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^*

^*此作品的通讯作者

Northeastern University China

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	Proceedings - IEEE Congress on Cybermatics
主期刊副标题	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
出版商	Institute of Electrical and Electronics Engineers Inc.
页	487-494
页数	8
ISBN（电子版）	9798350309461
DOI	https://doi.org/10.1109/iThings-GreenCom-CPSCom-SmartData-Cybermatics60724.2023.00096
出版状态	已出版 - 2023
已对外发布	是
活动	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, 中国期限: 17 12月 2023 → 21 12月 2023

出版系列

姓名	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

会议

会议	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
国家/地区	中国
市	Danzhou
时期	17/12/23 → 21/12/23

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

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

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, Z., Liu, S., Jiang, X., Ji, D., & Wang, Y. (2023). TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS. 在 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 (页码 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 等. / 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. 页码 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. 在 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., 页码 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, 中国, 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 等.
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. 页码 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).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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. 在 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. 页码 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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此