• Proceedings of the Korea Contents Association Conference
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• 2009.05a
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• pp.845-850
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• 2009

To support distributed environment that is independent and standardized between heterogeneous system, a study on the TAO(The ACE ORB) communication middleware based on the RT-CORBA is highly being done. The TAO supports real-time features not on the general purpose operating system like Windows or Linux but on the real time operating system like Vxworks or LynxOS. In this paper, we build and construct environment that supports a thread-level real time feature by porting the TAO on VxWorks target. Also we validate the ported TAO by network communication with the TAO of Windows.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.489-497
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• 2010

This paper presents the design of hardware platform, which is a test bed for the navigation system and hovering type AUV (Autonomous Underwater Vehicle) under the OCP (Open Control Platform). The developed AUV test bed consists of two hulls, four thrusters, and the navigation system which uses a SBC2440II with IMU (Inertial Measurement Unit). And the SMC (Sliding Mode Control) is chosen for the diving and steering control of the AUV. This paper uses ACE/TAO RTEC (Real-Time Event Channel) as a middleware platform in order to control and communicate in the developed AUV test bed. In this paper, two computers are used and each of them is dedicated for the specific purpose, the first computer is used as the SMC module and the middleware platform for the ACE/TAO RTEC and the second computer is used for the sensor controller. We analyze the performance of the AUV test bed under the OCP.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.255-261
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• 2008

This paper describes a network framework that support network based humanoid. The framework utilizes middleware such as CORBA (ACE/TAO) that provides PnP capability for network based humanoid. The network framework transfers data gathered from a network based humanoid to a processing group that is distributed on a network. The data types are video stream, audio stream and control data. Also, the network framework transfers service data produced by the processing group to the network based humanoid. By using this network framework, the network based humanoid can provide high quality of intelligent services to user.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.52.4-52
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• 2001

In this paper we propose a framework of an open architectured manufacturing system base on CORBA middleware. The manufacturing system consists of four configurable software modules 9mchine control module, database module, monitoring module, and operation module). Each module is distributed through the network and integrated with CORBA middleware technology. CORBA Characteristics including independence from programming languages, computing platforms and networking protocols makes us to easily develop new applications and to effectively integrate new module into existing distributed systems. The CORBA program used in this study is The ACE ORB (TAO) developed by the laboratory in Washington University.

• Proceedings of the Korea Information Processing Society Conference
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• 2001.04a
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• pp.251-254
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• 2001

대표적인 분산 객체 환경을 위한 프레임 웍으로 1990년대 초 OMG(Object Management Group)에서 발표한 CORBA(Common Object Request Broker Architecture)를 들 수 있다. 이것은 분산, 이기종 환경에서 객체기반 응용 프로그램들의 재사용성(reusability), 이식성, 상호 운용성(interoperability)을 위한 공통 프레임 ???p이다. 하지만 표준 CORBA는 실시간 응용 프로그램 지원을 위한 한계점을 내재하고 있으므로 이를 그대로 적용하기에는 적합하지 않다. 때문에 RT-SIG(Real-Time Interest Special Croup)에서는 실시간 어플리케이션을 지원하기 위한 일련의 작업이 이루어 졌고, 그 산물로는 TAO(The Ace Orb)와 NraD(US Navy Research and Development), lona 사의 Orbix ORB, Lockheed Martin 사에서 개발한 CORBA 등이 있다. 하지만 표준 CORBA 명세서에 따르면 COS(CORBA Object Service)중의 하나인 이벤트 서비스는 실시간 응용프로그램을 지원하기 위해 필요한 실시간 디스패칭과 스케줄링의 보장, 중앙 집중화된 이벤트 필터링과 상관성을 위한 명시, 주기적 처리 지원 등의 기능이 결여되어 있기 때문에 이를 지원하는 실시간 이벤트 서비스가 요구된다. 이러한 요구에 부합하기 위해 필요한 요구사항을 자바 API 형태로 구현하고 향후 성능에 대한 개선 방향을 제시한다.