RTCkC

RTCkC is a hypothetical real-time coordination framework intended for distributed control in embedded and cyber-physical systems. The name stands for Real-Time Coordination kernel for Control. It describes a runtime and API surface designed to provide deterministic task scheduling, predictable communication, and safe resource sharing across heterogeneous devices. This article presents RTCkC as a conceptual standard used to illustrate principles of real-time distributed control.

RTCkC proposes a layered architecture consisting of hardware abstraction, a real-time kernel, a coordination layer, a communication substrate, and an application layer. The real-time kernel enforces scheduling guarantees using fixed-priority or dynamic scheduling approaches. The coordination layer implements task orchestration, synchronization, and fault management. The communication substrate provides deterministic, timestamped messaging with time-triggered or event-driven modes. Temporal isolation between components is emphasized to prevent interference.

Key features include hard and soft real-time support, resource reservation, and modular components that can be replaced or extended. A central scheduler, supplemented by local schedulers at component level, coordinates execution with global timing constraints. Deterministic messaging uses bounded-latency transports and contracts that enforce ordering. Security and safety considerations include access control, integrity protection, and failure containment through watchdog timers and redundant paths.

RTCkC defines a lightweight data model for messages and a set of interfaces for task creation, state reporting, and event signaling. It includes a Resource Reservation Protocol to negotiate compute and I/O budgets and a Time Synchronization Protocol to align clocks across devices. The reference implementation provides a simulator and a minimal runtime to illustrate integration with existing controllers.

RTCkC is described as applicable to industrial automation, robotics, automotive and aerospace control systems, and distributed energy grids. While not a formal standard, it serves as a conceptual benchmark for comparing real-time coordination approaches. See also Real-time operating system and time-triggered communication.