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}}} = nano-RK: A Preemptive Real-Time Resource Centric Kernel for Sensor Networks =
Nano-RK is a 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 16KB 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
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. Nano-RK simplifies development by using a standard C GNU tool-chain and classical operating system multitasking abstractions. It provides built-in fault handling that monitors task timing violations, stack integrity, unexpected node restarts, resource over-use and battery life.
Nano-RK has various networking protocols including [wiki:RT-Link] for collision free Real-Time communication.