Secondly, study RTAI kernel deeply, tailor and transplant about it, meet the requirement of the real-time altering.
其次深入研究rtai内核，对其进行裁剪和移植，满足实时改造的需要。
The paper detailedly analyzes the realization fundamentals of RTAI through two aspects - RTHAL and RTAI function modules.
从rthal及rtai功能模块两方面入手，详细分析了RTAI的实现原理。
The paper detailedly analyzes the realization fundamentals of RTAI through two aspects - RTHAL and RTAI function modules.
从rthal及rtai功能模块两方面入手，详细分析了RTAI的实现原理。
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