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Real-Time Concurrency for Light-Weight Medical Robot Coordination in Shared Zones
Abstract
This chapter is a Rust-based simulation system designed to coordinate multiple medical robots operating in shared hospital environments. The chapter focuses on concurrent systems, task scheduling, mutual exclusion for shared zones, and fault detection through heartbeat monitoring. A shared task queue assigns work to robot workers, while a zone access control mechanism ensures that only one robot operates in a critical area at a time. The system monitors heartbeat signals from each robot to detect failures or stalled execution. The modular architecture supports two execution models: a thread-based scheduler for lightweight concurrency and a process-based scheduler for stronger isolation between workers. Controlled benchmarks and stress tests show correct enforcement of zone exclusivity, reliable detection of missed heartbeats, and stable performance under concurrent workloads. The results show predictable scalability for lightweight tasks and highlight contention effects when task duration and zone competition increase.
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