This paper presents an optimal control scheme for a wheeled mobile robot (WMR) with
nonholonomic constraints. It is well known that a WMR with nonholonomic constraints can …

In computerized numerical control (CNC) systems, the communication bus between the
controller and axis servo drives must offer high bandwidth, noise immunity, and time …

Robotics in precision agriculture has the potential to improve competitiveness and increase
sustainability compared to current crop production methods and has become an …

This paper presents a Rapid Controller Prototyping System based on Matlab, Simulink and
the Real-Time-Workshop toolbox. Executable code is automatically generated for Linux …

This paper proposes an optimal control strategy for a differential-drive mobile robot. It is well
known that such a system can not be feedback stabilized by a smooth time-invariant control …

Several real-time Linux extensions are available nowadays. Two of those extensions that
have received special attention recently are Preempt-RT and Xenomai. This paper …

This paper presents Boomerang, an I/O system that integrates a legacy non-real-time OS
with one that is customized for timing-sensitive tasks. A relatively small RTOS benefits from …

This paper presents a rapid controller prototyping environment completely based on open
source software. GNU/Linux with the RTAI extension is used as a hard real-time operating …

Dynamically reconfigurable hardware allows for implementing systems that can be adapted
at run-time according to the needs of the user. This paper presents an architecture that is …

The function block (FB) construct has been adopted by recent IEC standards for the design
of reusable, interoperable, distributed control applications. Complete applications can be …