Location
https://www.kennesaw.edu/ccse/events/computing-showcase/fa25-cday-program.php
Document Type
Event
Start Date
24-11-2025 4:00 PM
Description
Industrial robot arms often run 500–1000 Hz control loops on general-purpose Linux. Most cycles are on time, but rare long scheduling delays can cause visible end-effector jitter, force spikes, and unstable insertion behavior. Static tuning of priorities and budgets cannot fully remove these long-tail outliers without wasting CPU. This work asks whether a lightweight adaptive layer on top of SCHED_DEADLINE can reduce high-percentile latency while keeping good utilization.
Included in
GRP-21187 Adaptive SCHED_DEADLINE on Linux for Robotic-Arm Control
https://www.kennesaw.edu/ccse/events/computing-showcase/fa25-cday-program.php
Industrial robot arms often run 500–1000 Hz control loops on general-purpose Linux. Most cycles are on time, but rare long scheduling delays can cause visible end-effector jitter, force spikes, and unstable insertion behavior. Static tuning of priorities and budgets cannot fully remove these long-tail outliers without wasting CPU. This work asks whether a lightweight adaptive layer on top of SCHED_DEADLINE can reduce high-percentile latency while keeping good utilization.