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Version 103 (Anthony Rowe, 02/15/2010 11:29 pm)

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= Nano-RK: A Wireless Sensor Networking Real-Time Operating System  =
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Nano-RK is a fully preemptive reservation-based real-time operating system (RTOS) from [http://www.cmu.edu Carnegie Mellon University] with multi-hop networking support for use in wireless sensor networks. Nano-RK currently runs on the FireFly Sensor Networking Platform as well as the [wiki:MicaZ] motes. It includes a light-weight embedded resource kernel (RK) with rich functionality and timing support using less than 2KB of RAM and 18KB of ROM. Nano-RK supports fixed-priority preemptive multitasking for ensuring that task deadlines are met, along with support for CPU, network, as well as, sensor and actuator reservations. Tasks can specify their resource demands and the operating system provides
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timely, guaranteed and controlled access to CPU cycles and network packets. Together these resources form virtual energy reservations that allows the OS to enforce system and task level energy budgets. 
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== News ==
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 * 11/13/2009 Paper on [http://www.andrew.cmu.edu/user/agr/projects/syntonistor/ Syntonistor] for time synchronization wins best paper award [http://sensys.acm.org/2009/program.htm SenSys 2009]
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 * 10/15/2008 Paper on [wiki:Pubs Rate-Harmonized Scheduling] at RTSS 2008
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 * 2/12/2008 New [wiki:releases release] fixes kernel memory bug and adds Windows Support.
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 * 2/7/2008 gcc 4.2.2 with avr-libc 1.6.1 fix multiple minor bugs. Install new toolchain from [wiki:Downloads] page.  
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 * 12/29/2007 [http://www.embedded.com/design/networking/204800543?pgno=1 Embedded.com Article] discusses Nano-RK
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 * 10/20/2007 Paper on [wiki:Pubs Vision-Enabled Sensor Networks] using Nano-RK at RTSS 2007
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 * 10/6/2007 Public Subversion Read Access for pre-beta [wiki:releases release]
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 * 10/16/2006 Paper on [wiki:Pubs Voice Over Sensor Networks] using Nano-RK at RTSS 2006
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 * 9/25/2006 Paper on [wiki:RT-Link] running on Nano-RK wins best paper at SECON 2006
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 * 12/15/2005 Nano-RK paper introduced at RTSS 2005
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== Features ==
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 * C GNU tool-chain
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 * Classical Preemptive Operating System Multitasking Abstractions
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 * Real-Time Priority Based Scheduling
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 * Built-in Fault Handling
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  * Task Timing Violations
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  * Stack Integrity
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  * Unexpected Node Restarts
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  * Resource Over-Use 
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  * Low Voltage Detection
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  * Hardware Watchdog Timer
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  * Software Watchdog Timers
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 * Energy Efficient Scheduling based on ''a-prior'' task-set knowledge
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 * Tickless Timer
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 * Small Footprint (<2K RAM, 16K ROM, including link layer)
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 * [wiki:SLIPstream] (a simple gateway to IP network protocol and utility)
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 * [wiki:TimeScope] (a code execution time measurement utility built into the FireFly programmer boards)
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 * [wiki:avr-studio AVR Studio 4 Debugging]  (Simulating Nano-RK code on a single node using AVR Studio 4 is easy)
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 * [wiki:Eclipse] IDE allows for easy development
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Nano-RK supports various wireless link layer protocols including:
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 * [wiki:RT-Link] for collision free Real-Time communication
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 * [wiki:WiDom] a collision free priority based link layer
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 * [wiki:b-mac] for low-power contention based communication
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 * [wiki:U-Connect] A Low-Latency Energy-Efficient Asynchronous Neighbor Discovery protocol and neighbor discovery protocol:
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[[Image(htdocs:images/nrk_arch.png)]]
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Sample Nano-RK architecture figure showing user applications and [wiki:RT-Link].