望获官网上线代码实时性AI优化服务，欢迎免费使用

Wuxi Zhidongli Robotics has launched a high-performance and cost-efficient humanoid robot cerebellar control solution, boasting a hardware cost reduction of over 50% compared to the prior generation. Built on domestically developed ARM-based processors, EtherCAT fieldbus, and Wanghuo Real-Time Linux (RTLinux), the solution features a full-stack self-developed domestic configuration, enabling microsecond-level real-time control and precision manipulation with 7 degrees of freedom (DoF). Validated in real-world applications, it delivers stable and reliable performance under complex operating conditions. Leveraging the underlying real-time technical underpinnings of Wanghuo RTLinux, the solution establishes a competitive edge as a high-value domestic alternative, effectively lowering the entry barrier for the humanoid robot industry.

Leveraging proprietary isolator technology, Wanghuo Real-Time Linux delivers revolutionary jitter optimization for the open-source EtherCAT master, IgH. This solution achieves cycle synchronization of 125 microseconds based on the IgH master and reduces jitter to as low as 1.08 microseconds. This technology enables enterprises to achieve commercial-grade master performance without high capital investment by integrating Wanghuo Real-Time Linux with the open-source EtherCAT master, effectively balancing cost efficiency and technological advancement.

This solution introduces a high-precision signal generator based on Phytium Pi and Wanghuo Real-Time Linux. By leveraging the sub-microsecond response capability of Wanghuo Real-Time Linux, this solution delivers stable signal output with jitter not exceeding 50 nanoseconds, making it a viable alternative to traditional solutions such as FPGA, DSP, and ASIC.

Linux benefits from a robust ecosystem and is widely applied across various scenarios. However, it faces skepticism in the real-time domain, which requires extremely high determinism, as the complexity of the monolithic kernel is believed to introduce greater uncertainty. Fundamentally, these issues arise from two aspects: first, the uncertainty introduced by kernel subsystem coupling and multi-core scheduling; second, contention conflicts arising from the deep hierarchy and abundant shared resources of modern CPUs and buses. This article takes the ARMv8 architecture as an example and, starting from the CPU execution context, presents a method for Wanghuo Real-Time Linux to achieve sub-microsecond I/O response on the Phytium Pi platform.

Recently, the Wanghuo Real-Time Linux team at UCAS achieved a significant breakthrough in processor real-time scheduling technology, enhancing Linux's real-time performance from microsecond to sub-microsecond levels. This latency metric is rigorously measured through end-to-end hardware I/O signal response, encompassing all phases of total latency, including physical signal transmission, processor internal bus transmission, interrupt response, and software scheduling, which does not exceed 480 nanoseconds. Among these, the minimum response latency is approximately 400 nanoseconds, with latency jitter not exceeding 80 nanoseconds.

The 2025 "Industrial Mother Machine+" event was launched in Wuhan, Hubei, aimed at promoting innovation and application development in the field of industrial mother machines. The Wanghuo Real-Time Linux System stood out at the event, featuring microsecond-level response, support for domestic production and intelligent upgrades, and promoting multi-core processing and multi-machine collaboration. This system plays a crucial role in enhancing production efficiency and competitiveness, significantly contributing to the high-quality development of China's manufacturing industry.

Recently, Beijing UCAS Technology Co., Ltd. (UCAS Technology) and Fuzhou Hua-Chips Technology Co., Ltd. (Hua-Chips) have successfully completed compatibility certification testing between UCAS Technology’s Wanghuo Real-Time Linux System V2.0 and Hua-Chips’ HC810 Industrial Motherboard powered by the Rockchip RK3588 processor.

On July 22, 2025, the 2025 "Industrial Mother Machine+" Supply and Demand Matching Event for Thousands of Industries and Enterprises was held in Wuhan, Hubei Province. The event aims to accelerate the promotion and application of innovative industrial mother machine products, deepen integrated development among industrial chain enterprises, and inject new momentum into the high-quality development of China’s manufacturing industry.

April 28, 2025 – At the highly anticipated 6th BRICS Future Network Innovation Forum, the Wanghuo Real-Time Linux System, independently developed by Beijing UCAS Technology Co., Ltd. (hereinafter referred to as "UCAS Technology"), was honored with the Humanoid Robot Technology Breakthrough Award. Mr. Li Zhuang, General Manager of UCAS Technology, attended the award ceremony and accepted the honor on behalf of the company.

Recently, the Industrial Internet Industry Alliance (IIIA) officially released the General Technical Requirements for Industrial Edge Operating Systems. As a pivotal technical specification in the field of industrial edge computing, this standard provides a unified technical framework for the design, development, and testing of industrial edge operating systems (OS). It is aimed at advancing the digital and intelligent transformation of the industrial sector, and facilitating the process of new-type industrialization.

Following the support for Preemption and Xenomai kernels on the iTOP-RK3588 development board, Beijing Xunwei and Wanghuo Real-time Linux have formed a powerful alliance, once again achieving a new breakthrough in the field of industrial control. The iTOP-RK3588 development board has successfully adapted Wanghuo Real-time Linux, and this update will provide stronger support for application scenarios demanding higher real-time performance.

With the rapid evolution of Large Language Models (LLMs), their deep integration with traditional technologies is giving rise to more efficient industry solutions. ROS-LLM is a prime example of this trend; it combines Large Language Models with the Robot Operating System (ROS), aiming to enhance the intelligent decision-making and control capabilities of robots in complex environments. Leveraging the support of the Wingho Real-time Linux system and Rockchip RK3588 hardware in the thousand-yuan range, the practical deployment of this cutting-edge technology can be easily achieved, opening a new chapter in Embodied AI.

With its V3 and newly launched R1 models, DeepSeek has achieved performance comparable to OpenAI 4o and o1 at only one-tenth of the cost, providing a cost-effective solution for the popularization of AI technology. The rise of DeepSeek not only marks a breakthrough in Chinese AI technology but also heralds a new revolution in the global AI market. Deploying it on the Wanghuo Real-time Linux and Rockchip RK3588 platforms can fully unleash its immense potential in the fields of edge computing and industrial control, providing robust technical support for intelligent transformation.

In 2024, the Wanghuo real-time Linux system achieved breakthroughs in functional safety, real-time performance improvements, and ecosystem adaptation. It obtained ISO26262 certification, released EtherCAT enhanced components, and launched a 100-microsecond-cycle industrial control system, reaching an internationally advanced technical level. In 2025, Wanghuo will release a microsecond-level scheduling isolator, deepen the integration of intelligence and real-time systems, accelerate the adaptation of domestic hardware and software, and focus on fields such as industrial control and robotics to promote the system's deployment in more scenarios.

Recently, Guoke Huanyu and Tronlong Technology jointly announced the successful adaptation of the Wanghuo Real-time Linux System to the TL3562-MiniEVM development board. This adaptation marks a new breakthrough for both parties in the field of industrial control and will provide more robust support for application scenarios with extremely high time-sensitivity requirements.

In the finals of the 2024 "Straight to Wuzhen" Global Internet Competition, the Wanghuo Real-time Linux System, independently developed by Beijing Guoke Huanyu Technology Co., Ltd. (hereinafter referred to as "Guoke Huanyu"), stood out amidst fierce global competition and won the Third Prize. Mr. Li Zhuang, General Manager of Guoke Huanyu, attended the event in person to accept the award and witness this moment of glory.

On the morning of November 6, the 12th China (Mianyang) Science and Technology City International High-Tech Expo, themed "Sci-Tech Innovation Leadership, New Quality Transformation, Open Cooperation," opened in Mianyang, Sichuan. Beijing Guoke Huanyu Technology Co., Ltd. (hereinafter referred to as "Guoke Huanyu") showcased its self-developed Wanghuo real-time Linux system and high-security level chip series, demonstrating the company's leading position in technological innovation and industrial upgrading.

On November 2, the highly anticipated "2024 China Industrial Computer Conference" was grandly held in the ancient city of Xi'an. Guoke Huanyu was invited to attend this grand event, where the company's Chief Engineer, Liu Zhili, delivered a keynote report titled "Applications and Challenges of Real-time Linux Systems in Industrial Control" at the conference forum. The report provided an in-depth analysis of the current application status and future challenges of real-time Linux systems in the industrial control field, as well as the company's extensive experience in the research and development of real-time Linux systems.

Wingho Real-time Linux Shortlisted for the Industrial Internet Finals of the "Straight to Wuzhen" Global Internet Competition