Resource Management for Component-Based Robotic Applications

• Main Authors: Ou, Yi-Zong, 歐奕宗
• Other Authors: 張韻詩
• Format: Others
• Language: en_US
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/28133061501280358753

碩士 === 國立清華大學 === 資訊工程學系 === 100 === In this thesis, we present RAAPT-HV (Resource Allocation and Application Partition Tool on Hyper-V), a tool for integrating reusable software components of a wide class of robotic applications on general purpose and commodity operating systems. RAAPT-HV is a resource allocation tool for partitioning the available processors into a specified number of virtual processors, allocating available resources to virtual processors and hence managing the underlying hardware resources by leveraging the capabilities of Microsoft Hyper-V hypervisor. The tool aims to provide time-sensitive components with satisfactory responsiveness in an open environment without serious impact on the performance of other components. We also present a procedure to decide the required CPU resource to sustain acceptable performance and two procedures for performance tuning of software components. To demonstrate the effectiveness of RAAPT-HV, we adopted for experimentation and evaluation purposes several commonly-used workloads of delivery robots. The results of experiments show that the tool can help to achieve satisfactory performance for these software components of robotic applications.