Hi Spencer! My job in airborne wind energy is ending soon so I don't have a specific application (aside from control), but I would want to stay sub-ms for anything in-process. I have been using Orocos extensively for the last few years. It's the best control middleware in the open source world, but I think a lot of things could be improved if it was re-implemented in a language with a better typesystem and introspection... one example would be that adding a new type to the system requires quite a bit of boilerplate code, creating an incentive for users to just pass data in flat arrays, subverting type safety.
Cheers, Andrew On Mon, Sep 15, 2014 at 7:03 AM, Spencer Russell < spencer.f.russ...@gmail.com> wrote: > Hi Andrew, > > What are your realtime deadlines? I'm working on live audio processing > stuff with Julia, where I'd like to get the audio latency down into a few > ms. Julia definitely isn't there yet (and might never get true > hard-realtime), but there's some promising work being done on the GC to > reduce pause time for lower-latency applications. It's also helpful to > profile the code to reduce allocations (and the need for GC) down to a > minimum. I haven't yet gotten down to zero-allocation code in my render > loop, but once I got it down below 100 bytes I moved on to other more > pressing features. At some point I'll dig deeper to see if I can get rid of > the last few allocations. > > I'd definitely be happy if there are some more folks out there driving > demand for lower-latency Julia. :) > > peace, > s > > On Sun, Sep 14, 2014 at 3:58 PM, Andrew Wagner <drewm1...@gmail.com> > wrote: > >> Hello again Uwe! >> >> It's fun running into someone I know on a language geek forum :) I'm >> helping one of our bachelor's students implement an LQR controller on our >> carousel in Freiburg. It's an ugly hack, but I'm calling an octave script >> to recompute the feedback gains online. Octave wraps slicot, so if the >> licenses are compatible, perhaps wrapping slicot is the way to go for some >> functions, if the licenses are compatible. >> >> Personally, I have a burning desire for a better language we can actually >> do control in (rust?). I doubt Julia qualifies due to the garbage >> collection, but does anyone know if Julia has some sort of way to JIT Julia >> expressions to code that does ~not have any garbage collection? If so, is >> there a way to export them as object files and link against them from C? >> Then you'd still have to write glue code in a systems language, but at >> least the implementation of the controller wouldn't have to cross a >> language boundary... >> >> Cheers, >> Andrew >> >> On Thursday, February 20, 2014 10:56:20 PM UTC+1, Uwe Fechner wrote: >>> >>> Hello, >>> >>> I could not find any control system library for Julia yet. Would that >>> make sense? >>> There is a control system library available for Python: >>> http://www.cds.caltech.edu/~murray/wiki/index.php/Python-control >>> >>> Perhaps this could be used as starting point? I think that implementing >>> this in Julia >>> should be easier and faster than in Python. >>> >>> Any comments? >>> Should I open a feature request? >>> >>> Uwe Fechner, TU Delft, The Netherlands >>> >> >
