本文選題：嵌入式系統(tǒng) + 實(shí)時(shí)操作系統(tǒng)��； 參考：《華中科技大學(xué)》2013年博士論文

【摘要】：嵌入式系統(tǒng)正朝著復(fù)雜化、大規(guī)模化和智能化的方向發(fā)展，對(duì)功能、性能、功耗和成本等方面提出了更多的要求和約束。如何在不同的要求和約束之間取得平衡是未來嵌入式系統(tǒng)設(shè)計(jì)所必須面對(duì)的挑戰(zhàn)。平臺(tái)化設(shè)計(jì)（Platform-Based Design）是應(yīng)對(duì)這一挑戰(zhàn)，在嵌入式系統(tǒng)諸多要求和約束中取得平衡的有效方法之一。平臺(tái)化設(shè)計(jì)是一種系統(tǒng)級(jí)的設(shè)計(jì)方法，既包括軟件平臺(tái)化也包括硬件平臺(tái)化，其核心一方面是強(qiáng)調(diào)軟硬件的可復(fù)用性和可編程性從而實(shí)現(xiàn)對(duì)不同應(yīng)用的靈活性，另一方面是強(qiáng)調(diào)硬/軟件協(xié)同設(shè)計(jì)從而實(shí)現(xiàn)設(shè)計(jì)的優(yōu)化。針對(duì)實(shí)時(shí)和中小型嵌入式系統(tǒng)，以實(shí)時(shí)操作系統(tǒng)（Real-Time Operating System, RTOS）為中心的平臺(tái)化設(shè)計(jì)是一種更為合適的選擇。本文對(duì)以實(shí)時(shí)操作系統(tǒng)為中心的嵌入式系統(tǒng)平臺(tái)化設(shè)計(jì)進(jìn)行了詳細(xì)研究，圍繞開放實(shí)時(shí)嵌入式系統(tǒng)軟件平臺(tái)TOPPERS（Toyobashi OPen Platform of Embedded Real-timeSystem）提出并實(shí)現(xiàn)了一個(gè)面向中小型嵌入式系統(tǒng)軟硬件全可編程的快速原型開發(fā)平臺(tái)，具體應(yīng)用在工業(yè)測(cè)量?jī)x器儀表、移動(dòng)機(jī)器人和運(yùn)動(dòng)控制等領(lǐng)域中。適當(dāng)放寬成本和功耗約束后，改進(jìn)和擴(kuò)展后的平臺(tái)也適用于高端嵌入式系統(tǒng)。本文工作主要貢獻(xiàn)如下。 實(shí)時(shí)操作系統(tǒng)作為本文中平臺(tái)化設(shè)計(jì)的核心和基礎(chǔ)，其功能、性能、可擴(kuò)展性等因素對(duì)整個(gè)平臺(tái)都有著極為重要影響。本文從定性和定量?jī)煞矫鎸?duì)目前主要的、具有代表性的開源實(shí)時(shí)操作系統(tǒng)進(jìn)行了詳細(xì)評(píng)價(jià)，分析比較了各自的優(yōu)缺點(diǎn)，提出了一系列評(píng)價(jià)指標(biāo)以及相應(yīng)的測(cè)量方法，為實(shí)時(shí)操作系統(tǒng)的設(shè)計(jì)、選型和應(yīng)用提供了理論和實(shí)驗(yàn)依據(jù)。通過評(píng)價(jià)比較，本文選擇了TOPPERS作為平臺(tái)化設(shè)計(jì)核心和基礎(chǔ)，同時(shí)介紹了對(duì)其不足之處所做的改進(jìn)。 本文具體研究了面向中小型嵌入式系統(tǒng)的平臺(tái)化設(shè)計(jì)，針對(duì)該類系統(tǒng)的特點(diǎn)，提出并實(shí)現(xiàn)了一個(gè)軟硬件全可編程快速原型開發(fā)平臺(tái)。該平臺(tái)硬件上基于處理器-可編程邏輯混合架構(gòu)，軟件上以TOPPERS為核心，提出并應(yīng)用了以實(shí)時(shí)操作系統(tǒng)為中心的硬/軟件協(xié)同設(shè)計(jì)方法，構(gòu)建了相應(yīng)的硬/軟協(xié)同仿真環(huán)境。相關(guān)評(píng)價(jià)實(shí)驗(yàn)和在工業(yè)測(cè)量?jī)x器儀表領(lǐng)域的實(shí)際應(yīng)用顯示該平臺(tái)充分發(fā)揮了硬軟件全可編程的特點(diǎn)和硬/軟件協(xié)同設(shè)計(jì)的優(yōu)勢(shì)，在成本、功能和性能之間取得了較好的平衡。 本文將平臺(tái)化設(shè)計(jì)與所實(shí)現(xiàn)的基礎(chǔ)平臺(tái)具體應(yīng)用于移動(dòng)機(jī)器人領(lǐng)域，提出了一種新型混合實(shí)時(shí)移動(dòng)機(jī)器人平臺(tái)（Hybrid Real-time Mobile Robot Platform， HRMRP），實(shí)時(shí)、異構(gòu)和組件化是其主要特點(diǎn)。該平臺(tái)在結(jié)構(gòu)上包含三層，數(shù)據(jù)層負(fù)責(zé)外設(shè)接口和硬件加速，實(shí)時(shí)控制層負(fù)責(zé)實(shí)時(shí)控制，，高性能層負(fù)責(zé)高級(jí)復(fù)雜的功能。HRMRP在硬件上進(jìn)一步提升了核心器件的性能，在軟件上針對(duì)移動(dòng)機(jī)器人的特點(diǎn)設(shè)計(jì)了更多的中間件并引入了機(jī)器人分布式系統(tǒng)框架ROS（Robot Operating System），從而實(shí)現(xiàn)了一個(gè)更加完整的應(yīng)用平臺(tái)。 最后針對(duì)更復(fù)雜的高端嵌入式系統(tǒng)，提出了相應(yīng)的擴(kuò)展和改進(jìn)方法，研究了片上異構(gòu)多核環(huán)境下平臺(tái)化設(shè)計(jì)的若干關(guān)鍵問題。在適當(dāng)放松成本和功耗約束的基礎(chǔ)上，整個(gè)平臺(tái)在功能、性能和靈活性上獲得大幅度提升。本文實(shí)現(xiàn)了多核環(huán)境下實(shí)時(shí)操作系統(tǒng)與通用操作系統(tǒng)的共同運(yùn)行，并借助硬件機(jī)制有效隔離兩者，從而在獲得通用操作系統(tǒng)所帶來更加豐富功能的同時(shí)又保障了實(shí)時(shí)操作系統(tǒng)的實(shí)時(shí)性和可靠性。
[Abstract]:The embedded system is developing in the direction of complex, large-scale and intelligent. It has put forward more requirements and constraints on function, performance, power consumption and cost. How to balance between different requirements and constraints is the challenge that the design of embedded system must face in the future. The platform design (Platform-Based Design) is the need. This challenge is one of the effective ways to balance the requirements and constraints of embedded systems. The platform design is a system level design method, including both the software platform and the hardware platform. The core of the design is to emphasize the reusability and programmability of the hardware and software to achieve the flexibility of different applications. On the one hand, it emphasizes the optimization of hardware / software collaborative design. For real-time and medium and small embedded systems, the platform design centered on Real-Time Operating System (RTOS) is a more suitable choice. This paper is designed for the platform design of embedded system centered on the real-time operating system. In detail, a rapid prototyping platform for software and hardware fully programmable for medium and small embedded systems is proposed and implemented around the open real-time embedded system software platform TOPPERS (Toyobashi OPen Platform of Embedded Real-timeSystem). It is specifically applied to industrial measurement instruments, mobile robots and motion control. In the field, after appropriately relaxing the cost and power constraints, the improved and extended platform is also suitable for high-end embedded systems. The main contributions of this paper are as follows.
As the core and foundation of this paper, the function, performance and extensibility of real time operating system are very important to the whole platform. In this paper, the main and representative open source real-time operating systems are evaluated in detail from two aspects of qualitative and quantitative, and their advantages and disadvantages are analyzed and compared. A series of evaluation indexes and corresponding measurement methods are put forward, which provide theoretical and experimental basis for the design, selection and application of real time operating system. Through evaluation and comparison, TOPPERS is chosen as the core and foundation of the platform design, and the improvement of its shortcomings is also introduced.
In this paper, the platform design of medium and small embedded system is studied. In view of the characteristics of this kind of system, a software and hardware fully programmable rapid prototyping platform is proposed and implemented. The platform is based on the processor - programmable logic hybrid architecture. The software is based on the TOPPERS as the core. The real-time operating system is put forward and applied. For the central hard / software collaborative design method, a corresponding hard / soft collaborative simulation environment is constructed. The related evaluation experiments and practical applications in the field of industrial measurement instruments show that the platform fully exerts the advantages of hardware and software fully programmable and hard / software collaborative design, and has achieved good results between cost, function and performance. Balance.
This paper applies the platform design and the implementation of the basic platform to the mobile robot field, and proposes a new hybrid real time mobile robot platform (Hybrid Real-time Mobile Robot Platform, HRMRP). The main features of the platform are real-time, heterogeneous and component-based. The platform consists of three layers in the structure, and the data layer is responsible for the peripherals and the interface. The hardware accelerates, the real-time control layer is responsible for real-time control, the high performance layer is responsible for the advanced complex function.HRMRP to further enhance the performance of the core device. In the software, more middleware is designed for the characteristics of the mobile robot and the robot distributed system framework ROS (Robot Operating System) is introduced. A more complete application platform.
Finally, aiming at the more complex high-end embedded systems, the corresponding expansion and improvement methods are proposed, and some key problems of the platform design in the heterogeneous multi-core environment are studied. On the basis of the proper relaxation of the cost and power constraints, the whole platform has been greatly improved in function, performance and flexibility. The real time operating system runs together with the general operating system, and the hardware mechanism is used to effectively isolate the two, so as to obtain the more abundant functions of the general operating system and ensure the real-time and reliability of the real-time operating system.
【學(xué)位授予單位】：華中科技大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2013
【分類號(hào)】：TP368.1;TP316.2

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