The Fuzzy Feedback Scheduling of Real-Time Middleware in Cyber-Physical Systems for Robot Control

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="2">Variable</td><td class="align_center" colspan="3"><span style="width: 11.7936ptpx;"><svg height="11.927pt" id="M59" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 11.7936 11.927" width="11.7936pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z" id="g113-86"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="727" vert-adv-y="727"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,8.606,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z" id="g50-106"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="280" vert-adv-y="280"></glyph.data></g></svg></span></td></tr><tr class="thead"><td class="align_center">0.6</td><td class="align_center">0.4</td><td class="align_center">0.2</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">PB</td><td class="align_center">1.0</td><td class="align_center">0.5</td><td class="align_center">0</td></tr><tr><td class="align_left">PM</td><td class="align_center">0.5</td><td class="align_center">1</td><td class="align_center">0.5</td></tr><tr><td class="align_left">PS</td><td class="align_center">0</td><td class="align_center">0.5</td><td class="align_center">1</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

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Journal of Sensors

tab3

Table 3

Table 3: The Fuzzy Feedback Scheduling of Real-Time Middleware in Cyber-Physical Systems for Robot Control 