A Real Time Operating Systems (RTOS) Comparison
Resumo
Este artigo demonstra resultados de uma análise quantitativa e qualitativa realizada em sistemas operacionais de tempo real (RTOS). Os sistemas estudados foram Windows CE, QNX Neutrino, VxWorks, Linux e RTAI-Linux, que são bastante utilizados em ambientes acadêmicos e industriais. O Windows XP também foi analisado, como uma referência de sistemas operacionais convencionais que não são de tempo real, já que estes tipos de sistema são usados comum e inadvertidamente para propósitos de instrumentação e controle. As avaliações incluem, mas não estão restritas aos piores casos de resposta de latência, jitter de latência e tempo de resposta.Referências
Ambike, A., Kim, W.-J., and Ji, K. (8-10 June 2005). ”real-time operating environment for networked control systems”. American Control Conference, 2005. Proceedings of the 2005, pages 2353–2358 vol. 4.
Aroca, R. V. (2008). Análise de sistemas operacionais de tempo real para aplicações de robótica e automação. Master’s thesis, Escola de Engenharia de São Carlos (EESC) - Universidade de São Paulo (USP).
Barabanov, M. (1997). A linux-based realtime operating system. Master’s thesis, New Mexico Institute of Mining and Technology.
Barbalace, A., Luchetta, A., Manduchi, G., Moro, M., Soppelsa, A., and Taliercio, C. (2008). ”performance comparison of vxworks, linux, rtai, and xenomai in a hard real-time application”. Nuclear Science, IEEE Transactions on, 55(1):435–439.
Beneden, B. V. (2001). ”windows ce 3.0: Breathing down rtos vendors’ necks”. Dedicated Systems Magazine.
Cedeno, W. and Laplante, P. A. (2007). ”an overview of real-time operating systems”. Journal of the Association for Laboratory Automation, 12:40–45.
Cinkelj, J., Mihelj, M., and Munih, M. (20 May 2005). ”soft real-time acquisition in windows xp”. Intelligent Solutions in Embedded Systems, 2005. Third International Workshop on, pages 110–116.
Dedicated Systems (2002). Comparison between qnx rtos v6.1, vxworks ae 1.1 and windows ce .net. Technical report, Dedicated Systems.
Dupré, J. K. and Baracos, P. (2001). Benchmarking real-time determinism. Technical report, Instrumentation, Systems &. Automation Society (ISA).
Franke, M. (2007). A quantitative comparison of realtime linux solutions. Technical report, Chemnitz University of Technology.
Ganssle, J., editor (2004). The Firmware Handbook. Elsevier.
Hatch, J. (2006). Windows ce real-time performance architecture. In Windows Hardware Engineering Conference.
Ip, B. (2001). Performance analysis of vxworks and rtlinux. Technical report, Columbia University, Department of Computer Science, New York. [link].
Irwin, P., Richard, L., and Johnson, J. (2002). Real-time control using open source rtos. In Lewis, H., editor, Advanced Telescope and Instrumentation Control Software II, volume 4848, pages 560–567. SPIE.
Kalynnda, B. (2002). Real-time linux evaluation. Technical report, Glen Research center, NASA.
Katuin, J. (12-16 May 2003). ”proton therapy treatment room controls using a linux control system”. Particle Accelerator Conference, 2003. PAC 2003. Proceedings of the, 2:1068–1070 Vol.2.
Kim, W.-J., Ji, K., and Ambike, A. (2006). Real-time operating environmentfor networked control systems. Automation Science and Engineering, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on], 3(3):287–296.
Krodel, J. and Romanski, G. (2007). Real-time operating systems and component integration considerations in integrated modular avionics systems report. Technical report, U.S. Department of Transportation - Federal Aviation Administration.
Köker, K. (2007). Autonomous Robots and Agents, chapter Embedded RTOS: Performance Analysis With High Precision Counters, pages 171–179. Springer Berlin / Heidelberg.
Labrosse, J. (2002). MicroC/OS-II - The Real Time Kernel. CMP Books, 2 edition.
Laplante, P. A. (2004). Real-Time System Design and Analysis. John Wiley & Sons.
NIST (2002). Introduction to linux for real-time control. Technical report, National Institude of Standards and Technology (NIST).
Parab, J. S., Shelake, V. G., Kamat, R. K., and Naik, G. M. (2007). Exploring C for microcontrollers - A Hands On Approach. Spring.
Proctor, F. M. (2001). Measuring performance in real-time linux. In Third Real-Time Linux Workshop.
Proctor, F. M. and Shackleford, W. P. (2001). Real-time operating system timing jitter and its impact on motor control. In Proceedings of the SPIE Conference on Sensors and Controls for Intelligent Manufacturing II.
Sangiovanni-Vincentelli, A., Sangiovanni-Vincentelli, A., and Di Natale, M. (2007). ”embedded system design for automotive applications”. Computer, 40(10):42–51.
Sohal, V. (2001). How to really measure real-time. In Embedded System Conference.
Stewart, D. (2001). Measuring execution time and real-time performance. In Embedded System Conference.
Stiennon, R. (2008). Top ten worst uses for windows. On Line. Available at: [link]. Last Access: August/2008.
Taurion, C. (2005). Software Embarcado - A nova onda da informação. Brasport.
Timmerman, M. (2000a). ”rtos market overview - a follow up”. Dedicated Systems Magazine.
Timmerman, M. (2000b). ”rtos market survey - preliminary results”. Dedicated Systems Magazine.
Timmerman, M. (2001). What makes a good rtos. Technical report, Dedicated Systems.
Timmerman, M., Beneden, B. V., and Uhres, L. (1998). ”rtos evaluations kick off!”. Real-Time Magazine, 98-3:6–10.
Viswanathan, S. (2006). Understanding the windows ce variable tick timer. Technical report, Microsoft Corp.
Weinberg, B. (2001). ”embedded linux - ready for real time”. Third Real-Time Linux Workshop, (3).
Wolf, W. (2007). ”the embedded systems landscape”. Computer, 40(10):29–31.
Yodaiken, V. (1999). The RTLinux manifesto. In Proc. of The 5th Linux Expo, Raleigh, NC.
Aroca, R. V. (2008). Análise de sistemas operacionais de tempo real para aplicações de robótica e automação. Master’s thesis, Escola de Engenharia de São Carlos (EESC) - Universidade de São Paulo (USP).
Barabanov, M. (1997). A linux-based realtime operating system. Master’s thesis, New Mexico Institute of Mining and Technology.
Barbalace, A., Luchetta, A., Manduchi, G., Moro, M., Soppelsa, A., and Taliercio, C. (2008). ”performance comparison of vxworks, linux, rtai, and xenomai in a hard real-time application”. Nuclear Science, IEEE Transactions on, 55(1):435–439.
Beneden, B. V. (2001). ”windows ce 3.0: Breathing down rtos vendors’ necks”. Dedicated Systems Magazine.
Cedeno, W. and Laplante, P. A. (2007). ”an overview of real-time operating systems”. Journal of the Association for Laboratory Automation, 12:40–45.
Cinkelj, J., Mihelj, M., and Munih, M. (20 May 2005). ”soft real-time acquisition in windows xp”. Intelligent Solutions in Embedded Systems, 2005. Third International Workshop on, pages 110–116.
Dedicated Systems (2002). Comparison between qnx rtos v6.1, vxworks ae 1.1 and windows ce .net. Technical report, Dedicated Systems.
Dupré, J. K. and Baracos, P. (2001). Benchmarking real-time determinism. Technical report, Instrumentation, Systems &. Automation Society (ISA).
Franke, M. (2007). A quantitative comparison of realtime linux solutions. Technical report, Chemnitz University of Technology.
Ganssle, J., editor (2004). The Firmware Handbook. Elsevier.
Hatch, J. (2006). Windows ce real-time performance architecture. In Windows Hardware Engineering Conference.
Ip, B. (2001). Performance analysis of vxworks and rtlinux. Technical report, Columbia University, Department of Computer Science, New York. [link].
Irwin, P., Richard, L., and Johnson, J. (2002). Real-time control using open source rtos. In Lewis, H., editor, Advanced Telescope and Instrumentation Control Software II, volume 4848, pages 560–567. SPIE.
Kalynnda, B. (2002). Real-time linux evaluation. Technical report, Glen Research center, NASA.
Katuin, J. (12-16 May 2003). ”proton therapy treatment room controls using a linux control system”. Particle Accelerator Conference, 2003. PAC 2003. Proceedings of the, 2:1068–1070 Vol.2.
Kim, W.-J., Ji, K., and Ambike, A. (2006). Real-time operating environmentfor networked control systems. Automation Science and Engineering, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on], 3(3):287–296.
Krodel, J. and Romanski, G. (2007). Real-time operating systems and component integration considerations in integrated modular avionics systems report. Technical report, U.S. Department of Transportation - Federal Aviation Administration.
Köker, K. (2007). Autonomous Robots and Agents, chapter Embedded RTOS: Performance Analysis With High Precision Counters, pages 171–179. Springer Berlin / Heidelberg.
Labrosse, J. (2002). MicroC/OS-II - The Real Time Kernel. CMP Books, 2 edition.
Laplante, P. A. (2004). Real-Time System Design and Analysis. John Wiley & Sons.
NIST (2002). Introduction to linux for real-time control. Technical report, National Institude of Standards and Technology (NIST).
Parab, J. S., Shelake, V. G., Kamat, R. K., and Naik, G. M. (2007). Exploring C for microcontrollers - A Hands On Approach. Spring.
Proctor, F. M. (2001). Measuring performance in real-time linux. In Third Real-Time Linux Workshop.
Proctor, F. M. and Shackleford, W. P. (2001). Real-time operating system timing jitter and its impact on motor control. In Proceedings of the SPIE Conference on Sensors and Controls for Intelligent Manufacturing II.
Sangiovanni-Vincentelli, A., Sangiovanni-Vincentelli, A., and Di Natale, M. (2007). ”embedded system design for automotive applications”. Computer, 40(10):42–51.
Sohal, V. (2001). How to really measure real-time. In Embedded System Conference.
Stewart, D. (2001). Measuring execution time and real-time performance. In Embedded System Conference.
Stiennon, R. (2008). Top ten worst uses for windows. On Line. Available at: [link]. Last Access: August/2008.
Taurion, C. (2005). Software Embarcado - A nova onda da informação. Brasport.
Timmerman, M. (2000a). ”rtos market overview - a follow up”. Dedicated Systems Magazine.
Timmerman, M. (2000b). ”rtos market survey - preliminary results”. Dedicated Systems Magazine.
Timmerman, M. (2001). What makes a good rtos. Technical report, Dedicated Systems.
Timmerman, M., Beneden, B. V., and Uhres, L. (1998). ”rtos evaluations kick off!”. Real-Time Magazine, 98-3:6–10.
Viswanathan, S. (2006). Understanding the windows ce variable tick timer. Technical report, Microsoft Corp.
Weinberg, B. (2001). ”embedded linux - ready for real time”. Third Real-Time Linux Workshop, (3).
Wolf, W. (2007). ”the embedded systems landscape”. Computer, 40(10):29–31.
Yodaiken, V. (1999). The RTLinux manifesto. In Proc. of The 5th Linux Expo, Raleigh, NC.
Publicado
20/07/2009
Como Citar
AROCA, Rafael V.; CAURIN, Glauco.
A Real Time Operating Systems (RTOS) Comparison. In: WORKSHOP DE SISTEMAS OPERACIONAIS (WSO), 6. , 2009, Bento Gonçalves/RS.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2009
.
p. 2441-2452.
