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The Design of I/O Subsystem in Satellite Real-Time Microkernel Operating System 被引量:1
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作者 Liu Xiaodong & Li Lianzhi (Dept. of Computer Science & Engineering, Harbin Institute of Technology, 150001, P. R. China) Qian Chunlai(Beijiing Institute of Radio Measurement, 100854, P. R. China) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1998年第3期77-81,共5页
One of the most important features of modern minor satellites is to realize autonomous moving. The performance of the satellite autonomous computer operating system acting as the control center is utmost important. Th... One of the most important features of modern minor satellites is to realize autonomous moving. The performance of the satellite autonomous computer operating system acting as the control center is utmost important. The recent trend in operating system development is adopting microkernel architecture which holds such advantages as microminiaturization, modularity, portability and extendibility. The performance of I/O subsystem is currently receiving considerable research attention. Object-orientation offers an approach to application development in which software system can be constructed by composing and refining the pre-designed plug-compatible software components.It also starts with some basic notions fairly well accepted in computer science, namely encapsulation and reuse. In this paper, a new object-oriented real-time I/O subsystem model has been designed.In this model, the traditional I/O subsystem framework is discarded and a stream mechanism based on the object-oriented concept is introduced. In addition, the I/O requests are classified according to their time emergency to obtain real-time performance. So, this model meets such satelliteperformance requirements as reliability, flexibility, portability and real-time performance. 展开更多
关键词 Satellite operating system I/O subsystem OBJECT-ORIENTED real-time
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Real-time Operating System of a CNC Machine Tool
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作者 LI Cheng ren(Northwestern PolyteChnical University, Xi’an 710072, China) 《International Journal of Plant Engineering and Management》 1999年第Z1期506-512,共7页
This paper discusses the real-time operating system (RTOS) of a computer numericalcontrol machine tool. It includes the characteristic, structure, function sub-routines, managementand communication.There are mainly t... This paper discusses the real-time operating system (RTOS) of a computer numericalcontrol machine tool. It includes the characteristic, structure, function sub-routines, managementand communication.There are mainly two structures of CNC' RTOS. They are foreground-background type andinterrupt type. In this paper we discuss mainly the method of job management, andcommunicaton of the two types. 展开更多
关键词 operating system real time CNC.
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A Review of Operating System Infrastructure for Real-Time Embedded Software
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作者 Luis Femando Friedrich Mario A. R. Dantas 《通讯和计算机(中英文版)》 2015年第6期273-285,共13页
关键词 嵌入式系统设计 软件操作系统 基础架构 实时 娱乐设备 分布式 价格下降 掌上电脑
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Digital arc welding power supply based on real-time operating system
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作者 张红兵 黄石生 周漪清 《China Welding》 EI CAS 2007年第3期1-5,共5页
A digital arc welding power supply was designed with the advanced reduced instruction set computer machine (ARM) and embedded real-time multi-task operating system micro C/OS- Ⅱ. The ARM, with its powerful calculat... A digital arc welding power supply was designed with the advanced reduced instruction set computer machine (ARM) and embedded real-time multi-task operating system micro C/OS- Ⅱ. The ARM, with its powerful calculating speed and complete peripheral equipments, is very suitable to work as the controller of the digital power supply. The micro C/OS- Ⅱ transplanted in ARM, helps to improve the respondent speed against various welding signals, as well as the reliability of the controlling software. The welding process consists of nine tasks. The tasks of great significance on reliability of the welder, for example, the A/D conversion of current and voltage, enjoy top priority. To avoid simultaneous-sharing on A/D converter and LCD module, two semaphores are introduced in to ensure the smooth performance of the welding power supply. Proven by experiments ,the ARM and the micro C/OS- Ⅱ can greatly improve both the respondent speed and the reliability of the digital welder. 展开更多
关键词 micro C/OS- real-time operating system DIGITIZATION arc welding power supply
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Real-Time Operation of Microgrids
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作者 Salem Al-Agtash Asma Alkhraibat +1 位作者 Mohamad Al Hashem Nisrein Al-Mutlaq 《Energy and Power Engineering》 2021年第1期51-66,共16页
Microgrid (MG) systems effectively integrate a generation mix of solar, wind, and other renewable energy resources. The intermittent nature of renewable resources and the unpredictable weather conditions contribute la... Microgrid (MG) systems effectively integrate a generation mix of solar, wind, and other renewable energy resources. The intermittent nature of renewable resources and the unpredictable weather conditions contribute largely to the unreliability of microgrid real-time operation. This paper investigates the behavior of microgrid for different intermittent scenarios of photovoltaic generation in real-time. Reactive power coordination control and load shedding mechanisms are used for reliable operation and are implemented using OPAL-RT simulator integrated with Matlab. In an islanded MG, load shedding can be an effective mechanism to maintain generation-load balance. The microgrid of the German Jordanian University (GJU) is used for illustration. The results show that reactive power coordination control not only stabilizes the MG operation in real-time but also reduces power losses on transmission lines. The results also show that the power losses at some substations are reduced by a range of 6% - 9.8%. 展开更多
关键词 Microgrid real-time operation Reactive Power Control Load Shedding OPAL-RT MATLAB
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Low-Power Operational Amplifier for Real-Time Signal Processing System of Micro Air Vehicle
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作者 王竹萍 仲顺安 聂丹丹 《Journal of Beijing Institute of Technology》 EI CAS 2010年第3期353-356,共4页
A low-power complementary metal oxide semiconductor(CMOS) operational amplifier (op-amp) for real-time signal processing of micro air vehicle (MAV) is designed in this paper.Traditional folded cascode architectu... A low-power complementary metal oxide semiconductor(CMOS) operational amplifier (op-amp) for real-time signal processing of micro air vehicle (MAV) is designed in this paper.Traditional folded cascode architecture with positive channel metal oxide semiconductor(PMOS) differential input transistors and sub-threshold technology are applied under the low supply voltage.Simulation results show that this amplifier has significantly low power,while maintaining almost the same gain,bandwidth and other key performances.The power required is only 0.12 mW,which is applicable to low-power and low-voltage real-time signal acquisition and processing system. 展开更多
关键词 microelectromechanical system(MEMS) operational amplifier(op-amp) LOW-POWER real-time signal processing system micro air vehicle(MAV)
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基于YOLOv7-tiny的轻量级苹果实时检测算法
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作者 蒋兴宇 黄娟 +2 位作者 顾寄南 范天浩 王化佳 《中国农机化学报》 北大核心 2024年第11期228-233,共6页
针对苹果生长所处的自然环境复杂程度高、网络模型过大、难以在移动端部署等问题,提出一种基于YOLOv7-tiny的轻量级苹果实时检测方法。该方法引入CG-Block模块代替原YOLOv7-tiny网络的部分卷积,对原网络的ELAN-tiny结构进行修改,极大地... 针对苹果生长所处的自然环境复杂程度高、网络模型过大、难以在移动端部署等问题,提出一种基于YOLOv7-tiny的轻量级苹果实时检测方法。该方法引入CG-Block模块代替原YOLOv7-tiny网络的部分卷积,对原网络的ELAN-tiny结构进行修改,极大地减少网络规模,并提高检测精度;使用Mish激活函数代替原激活函数,增强网络的提取特征能力;采用CARAFE轻量级上采样算子,进一步提升网络的特征融合能力。试验结果表明,改进后的算法与原算法相比,mAP@0.5提高1.9%,准确率提高4.1%,参数量降低45.4%,计算量降低46.2%,模型规模减少43.9%,FPS达到196.1 f/s。改进后的算法在保持良好实时性的同时,提升检测精度,极大地降低网络规模,为网络模型在移动端部署增添可行性。 展开更多
关键词 苹果 轻量级 实时检测 激活函数 上采样算子 移动端部署
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Real-time crash prediction on freeways using data mining and emerging techniques 被引量:4
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作者 Jinming You Junhua Wang Jingqiu Guo 《Journal of Modern Transportation》 2017年第2期116-123,共8页
Recent advances in intelligent transportation system allow traffic safety studies to extend from historic data-based analyses to real-time applications. The study presents a new method to predict crash likelihood with... Recent advances in intelligent transportation system allow traffic safety studies to extend from historic data-based analyses to real-time applications. The study presents a new method to predict crash likelihood with traffic data collected by discrete loop detectors as well as the web-crawl weather data. Matched case-control method and support vector machines (SVMs) technique were employed to identify the risk status. The adaptive synthetic over-sampling technique was applied to solve the imbalanced dataset issues. Random forest technique was applied to select the contributing factors and avoid the over-fitting issues. The results indicate that the SVMs classifier could successfully classify 76.32% of the crashes on the test dataset and 87.52% of the crashes on the overall dataset, which were relatively satisfactory compared with the results of the previous studies. Compared with the SVMs classifier without the data, the SVMs classifier with the web-crawl weather data increased the crash prediction accuracy by 1.32% and decreased the false alarm rate by 1.72%, showing the potential value of the massive web weather data. Mean impact value method was employed to evaluate the variable effects, and the results are identical with the results of most of previous studies. The emerging technique based on the discrete traffic data and web weather data proves to be more applicable on real- time safety management on freeways. 展开更多
关键词 Crash prediction detectors Web-crawl data real time - Discrete loop Support vector machines
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A Concept of Dynamically Reconfigurable Real-time Vision System for Autonomous Mobile Robotics 被引量:3
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作者 Aymeric De Cabrol Thibault Garcia +1 位作者 Patrick Bonnin Maryline Chetto 《International Journal of Automation and computing》 EI 2008年第2期174-184,共11页
This paper describes specific constraints of vision systems that are dedicated to be embedded in mobile robots. If PC-based hardware architecture is convenient in this field because of its versatility, flexibility, pe... This paper describes specific constraints of vision systems that are dedicated to be embedded in mobile robots. If PC-based hardware architecture is convenient in this field because of its versatility, flexibility, performance, and cost, current real-time operating systems are not completely adapted to long processing with varying duration, and it is often necessary to oversize the system to guarantee fail-safe functioning. Also, interactions with other robotic tasks having more priority are difficult to handle. To answer this problem, we have developed a dynamically reconfigurable vision processing system, based on the innovative features of Cleopatre real-time applicative layer concerning scheduling and fault tolerance. This framework allows to define emergency and optional tasks to ensure a minimal quality of service for the other subsystems of the robot, while allowing to adapt dynamically vision processing chain to an exceptional overlasting vision process or processor overload. Thus, it allows a better cohabitation of several subsystems in a single hardware, and to develop less expensive but safe systems, as they will be designed for the regular case and not rare exceptional ones. Finally, it brings a new way to think and develop vision systems, with pairs of complementary operators. 展开更多
关键词 real-time vision dynamic reconfiguration embedded systems ROBUSTNESS real-time operating system
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基于D1-H应用处理器的RT-Thread驻留方法
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作者 李志嫒 王宜怀 刘长勇 《计算机应用研究》 CSCD 北大核心 2024年第1期222-225,共4页
针对实时操作系统复杂性内核导致嵌入式应用程序编译速度慢、可复用性差的问题,提出基于通用嵌入式计算机架构(GEC)的RT-Thread实时操作系统驻留方法。在合理划分存储空间的基础上,通过对中断服务例程进行共享,为用户提供底层驱动与软... 针对实时操作系统复杂性内核导致嵌入式应用程序编译速度慢、可复用性差的问题,提出基于通用嵌入式计算机架构(GEC)的RT-Thread实时操作系统驻留方法。在合理划分存储空间的基础上,通过对中断服务例程进行共享,为用户提供底层驱动与软件应用层的函数调用服务。最后以D1-H应用处理器为例进行RT-Thread驻留测试。实践结果表明,该驻留方法实现了系统内核与应用程序的物理隔离,编译时间更短,开发效率更高,为嵌入式程序开发的时效性、便捷性和简易性提供了应用基础。 展开更多
关键词 实时操作系统 应用处理器 通用嵌入式计算机 驻留 函数调用
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面向实时操作系统μC/OS-II的两级优先调度算法
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作者 李启明 杨霞 +1 位作者 房文宇 孙海泳 《计算机与现代化》 2024年第6期33-37,共5页
C/OS-II采用抢占式优先级调度算法,根据任务的重要程度分配不同的优先级,以确保系统的实时性。但μC/OSII不允许多个任务具有相同优先级,不仅限制了并发任务的数量和灵活性,而且在某些情况下会增加系统的复杂度,甚至可能给系统的运行造... C/OS-II采用抢占式优先级调度算法,根据任务的重要程度分配不同的优先级,以确保系统的实时性。但μC/OSII不允许多个任务具有相同优先级,不仅限制了并发任务的数量和灵活性,而且在某些情况下会增加系统的复杂度,甚至可能给系统的运行造成安全隐患。本文通过改进μC/OS-II的优先级位图结构与调度算法,为μC/OS-II扩展了2级优先调度机制。改进后的系统允许用户为多个任务赋予相同的优先级,同一优先级下的任务按照二级优先级进行调度,且可以根据实际需要灵活选择二级调度策略。实验表明,该算法可有效提高μC/OS-II的并发能力和资源利用率,同时保持较低的系统开销和响应时间。 展开更多
关键词 实时操作系统 ΜC/OS-II 优先级调度算法 实时性
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High performance reconfigurable hardware system for real-time image processing
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作者 赵广州 张天序 +2 位作者 王岳环 曹治国 左峥嵘 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2005年第3期502-509,共8页
A novel reconfigurable hardware system which uses both muhi-DSP and FPGA to attain high performance and real-time image processing are presented. The system structure and working principle of mainly processing multi-B... A novel reconfigurable hardware system which uses both muhi-DSP and FPGA to attain high performance and real-time image processing are presented. The system structure and working principle of mainly processing multi-BSP board, extended multi-DSP board are analysed. The outstanding advantage is that the communication among different board components of this system is supported by high speed link ports & serial ports for increasing the system performance and computational power. Then the implementation of embedded real-time operating systems (RTOS) by us is discussed in detail. In this system, we adopt two kinds of parallel structures controlled by RTOS for parallel processing of algorithms. The experimental results show that exploitive period of the system is short, and maintenance convenient. Thus it is suitable for real-time image processing and can get satisfactory effect of image recognition. 展开更多
关键词 MULTI-DSP fidd programmable gate arrays real-time image processing real time operating systems parallel structure.
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Analysis and Comparison of Five Kinds of Typical Device-Level Embedded Operating Systems 被引量:1
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作者 Jialiang WANG Hai ZHAO +2 位作者 Peng LI Hui LI Bo LI 《Journal of Software Engineering and Applications》 2010年第1期81-90,共10页
Today, the number of embedded system was applied in the field of automation and control has far exceeded a variety of general-purpose computer. Embedded system is gradually penetrated into all fields of human society,... Today, the number of embedded system was applied in the field of automation and control has far exceeded a variety of general-purpose computer. Embedded system is gradually penetrated into all fields of human society, and ubiquitous embedded applications constitute the 'ubiquitous' computing era. Embedded operating system is the core of the em-bedded system, and it directly affects the performance of the whole system. Our Liaoning Provincial Key Laboratory of Embedded Technology has successfully developed five kinds of device-level embedded operating systems by more than ten years’ efforts, and these systems are Webit 5.0, Worix, μKernel, iDCX 128 and μc/os-II 128. This paper mainly analyses and compares the implementation mechanism and performance of these five kinds of device-level embedded operating systems in detail. 展开更多
关键词 Embedded SYSTEM operating SYSTEM Core real-time Ability I/O Delay and JITTER PERVASIVE Computing and Internet of THINGS
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基于RT-thread的精确时间同步系统设计
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作者 高中淦 岳凤英 +1 位作者 王恩怀 赵田娟 《国外电子测量技术》 2024年第3期114-120,共7页
分布式智能采集终端需要一致的时间基准,用于多种数据和事件的时间标记。为满足智能采集终端对高精度时间同步的需求,选择IEEE 1588精确时间同步协议实现时间同步;设计基于纯国产32 bit双核微控制器HPM6750和以太网收发器RTL8211FS(I)-V... 分布式智能采集终端需要一致的时间基准,用于多种数据和事件的时间标记。为满足智能采集终端对高精度时间同步的需求,选择IEEE 1588精确时间同步协议实现时间同步;设计基于纯国产32 bit双核微控制器HPM6750和以太网收发器RTL8211FS(I)-VS的精确时间同步系统,选用国产开源嵌入式实时操作系统RT-thread操作系统,实现在物理层获取时间戳来运行IEEE 1588协议;构建测试平台对该时间同步系统进行主从时钟同步精度测试。测试结果表明,设计在物理层获取时间戳时达到的时间同步精度在±250 ns以内,与在数据链路层获取时间戳时达到±10μs的时间同步精度相比较,有效提高了时间同步精度,可广泛应用于对时间同步精度有较高要求的智能采集终端。 展开更多
关键词 采集终端 IEEE 1588 时间同步 实时操作系统 RT-THREAD 国产化
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MODEL-BASED DEVELOPMENT OF REAL-TIME SOFTWARE SYSTEM FOR ELECTRONIC UNIT PUMP SYSTEM 被引量:1
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作者 YU Shitao YANG Shiwei YANG Lin GONG Yuanming ZHUO Bin 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2007年第1期25-30,共6页
A real-time operating system (RTOS), also named OS, is designed based on the hardware platform of MC68376, and is implemented in the electronic control system for unit pump in diesel engine. A parallel and time-base... A real-time operating system (RTOS), also named OS, is designed based on the hardware platform of MC68376, and is implemented in the electronic control system for unit pump in diesel engine. A parallel and time-based task division method is introduced and the multi-task software architecture is built in the software system for electronic unit pump (EUP) system. The V-model software development process is used to control algorithm of each task. The simulation results of the hardware-in-the-loop simulation system (HILSS) and the engine experimental results show that the OS is an efficient real-time kernel, and can meet the real-time demands of EUP system; The built multi-task software system is real-time, determinate and reliable. V-model development is a good development process of control algorithms for EUP system, the control precision of control system can be ensured, and the development cycle and cost are also decreased. 展开更多
关键词 real-time operating system (RTOS) Multi-task V-model development Hardware-in-the-loop simulation system(HILSS) Electronic unit pump (EUP)
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DEVELOPMENT OF AN AIRBORNE SAR REAL-TIME DIGITAL IMAGING PROCESSOR
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作者 Zhu Xixing Jin Lingjiao Huang Ling(institute of Electronics, Academia Sinica, Beijing 100080) 《Journal of Electronics(China)》 1996年第2期116-121,共6页
An airborne SAR real-time digital imaging processor is presented, and its realtime digital imaging principle and main technical parameters are analyzed briefly. The system configuration and logical structure are descr... An airborne SAR real-time digital imaging processor is presented, and its realtime digital imaging principle and main technical parameters are analyzed briefly. The system configuration and logical structure are described in detail. Finally the main features of this system and examples of imagery obtained with the system are also presented. 展开更多
关键词 SAR real-time IMAGING PROCESSOR MULTIPROCESSOR operation system
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Influences of Network Delay on Quality of Experience for Soft Objects in Networked Real-Time Game with Haptic Sense
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作者 Mya Sithu Yutaka Ishibashi +1 位作者 Pingguo Huang Norishige Fukushima 《International Journal of Communications, Network and System Sciences》 2015年第11期440-445,共6页
In this paper, we investigate the influences of network delay on QoE (Quality of Experience) such as the operability of haptic interface device and the fairness between players for soft objects in a networked real-tim... In this paper, we investigate the influences of network delay on QoE (Quality of Experience) such as the operability of haptic interface device and the fairness between players for soft objects in a networked real-time game subjectively and objectively. We handle a networked balloon bursting game in which two players burst balloons (i.e., soft objects) in a 3D virtual space by using haptic interface devices, and the players compete for the number of burst balloons. As a result, we find that the operability depends on the network delay from the local terminal to the other terminal, and the fairness is mainly dependent on the difference in network delay between the players’ terminals. We confirm that there exists a trade-off relationship between the operability and the fairness. We also see that the contribution of the fairness is larger than that of the operability to the comprehensive quality (i.e., the weighted sum of the operability and fairness). Assessment results further show that the output timing of terminals should be adjusted to the terminal which has the latest output timing to maintain the fairness when the difference in network delay between the terminals is large. In this way, the comprehensive quality at each terminal can be maintained as high as possible. 展开更多
关键词 NETWORKED real-time GAME Virtual Environment Balloon BURSTING GAME HAPTIC Interface Devices Network Delay Quality of Experience operABILITY Fairness
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基于RT-Thread的Zynq-7000实时控制系统设计与实现 被引量:1
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作者 尤磊 王邦继 +2 位作者 吴博 邱嵩 张仲金 《仪表技术与传感器》 CSCD 北大核心 2023年第7期88-92,98,共6页
针对目前相控阵天线控制系统通讯高速、高实时、高稳定的需求,设计了一款基于Zynq-7000和RT-Thread操作系统的实时控制系统。首先从硬件方面讨论了系统的总体结构,在软件方面采用优先级抢占式的任务调度方式以及消息队列、信号量和邮箱... 针对目前相控阵天线控制系统通讯高速、高实时、高稳定的需求,设计了一款基于Zynq-7000和RT-Thread操作系统的实时控制系统。首先从硬件方面讨论了系统的总体结构,在软件方面采用优先级抢占式的任务调度方式以及消息队列、信号量和邮箱等任务通信机制来确保实时性和可靠性;其次移植RT-Thread实时操作系统到Zynq-7000平台中,利用LwIP协议栈完成网络通信功能设计;最后构建了实验测试平台。测试结果表明:提出的基于Zynq-7000和RT-Thread的实时控制系统在网络传输方面具有低时延、低抖动和低丢包率的优点,保证了系统执行处理的实时性和稳定性。 展开更多
关键词 实时操作系统 RT-THREAD ZYNQ-7000 以太网 实时性
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circRNA-ATAD1在宫颈癌患者组织中的表达及临床意义 被引量:1
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作者 刘毅 倪荣 《中国妇幼健康研究》 2023年第9期52-56,共5页
目的 探讨circRNA-ATAD1在宫颈癌患者组织中的表达及临床意义。方法 将2020年1月至2021年6月在湖北省恩施土家族苗族自治州中心医院进行宫颈癌治疗的110例患者作为实验组,另选择同院同期进行良性肿瘤切除术的78例患者作为对照组。采用... 目的 探讨circRNA-ATAD1在宫颈癌患者组织中的表达及临床意义。方法 将2020年1月至2021年6月在湖北省恩施土家族苗族自治州中心医院进行宫颈癌治疗的110例患者作为实验组,另选择同院同期进行良性肿瘤切除术的78例患者作为对照组。采用实时荧光定量PCR(qRT-PCR)测定宫颈癌组织、癌旁组织及对照组组织中的circRNA-ATAD1表达差异,采用受试者工作特征(ROC)曲线评估circRNA-ATAD1对于宫颈癌的诊断价值。结果 实验组患者肿瘤组织中circRNA-ATAD1表达量高于对照组,差异有统计学意义(t=11.931,P<0.001);肿瘤组织中circRNA-ATAD1的相对表达量高于癌旁组织,差异有统计学意义(t=12.347,P<0.001);circRNA-ATAD1高表达组宫颈癌患者组织分化程度较低、国际妇产科联盟(FIGO)分期多在Ⅲ~Ⅳ期、多有淋巴结转移,差异有统计学意义(χ^(2)值分别为9.132、7.847、6.178,P<0.05);ROC曲线评估circRNA-ATAD1对宫颈癌的诊断价值,结果显示ROC曲线下面积为0.877,敏感度为89.10%,特异度为78.20%。结论 circRNA-ATAD1在宫颈癌患者组织中高表达,并对宫颈癌有一定的诊断价值。 展开更多
关键词 circRNA-ATAD1 宫颈癌 受试者工作特征曲线 实时荧光定量PCR
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基于μC/OS-Ⅱ的通用星务软件框架设计
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作者 陈世淼 王绍山 +1 位作者 程凌峰 倪淑燕 《电子设计工程》 2023年第3期49-53,共5页
为了适应微小卫星发射数量急剧增加的趋势,缩短卫星研制周期,提出了一种基于μC/OS-Ⅱ操作系统的通用化星务软件架构。根据卫星功能需求进行了分析,在此基础上进行了任务创建及优先级划分,对星务软件的流程、多任务调度方法以及任务之... 为了适应微小卫星发射数量急剧增加的趋势,缩短卫星研制周期,提出了一种基于μC/OS-Ⅱ操作系统的通用化星务软件架构。根据卫星功能需求进行了分析,在此基础上进行了任务创建及优先级划分,对星务软件的流程、多任务调度方法以及任务之间的通信进行了详细介绍,并搭建了半实物仿真系统对星务软件进行了实验验证。实验结果表明,基于μC/OS-Ⅱ操作系统的星务软件可长期稳定运行,满足设计需求,对实现微小卫星的快速研制具有重要参考意义。 展开更多
关键词 μC/OS-Ⅱ操作系统 星务软件 实时操作系统 任务调度 软件架构
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