Design a User-defined robot of your choice (or you can use the URDF file) and enable the LIDAR Scanner so that any obstacle placed on the path of the light scan will cut the light rays. Visualize the robot in the Gazebo workspace, and also show the demonstration in RViz. (NB: Gain knowledge on wiring URDF file and .launch file for enabling any user-defined robot to get launched in the gazebo platform.) SLAM : One of the most popular applications of ROS is SLAM(Simultaneous Localization and Mapping). The objective of the SLAM in mobile robotics is to construct and update the map of an unexplored environment with the help of the available sensors attached to the robot which will be used for exploring. URDF: Unified Robotics Description Format, URDF, is an XML specification used in academia and industry to model multibody systems such as robotic manipulator arms for manufacturing assembly lines and animatronic robots for amusement parks. URDF is especially popular with users of the Robo
Aim: The subject aims to assimilate the real time system technologies, covering programming languages and tools, database, communication and fault tolerance aspects.
Objectives: The students would be able to understand the real time systems concepts to select architectures and programming languages, Analyze the Real Time systems requirements, Evaluate the fault tolerance techniques and systems reliability.
Introduction: Issues in real-time system, task classes, architecture issues, operating system issues, performance measure for real time systems, estimating program run times, classical uniprocessor scheduling algorithm, uniprocessor scheduling of IRIS tasks, task assignment, mode changes, fault tolerance scheduling.
Programming Languages and Tools: Introduction, desirable languages characteristics, data types, control structures, facilitating hierarchical decomposition packages, exception handling, overloading and generics, multitasking, low-level programming, task scheduling, timing specification, programming environments, run-time support.
Real-Time Database & Communication: Basic definitions, real time vs. general purpose databases, main memory databases, transaction priorities, transaction aborts, concurrency control issues, disk scheduling algorithms, two-phase approach to improve predictability, maintaining serialization consistency, databases for real-time systems, communication network topologies, communication protocols.
Fault -Tolerance Techniques: Introduction, failure causes, fault types, fault detection, fault and error containment, redundancy, data diversity, reversal checks, malicious or Byzantine failures, integrated failure handling.
Reliability & Clock Synchronization: Introduction, obtaining parameter values, reliability models for hardware redundancy, software error models, taking time into account, clock synchronization, nonfault-tolerant synchronization algorithms, impact of faults, fault tolerant synchronization in hardware.
TEXT BOOK:
1.C.M. Krishna, Kang G. shin, “Real-Time systems”, McGraw Hill, 2004.
REFERENCE BOOK:
1.R.J.A. Buhr, D.L. Bailey, “An Introduction to Real-Time Systems”, Prentice-Hall International, 1999.
Objectives: The students would be able to understand the real time systems concepts to select architectures and programming languages, Analyze the Real Time systems requirements, Evaluate the fault tolerance techniques and systems reliability.
Introduction: Issues in real-time system, task classes, architecture issues, operating system issues, performance measure for real time systems, estimating program run times, classical uniprocessor scheduling algorithm, uniprocessor scheduling of IRIS tasks, task assignment, mode changes, fault tolerance scheduling.
Programming Languages and Tools: Introduction, desirable languages characteristics, data types, control structures, facilitating hierarchical decomposition packages, exception handling, overloading and generics, multitasking, low-level programming, task scheduling, timing specification, programming environments, run-time support.
Real-Time Database & Communication: Basic definitions, real time vs. general purpose databases, main memory databases, transaction priorities, transaction aborts, concurrency control issues, disk scheduling algorithms, two-phase approach to improve predictability, maintaining serialization consistency, databases for real-time systems, communication network topologies, communication protocols.
Fault -Tolerance Techniques: Introduction, failure causes, fault types, fault detection, fault and error containment, redundancy, data diversity, reversal checks, malicious or Byzantine failures, integrated failure handling.
Reliability & Clock Synchronization: Introduction, obtaining parameter values, reliability models for hardware redundancy, software error models, taking time into account, clock synchronization, nonfault-tolerant synchronization algorithms, impact of faults, fault tolerant synchronization in hardware.
TEXT BOOK:
1.C.M. Krishna, Kang G. shin, “Real-Time systems”, McGraw Hill, 2004.
REFERENCE BOOK:
1.R.J.A. Buhr, D.L. Bailey, “An Introduction to Real-Time Systems”, Prentice-Hall International, 1999.
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