Linux operating system makes it possible to perform Hard Real-Time (HRT) controls using a commercial PC and utilizing open-source code. This paper details a software installation process, along with the suitable hardware chosen for realizing motion controls using Linux-RTAI. Advantages offered by the possibility of designing and developing motion controls using the powerful tools of high level object-languages (i.e. Simulink) are described. It is proven that the combination of Simulink as a development environment and Linux-RTAI PC as a controller platform brings advantages that can be greatly appreciated in industrial motion control applications, such as: very reduced time for development, diagnostics, design of controls; adequate control performance; cost reductions offered by the open-source status of the operating system.

3.Scilab/Scicos and Linux RTAI – a unified approach

ABSTRACT
This paper presents a rapid controller prototyping environment completely based on open source software. GNU/Linux with the RTAI extension is used as a hard real-time operating system. The Scilab/Scicos suite permits performance of all phases of the control system design. A modified Scicos code generator directly generates the C-code for the Linux RTAI environment. Finally, the generated hard real-time task runs as a user space application on a standard PC using the COMEDI drivers to interface with the real plant. A GUI application facilitates the user to interact with the running real-time task (data visualization, data collection, parameters tuning) directly from any PC in the network. All needed software is available on the Web and can be freely downloaded. Some applications are presented to demonstrate the potentialities of the presented suite.

4. A Hardware-In-the-Loop Simulation System of Diesel Engine Based on Linux RTAI

ABSTRACT
In this article, the rapid prototyping technology is used to develop a hardware-in-the-loop simulation system for the diesel engine electronic control unit development. The hardware- in-the-loop simulation is based on Linux RTAI system, an open source hard real-time extension of the Linux Operating System, at low costs and within industrial standards. It exploits standard x86-based computing platforms provided with real-time Linux software in combination with generic computer-aided design software (Matlab/Simulink). One of its main characteristics is that it can automatically generate the real-time simulation code for many target processors, which runs under Linux RTAI operating system.

5.Monitoring applications of electrical and climate data for PV systems using Linux RTAI

ABSTRACT
This work presents the design and development of an innovative system aimed at detecting, recording and transmitting electrical and climate data from a PV field. Data are to be taken both from the PV modules and from the power conditioning system of a given PV field, through appropriate sensors, to monitor: climate data (irradiance, temperature), electrical quantities (voltage, current, power), performance of the PV generator as a function of climate parameters, performance of the power conditioning system over different working conditions. The system will exchange data through a communication network (i.e. Ethernet/TCP-IP) to download data, visualize quantities and operative states. The proposed system is designed to be integrated into any PV field, independently from the plant layout, the inverter type, the presence of preexisting data loggers, sensors, etc. Such a result is achieved using an open architecture, which assures an extremely high flexibility of utilization.

6.Real time distributed control systems using RTAI

ABSTRACT
The paper outlines the design and implementation of the Real Time Application Interface (RTAI) for Linux, as used for high performance local/distributed control systems implemented on low cost off the shelf general purpose computers. Its native lean real time middleware layer is described along with its use in an advanced tool to easily manage and monitor complex networked control systems.

7. RTAI-based execution environments for function block based control applications

ABSTRACT
The IEC 61499 standard has been recently adopted to promote a more flexible development process in the control and automation domain. The standard mainly deals with modeling issues leaving a lot of model execution details open. Different research groups are already working for the development of execution environments for the defined component model, proposing implementations with different execution semantics. This paper discuss the semantics of the execution environment and presents two execution environments, which although independently developed share a similar view of IEC61499 execution semantics and are both implemented over RTAI (real time application interface), a real-time Linux-based platform.

8. Performance Comparison of VxWorks, Linux, RTAI and Xenomai in a Hard Real-time Application

ABSTRACT
We report on a set of performance measurements executed on VMEbus MVME5500 boards equipped with MPC7455 PowerPC processor, running four different operating systems: Wind River VxWorks, Linux, RTAI, and Xenomai. Some components of RTAI and Xenomai have been ported to the target architecture. Interrupt latency, rescheduling and inter-process communication times are compared in the framework of a sample real-time application. Performance measurements on Gigabit Ethernet network communication have also been carried out on the target boards. To this purpose, we have considered the Linux IP stack and RTnet, an open-source hard real-time network protocol stack for Xenomai and RTAI, which was ported to the considered architecture. Performance measurements show that the tested open-source software is suitable for hard real-time applications

9. RTAI-based execution environments for function block based control applications

ABSTRACT
The IEC 61499 standard has been recently adopted to promote a more flexible development process in the control and automation domain. The standard mainly deals with modeling issues leaving a lot of model execution details open. Different research groups are already working for the development of execution environments for the defined component model, proposing implementations with different execution semantics. This paper discuss the semantics of the execution environment and presents two execution environments, which although independently developed share a similar view of IEC61499 execution semantics and are both implemented over RTAI (real time application interface), a real-time Linux-based platform.

10. Rapid control prototyping with Scilab/Scicos/RTAI for PC-based ARM-based platforms

ABSTRACT
This document describes three didactic system with a Rapid Control Prototyping (RCP) suite based on Scilab/Scicos and a PC computer. Servomechanisms with wire signal transmission and PID as well as a fuzzy controller are presented. The servomechanism with wireless signal transmission is also described. As the RCP suite based on Scilab/Scicos/RTAI was successfully used in the servo controller development on a PC platform, the concept of a tool-chain for RCP on an embedded platform with ARM processor is discussed. The TS-7300 embedded system with RTAI real-time operating system is described. The changes in Scilab/Scicos needed to interface the generated controller code to TS-7300 are presented. The didactic use and a possible commercial use of the tool-chain is indicated. The didactic use is focused on controllers tuning, friction and long delays influence on servomechanism control and embedded control system development.

Note: They are all papers I have downloaded and read, so I just share it with the one who wants it.

{ 1 comment… add one }
  • Daniel April 25, 2011, 12:00 pm

    Thanks for the papers. I’m currently working on a project related to RTAI-LAB.

    Reply

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