Extending MINIX with Real-Time Services and Fault Tolerance Capabilities
Pablo J. Rogina, Gabriel Wainer · 2007
The MINIX operating system was extended with real-time services, ranging from A/D drivers to new scheduling algorithms and statistics collection. A testbed was constructed to tests several sensor replication techniques in order to implement and verify several robust sensing algorithms. As a result, new services enhancing fault tolerance for replicated sensors were also provided within the kernel. The resulting OS offers new features such as real-time task management (for both periodic or aperiodic tasks), clock resolution handling, and sensor replication manipulation. To obtain a copy of this report please fill in your name and address and return this page to: Infoteca Departamento de Computacion FCEN Pabellon 1 Planta Baja Ciudad Universitaria (1428) Buenos Aires Argentina TEL/FAX: (54)(11)4783-0729 e-mail: [email protected] You can also get a copy by anonymous ftp to: zorzal.dc.uba.ar/pub/tr or visiting our web: http://www.dc.uba.ar/people/proyinv/tr.html Name: Address: Extending MINIX with Real-Time Services and Fault Tolerance Capabilities Pablo J. Rogina Gabriel Wainer {pr6a, gabrielw}@dc.uba.ar Departamento de Computacion Facultad de Ciencias Exactas y Naturales Universidad de Buenos Aires Pabellon I Ciudad Universitaria Buenos Aires (1428) – ARGENTINA Abstract The MINIX operating system was extended with real-time services, ranging from A/D drivers to new scheduling algorithms and statistics collection. A testbed was constructed to tests several sensor replication techniques in order to implement and verify several robust sensing algorithms. As a result, new services enhancing fault tolerance for replicated sensors were also provided within the kernel. The resulting OS offers new features such as real-time task management (for both periodic or aperiodic tasks), clock resolution handling, and sensor replication manipulation. The MINIX operating system was extended with real-time services, ranging from A/D drivers to new scheduling algorithms and statistics collection. A testbed was constructed to tests several sensor replication techniques in order to implement and verify several robust sensing algorithms. As a result, new services enhancing fault tolerance for replicated sensors were also provided within the kernel. The resulting OS offers new features such as real-time task management (for both periodic or aperiodic tasks), clock resolution handling, and sensor replication manipulation. Index Terms⎯Fault Tolerance, Operating Systems, Realtime Systems, Sensing Algorithms, Sensor Replication.