In this letter, we apply dynamic software updating to long-lived applications on the DDS middleware while minimizing service interruption and satisfying Quality of Service (QoS) requirements. We dynamically updated applications which run on a commercial DDS implementation to demonstrate the applicability of our approach to dynamic updating. The results show that our update system does not impose an undue performance overhead–all patches could be injected in less than 350 ms and the maximum CPU usage is less than 17%. In addition, the overhead on application throughput due to dynamic updates ranged from 0 to at most 8% and the deadline QoS of the application was satisfied while updating.

This paper presents an approach to implementing simulation models for SAM fuzzy controllers without the use of external components. The approach represents a fuzzy controller as a composition of simple simulation models which involve only basic operations.