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Xenomai User Meeting (XUM) 2009: Abstracts and Presentations

The following list has the abstracts and links to the PDF files of the papers (in the order of presentation):

Welcome

Wolfgang Denk, DENX Software Engineering GmbH, Gröbenzell, Germany

   Welcome

Xenomai Roadmap

Philippe Gerum, xenomai.org

Xenomai is now eight years old, and has lived several lives to date, or more accurately, lived a single life across different real-time Linux eras. And now the landscape is changing once again, with the PREEMPT_RT technology about to be fully merged into the mainline kernel.

This presentation will talk about the Xenomai project today and tomorrow, about its current goodies and oopses, and what will make Xenomai 3 a fairly significant shift in paradigm.

   Xenomai Roadmap

A Linux/Xenomai Platform for High-Performance Magnetic Resonance Scanners

Jan Kiszka, Siemens AG, Munich, Germany

This presentation will introduce the use of Linux and Xenomai in Siemens' next generation magnetic resonance scanners. We will give a brief overview of the system architecture and then focus on its platform requirements. While Linux is already in use in current scanner models, hosting very demanding image processing jobs, Xenomai is now taking over the duty of providing a platform for the real-time jobs. We will present our experiences while porting the existing application to Xenomai, give an overview of our community contributions along this work and discuss benefits of the chosen approach as well as challenges we faced.

   A Linux/Xenomai Platform for High-Performance Magnetic Resonance Scanners

Xenomai Operation in the Industrial Environment of Printing Systems

Roderik Wildenburg, manroland AG, Augsburg, Germany

The manroland AG, world's market leader for web offset printing systems, manufactures Web offset presses for newspapers and high-quality commercial printing of brochures, catalogs, magazines, supplements and books. These complex and highly automated machines consists of up to several dozens components, like printing units, pasters, folders and drives, each with it´s own, vaste range of realtime needs. Printing at speeds up to 17 meter per second and 90000 sheets per hour requires instantaneous reaction on incoming events, fast realtime communication, fieldbus connection and efficient diagnosis. In this challenging industrial environment Xenomai, in combination with Linux and RTnet, has proven to be a function rich, reliable, robust and deterministic RTOS, fulfilling all the requirements for controlling printing systems. Based on this platform and it´s own hardware manroland has developed several controllers seamlessly embedded into it´s machinery and already applied in the field.

   Xenomai Operation in the Industrial Environment of Printing Systems

Real Time Toolkit for Open Robot Control Software

Peter Soetens, Katholieke Universiteit Leuven; Markus Klotzbücher, Katholieke Universiteit Leuven

The RTT (Real Time Toolkit) of the OROCOS (Open Robot Control Software - www.orocos.org) Project is a Free Software framework for developing component based, hard real-time machine control and robotics applications. Some important features are support for mixing real-time and non real-time components, real-time state machines and scripting and dynamic component deployment. The RTT can be configured to run on Xenomai, standard Linux, MacOsX and Windows.

Currently the OROCOS community is working hard towards the 2.0 release which is scheduled for the end of the year. We give an overview of the RTT, discuss our experience with Xenomai and present some upcoming features of the 2.0 release.

   Real Time Toolkit for Open Robot Control Software

How we use the Orocos/Xenomai Combo

Klaas Gadeyne, Flanders' Mechatronics Technology Centre, Leuven, Belgium

The Flanders' Mechatronics Technology Centre uses Xenomai in its projects mainly as under-the-hood RTOS under the Orocos middleware. This presentation illustrates some use cases where components talk directly to xenomai or its device drivers and expresses the FMTC "wishlist" for the future of Xenomai.

   FMTC's Use of Xenomai

Xenomai and Realtime Image Processing Control

Jorge Ramirez-Ortiz, Xerox Ltd., United Kingdom

The image processing software of any multifunction device has many realtime constraints and drastic deadlines. And when the imaging software is sharing the processing unit with many others highly complex multitask soft-realtime processes, some sort of guarantee is required to make sure that the integrity of the overall system remains unaffected: paper jams, corrupted copies or even self test reboots must always remain below tenths of occurrences per million copies.

To that effect we have successfully used Xenomai to develop a C++/STL framework that controls the ASICs and FPGAs that implement the image processing path and image processing file system. By developing all the image control in user space -including all its interrupt handlers- we benefited from memory protection, portability and a leaner development and debugging environment.

   Xenomai and Realtime Image Processing Control

ARM Fast Context Switch Extension for Linux

Richard Cochran, OMICRON electronics GmbH; Gilles Chanteperdrix, xenomai.org

The ARM v5 CPUs are inexpensive, low power, 32-bit processors widely used in embedded systems. Because of these processors' cache implementation, using memory protection on these systems incurs a performance penalty too large for many real time applications. By implementing the Fast Context Switch Extension (FCSE), we achieved both memory protection and good cache performance under the Linux 2.6 kernel. We briefly discuss the problem, explain the necessary changes to the Linux memory management system, and present performance measurements taken from artificial and real world applications.

   ARM Fast Context Switch Extension for Linux

About the Challenges and Successes with Xenomai in an Industrial Environment

Andreas Glatz, Ruggedcom Inc.

The open-source real-time framework Xenomai promises to offer a mature programming interface and the support for debugging and tracing real-time applications with open-source tools in kernel- and user-space. These features and the possibility of being able to run Linux and Xenomai applications together on the same platform makes Xenomai a viable alternative to propriety and other open-source real- time operating systems. In this paper we review the challenges and successes we had when we integrated Xenomai into one of our products. First we present our development environment for Xenomai applications with Eclipse and Kdevelop as graphical user interfaces. Then we show how we ported well tested legacy C++ code with minimal modifications to Xenomai and how we remotely debugged and analyzed our application with gdb and LTTng. We also discuss the advantages and disadvantage of moving a Xenomai application into kernel-space and switching over to Xenomai/Solo, which provides the Xenomai API on top of a native real-time Linux kernel.

   Challenges and Successes with Xenomai in an Industrial Environment

Beremiz Roadmap from CanFestival and MatPLC to Automforge.net

Edouard Tisserant, Lolitech, Saint-Dié-des-Vosges, France

The Beremiz PLC programming environment originally involved developers of the CanFestival free CANopen stack and MatPLC projects. The project has been initiated in order to fill the gap between free software and control engineering. Today, thanks to Beremiz, automation users can easily connect IEC-61131 function blocks across CANopen networks with Free Software. Industrials, teachers, students and researchers use that GPL project, and actively contribute with new features every day. But what about the PLC programs they produce? Could PLC programming also benefit from the Free Software ideology? A new Free Software Forge is to be held: Automforge.net. In this presentation, I will present the Beremiz project's passed, present and future milestones.

   Beremiz Roadmap from CanFestival and MatPLC to Automforge.net

Xenomai: Experiences with Testing and Continuos Integration

Niklaus Giger, Netstal-Machinery Ltd., Naefels, Switzerland

   Xenomai: Experiences with Testing and Continuos Integration

Technology for Your Automation

Martin Gottschlich, KW-Software GmbH, Lemgo, Germany

KW-Software is the worldwide leading software manufacturer of IEC 61131 programming and runtime systems in the field of industrial control and automation technology, IEC 61508 Safety software up to SIL 3 and technology components for PROFINET integration.

Our scalable and portable PLC runtime system ProConOS is ported to several operating systems. Linux -and in particular Xenomai- are one of the important OS for us and our customers like e.g. manroland who is using ProConOS together with Xenomai for several years in the field of printing machines.

KW-Software started its work with Linux already in the year 2000 and in 2007 the close cooperation with manroland for the Xenomai version began. The main benefits of using Xenomai from the KW-Software point of view are its realtime-capability, the availability of good documentation, the easiness to adapt ProConOS and that it is free of royalties.

   Technology for Your Automation

Advanced Control Systems

Bosko Radivojevic, Advanced Control Systems, Belgrade, Serbia

   Advanced Control Systems