TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS

Zilong Wang; Songran Liu; Xu Jiang; Dong Ji; Yi Wang

doi:10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096

TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS

Zilong Wang^*
, Songran Liu^*
, Xu Jiang^*
, Dong Ji^*
, Yi Wang^*

^*Corresponding author for this work

Northeastern University China

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The micro-ROS is widely used to bridge the gap between resource-constrained microcontrollers and larger processors in ROS-based robotic applications. We found that there are some performance issues in micro-ROS because of the unreasonable design of the micro-ROS default RCLC Executor. To improve the timing predictability and run-time efficiency in micro-ROS, we have designed and implemented a new executor called the TIDE Executor, and conducted comprehensive experiments to evaluate the TIDE Executor. The experimental results demonstrate that our TIDE Executor exhibits superior performance compared to the default RCLC Executor.

Original language	English
Title of host publication	Proceedings - IEEE Congress on Cybermatics
Subtitle of host publication	2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	487-494
Number of pages	8
ISBN (Electronic)	9798350309461
DOIs	https://doi.org/10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096
State	Published - 2023
Externally published	Yes
Event	2023 IEEE Congress on Cybermatics: 16th IEEE International Conferences on Internet of Things, iThings 2023, 19th IEEE International Conference on Green Computing and Communications, GreenCom 2023, 16th IEEE International Conference on Cyber, Physical and Social Computing, CPSCom 2023 and 9th IEEE International Conference on Smart Data, SmartData 2023 - Danzhou, China Duration: 17 Dec 2023 → 21 Dec 2023

Publication series

Name	Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023

Conference

Conference	2023 IEEE Congress on Cybermatics: 16th IEEE International Conferences on Internet of Things, iThings 2023, 19th IEEE International Conference on Green Computing and Communications, GreenCom 2023, 16th IEEE International Conference on Cyber, Physical and Social Computing, CPSCom 2023 and 9th IEEE International Conference on Smart Data, SmartData 2023
Country/Territory	China
City	Danzhou
Period	17/12/23 → 21/12/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

executor
micro-ROS
real-time performance

Access to Document

10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096

Cite this

Wang, Z., Liu, S., Jiang, X., Ji, D., & Wang, Y. (2023). TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS. In Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023 (pp. 487-494). (Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096

Wang, Zilong ; Liu, Songran ; Jiang, Xu et al. / TIDE : a Timing-Deterministic and Efficient Executor for micro-ROS. Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 487-494 (Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023).

@inproceedings{41a2124737d3420ea5bf760dc8481b75,

title = "TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS",

abstract = "The micro-ROS is widely used to bridge the gap between resource-constrained microcontrollers and larger processors in ROS-based robotic applications. We found that there are some performance issues in micro-ROS because of the unreasonable design of the micro-ROS default RCLC Executor. To improve the timing predictability and run-time efficiency in micro-ROS, we have designed and implemented a new executor called the TIDE Executor, and conducted comprehensive experiments to evaluate the TIDE Executor. The experimental results demonstrate that our TIDE Executor exhibits superior performance compared to the default RCLC Executor.",

keywords = "executor, micro-ROS, real-time performance",

author = "Zilong Wang and Songran Liu and Xu Jiang and Dong Ji and Yi Wang",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE Congress on Cybermatics: 16th IEEE International Conferences on Internet of Things, iThings 2023, 19th IEEE International Conference on Green Computing and Communications, GreenCom 2023, 16th IEEE International Conference on Cyber, Physical and Social Computing, CPSCom 2023 and 9th IEEE International Conference on Smart Data, SmartData 2023 ; Conference date: 17-12-2023 Through 21-12-2023",

year = "2023",

doi = "10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096",

language = "英语",

series = "Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "487--494",

booktitle = "Proceedings - IEEE Congress on Cybermatics",

address = "美国",

}

Wang, Z, Liu, S, Jiang, X, Ji, D & Wang, Y 2023, TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS. in Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023. Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023, Institute of Electrical and Electronics Engineers Inc., pp. 487-494, 2023 IEEE Congress on Cybermatics: 16th IEEE International Conferences on Internet of Things, iThings 2023, 19th IEEE International Conference on Green Computing and Communications, GreenCom 2023, 16th IEEE International Conference on Cyber, Physical and Social Computing, CPSCom 2023 and 9th IEEE International Conference on Smart Data, SmartData 2023, Danzhou, China, 17/12/23. https://doi.org/10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096

TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS. / Wang, Zilong; Liu, Songran; Jiang, Xu et al.
Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 487-494 (Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - TIDE

T2 - 2023 IEEE Congress on Cybermatics: 16th IEEE International Conferences on Internet of Things, iThings 2023, 19th IEEE International Conference on Green Computing and Communications, GreenCom 2023, 16th IEEE International Conference on Cyber, Physical and Social Computing, CPSCom 2023 and 9th IEEE International Conference on Smart Data, SmartData 2023

AU - Wang, Zilong

AU - Liu, Songran

AU - Jiang, Xu

AU - Ji, Dong

AU - Wang, Yi

PY - 2023

Y1 - 2023

N2 - The micro-ROS is widely used to bridge the gap between resource-constrained microcontrollers and larger processors in ROS-based robotic applications. We found that there are some performance issues in micro-ROS because of the unreasonable design of the micro-ROS default RCLC Executor. To improve the timing predictability and run-time efficiency in micro-ROS, we have designed and implemented a new executor called the TIDE Executor, and conducted comprehensive experiments to evaluate the TIDE Executor. The experimental results demonstrate that our TIDE Executor exhibits superior performance compared to the default RCLC Executor.

AB - The micro-ROS is widely used to bridge the gap between resource-constrained microcontrollers and larger processors in ROS-based robotic applications. We found that there are some performance issues in micro-ROS because of the unreasonable design of the micro-ROS default RCLC Executor. To improve the timing predictability and run-time efficiency in micro-ROS, we have designed and implemented a new executor called the TIDE Executor, and conducted comprehensive experiments to evaluate the TIDE Executor. The experimental results demonstrate that our TIDE Executor exhibits superior performance compared to the default RCLC Executor.

KW - executor

KW - micro-ROS

KW - real-time performance

UR - https://www.scopus.com/pages/publications/85192841528

U2 - 10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096

DO - 10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096

M3 - 会议稿件

AN - SCOPUS:85192841528

T3 - Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023

SP - 487

EP - 494

BT - Proceedings - IEEE Congress on Cybermatics

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 17 December 2023 through 21 December 2023

ER -

Wang Z, Liu S, Jiang X, Ji D, Wang Y. TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS. In Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 487-494. (Proceedings - IEEE Congress on Cybermatics: 2023 IEEE International Conferences on Internet of Things, iThings 2023, IEEE Green Computing and Communications, GreenCom 2023, IEEE Cyber, Physical and Social Computing, CPSCom 2023 and IEEE Smart Data, SmartData 2023). doi: 10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096

TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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