{"id":"https://openalex.org/W1968620102","doi":"https://doi.org/10.1109/icra.2014.6907205","title":"RGMP-ROS: A real-time ROS architecture of hybrid RTOS and GPOS on multi-core processor","display_name":"RGMP-ROS: A real-time ROS architecture of hybrid RTOS and GPOS on multi-core processor","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1968620102","doi":"https://doi.org/10.1109/icra.2014.6907205","mag":"1968620102"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109096287","display_name":"Hongxing Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"funder","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxing Wei","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University , Beijing , 100191 , PR , China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University , Beijing , 100191 , PR , China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103513773","display_name":"Zhen Huang","orcid":"https://orcid.org/0009-0008-3557-6903"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"funder","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Huang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University , Beijing , 100191 , PR , China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University , Beijing , 100191 , PR , China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024894468","display_name":"Qiang Yu","orcid":"https://orcid.org/0000-0003-1154-3660"},"institutions":[{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Yu","raw_affiliation_strings":["Shanghai Institute of Microsystem and Information Technology, Shanghai 200050, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Institute of Microsystem and Information Technology, Shanghai 200050, China","institution_ids":["https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348904","display_name":"Miao Liu","orcid":"https://orcid.org/0000-0002-6650-9972"},"institutions":[{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Liu","raw_affiliation_strings":["Shanghai Institute of Microsystem and Information Technology, Shanghai 200050, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Institute of Microsystem and Information Technology, Shanghai 200050, China","institution_ids":["https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087366755","display_name":"Yong Guan","orcid":"https://orcid.org/0000-0002-2373-2779"},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"funder","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Guan","raw_affiliation_strings":["\u2021College of Information Engineering,Capital Normal University,Beijing 100048,PR China"],"affiliations":[{"raw_affiliation_string":"\u2021College of Information Engineering,Capital Normal University,Beijing 100048,PR China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025711005","display_name":"Jindong Tan","orcid":"https://orcid.org/0000-0003-0339-8811"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"funder","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jindong Tan","raw_affiliation_strings":["Dept. of Mechanical, Aerospace, and Biomedical Engineering, The University of Tennessee, Knoxville, Tennessee 37996-2110, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical, Aerospace, and Biomedical Engineering, The University of Tennessee, Knoxville, Tennessee 37996-2110, USA","institution_ids":["https://openalex.org/I75027704"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.182,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":18,"citation_normalized_percentile":{"value":0.775355,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":90},"biblio":{"volume":null,"issue":null,"first_page":"2482","last_page":"2487"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9984,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9984,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10904","display_name":"Embedded Systems Design Techniques","score":0.997,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9862,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/real-time-operating-system","display_name":"Real-time operating system","score":0.79565376},{"id":"https://openalex.org/keywords/real-time-control-system","display_name":"Real-time Control System","score":0.52118224},{"id":"https://openalex.org/keywords/multi-core-processor","display_name":"Multi-core processor","score":0.45607665}],"concepts":[{"id":"https://openalex.org/C28472234","wikidata":"https://www.wikidata.org/wiki/Q213666","display_name":"Real-time operating system","level":2,"score":0.79565376},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.7262965},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5805014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5606664},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.52118224},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47359326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4646672},{"id":"https://openalex.org/C78766204","wikidata":"https://www.wikidata.org/wiki/Q555032","display_name":"Multi-core processor","level":2,"score":0.45607665},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.3859949},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2498542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10378766}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":20,"referenced_works":["https://openalex.org/W1515822460","https://openalex.org/W1976004406","https://openalex.org/W2000406941","https://openalex.org/W2027653328","https://openalex.org/W2064826456","https://openalex.org/W2069921919","https://openalex.org/W2071607051","https://openalex.org/W2072837490","https://openalex.org/W2074070730","https://openalex.org/W2088392499","https://openalex.org/W2100119371","https://openalex.org/W2103133831","https://openalex.org/W2110178871","https://openalex.org/W2119906889","https://openalex.org/W2120185390","https://openalex.org/W2136354320","https://openalex.org/W2154397723","https://openalex.org/W2165802417","https://openalex.org/W2174644224","https://openalex.org/W2296488421"],"related_works":["https://openalex.org/W3190238945","https://openalex.org/W3082959786","https://openalex.org/W2811048697","https://openalex.org/W2742090349","https://openalex.org/W2608157261","https://openalex.org/W2337478844","https://openalex.org/W2168316673","https://openalex.org/W2100823584","https://openalex.org/W1982715569","https://openalex.org/W1968620102"],"abstract_inverted_index":{"Recently,":[0],"the":[1,12,16,48,56,75,90,104,113,136,141,148,154],"open-source":[2],"robot":[3,28],"operating":[4],"system":[5,92],"(ROS)":[6],"has":[7,110],"been":[8],"growing":[9],"rapidly":[10],"in":[11,72,83,112,140,153],"robotics":[13],"community.":[14],"However,":[15],"ROS":[17,36,69,80,145],"runs":[18],"on":[19,38],"Linux,":[20,73],"which":[21,42],"does":[22],"not":[23],"provide":[24],"timing":[25],"guarantees":[26],"for":[27,101,106],"motion.":[29],"This":[30],"paper":[31],"present":[32,137],"a":[33,96,116],"hybrid":[34,155],"real-time":[35,57,79,144],"architecture":[37,146],"multi-core":[39,151],"processor":[40,152],"\"RGMP-ROS\",":[41],"consists":[43],"of":[44,67,115,135,143,150,157],"two":[45],"parts":[46],"including":[47],"non-real-time":[49,68],"subsystem":[50],"\"GPOS":[51],"(General":[52],"Operating":[53,61],"system)\"":[54],"and":[55,103,120,123,130,147],"one":[58,99],"\"RTOS":[59],"(Real-time":[60],"system)\".":[62],"The":[63,108,132],"GPOS":[64,102],"is":[65,93],"comprised":[66],"nodes":[70,81],"running":[71,82],"while":[74],"RTOS":[76],"only":[77],"contains":[78],"Nuttx.":[84],"To":[85],"get":[86],"higher":[87],"operational":[88],"efficiency,":[89],"RGMP-ROS":[91,109],"executed":[94],"by":[95,127],"dual-core":[97],"processor,":[98],"CPU":[100],"other":[105],"RTOS.":[107],"used":[111],"controller":[114],"6-DOF":[117],"modular":[118],"manipulator,":[119],"its":[121],"effectiveness":[122],"efficiency":[124],"are":[125],"demonstrated":[126],"software":[128],"testing":[129],"experiments.":[131],"main":[133],"contributions":[134],"work":[138],"lie":[139],"realization":[142],"application":[149],"control":[156],"an":[158],"industrial":[159],"robot.":[160]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1968620102","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2015,"cited_by_count":1}],"updated_date":"2025-04-16T17:56:41.571925","created_date":"2016-06-24"}