73 Commerical RTOS part1 (Robotics: Real-Time Operating System)
Description
This article is from the Robotics FAQ, by Kevin Dowling nivek@cs.cmu.edu with numerous contributions by others.
73 Commerical RTOS part1 (Robotics: Real-Time Operating System)
Chimera and Onika
Chimera is a next generation multiprocessor real-time operating system
(RTOS) designed especially to support the development of dynamically
reconfigurable software for robotic and automation systems. Chimera is
being used by several institutions outside of Carnegie Mellon,
including university, government, and industrial research labs.
Chimera provides most of the features available in commercial
real-time operating systems, plus advanced support for the rapid
deployment of reconfigurable sensor-based control systems based on
reconfigurable and reusable software modules.
* advanced support for the creation of applications based on
reconfigurable and reusable real-time software modules
* supports multiple general purpose CPUs in a VMEbus backplane
* static and dynamic scheduling
* default scheduler may be replaced with custom code
* global error handling and detection
* full-featured standard libraries (stdio, strings, math, time)
* additional libraries useful for creating reconfigurable software
(command-interpreter framework, configuration file reading
utility, matrix functions)
* rich set of multiprocessor communication and synchronization
primitives (shared memory, semaphores, message queues)
* high-performance local (uniprocessor) semaphores
* fully integrated host workstation environment
* standard GNU development tools
* support for special purpose processors (i.e. DSPs, FPPs)
* flexible interface for I/O device access
Chimera currently runs on MC68020, MC68030 and MC68040 VMEbus single-
board computers (currently, the only models supported are the Ironics
IV-3220, Ironics IV-3230 and the Ironics IV-3207). The '020 and '030
boards all require the MC68881/2 floating-point coprocessor.
Chimera itself is not available for anonymous FTP as it has become a
commercial product marketed by Pittsburgh-based K2T Inc. (pronounced
K-squared-T). Onika is tightly bound to advanced features in Chimera
and hence is not currently suited for use on other platforms. However,
users of Chimera do receive a free copy of Onika.
"Obtaining Chimera and Onika" A selection of sample Chimera
applications and reconfigurable modules will be made available in a
public FTP site to help new users get started. The applications and
modules will be available in both source and binary forms.
The one condition of this free release is that any module or
application that an institution develops under Chimera must be placed
on a public FTP site for use by other research institutions.
Chimera will be licensed on a per-installation basis, and will be
released free only to qualified institutions (i.e. universities or
research labs). Commercial ventures are welcome to contact CMU and
arrange appropriate licensing of this technology.
Chimera will be made available primarily by FTP. For institutions
which lack Internet access, the software may be supplied on tape. If
requested on tape, a small fee will be charged to cover CMU's media
and handling costs.
"For More Information" For info on Chimera, you may browse Chimera's
WWW page at: [8]chimera.html
Or you may obtain a text document with the same information by: finger
chimera@cs.cmu.edu
For more information on Onika, please consult Onika's WWW page at:
[9]Onika.html For information on obtaining Chimera and Onika for your
university or research lab, please send email to
[10]chimera@cs.cmu.edu.
Technical questions about the internals of Chimera and Onika may be
mailed to [11]chimera@cs.cmu.edu.
If you are interested in purchasing Chimera, please contact Eric
Hoffman of K2T Inc. directly:
Eric Hoffman, Chief Engineer
K2T Inc.
Suite 205, One Library Place
Duquesne, PA 15110
tel: 412.469.3150
fax: 412.469.8120
[14.1] Commerical RTOS part2 (Robotics: Real-Time Operating System)
ControlShell
"Real-Time Innovations, Inc."
954 Aster, Sunnyvale, CA 94086
tel: 408.720.8312
fax: 408.720.8419
contact: Stan Schneider
email: stan@rti.com
ControlShell is an Object-Oriented Framework for Real-Time System
Software
* Complete object-oriented real-time software environment.
* Graphically build your system from reusable components.
* Readily include powerful rule-based event responses.
* Easily share data between networked processors.
ControlShell is a next-generation CASE environment for real-time
system software development. ControlShell's modular, component-based
structure, powerful graphical tools, and integrated data management
provide a unique approach to real-time software development.
With ControlShell, you can:
* Build your system from reusable components with the graphical
Data-Flow Editor. Select and connect your components, set
parameters, and build your run-time system with a few mouse
clicks.
* Add new components with the graphical Component Editor.
Automatically generate C++ source code to interface your new
component to the system.
* Create structured strategic programs with the graphical
State-Machine Editor. Combine rule-based transition conditions,
true callable sub-chain hierarchies, task synchronization and
event management.
* Manage complex system mode changes with the graphical execution
Configuration Manager.
* Perform real-time mathematics with the complete real-time matrix
package.
* Take advantage of an ever-expanding library of generic and
reusable components, including controllers, estimators, filters,
signal generators, trajectory generators, and more.
iRMX III
Runs on Intel 80X86-based computers.
"Intel Corporation"
3065 Bowers Avenue
Santa Clara, California 95051
tel (408) 987-8080
LynxOS
Runs on wide variety of platforms, including Motorola, Intel, Sun, and
Hewlett Packard.
"Lynx Real-Time Systems, Inc"
16780 Lark
Los Gatos, CA 95030
tel (408) 354-7770
fax (408) 354-7085
OS-9
Runs on Motorola MC680X0-based single board computers.
"Microware System Corporation"
1900 N.W. 114th St.
Des Moines, Iowa 50322
tel (515) 224-1929
pSOS+
Runs on a variety of Motorola 680X0 and 88100, and Intel 80386
computers. Requires a host workstation or personal computer if
pASSPORT+ real-time programming environment is to be used.
"Software Components Group, Inc."
1731 Technology Drive
San Jose, CA 95110
tel (408) 437-0700
fax (408) 437-0711
Continue to:
My Books
