• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.16-24
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• 2006

In this paper, fault-tolerant gait planning of a hexapod robot for walking over irregular terrain is presented. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. Based on the previously proposed fault-tolerant tripod gait for walking over even terrain, fault-tolerant follow-the-leader(FTL) gaits are proposed for a hexapod robot with a failed leg to be able to walk over two-dimensional rough terrain, maintaining static stability and fault tolerance. The proposed FTL gait can have maximum stride length for a given foot position of a failed leg, and yields better ditch crossing ability than the previously developed gaits. The applicability of the proposed FTL gait is verified by using computer graphics simulations.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.2
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• pp.201-205
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• 2008

The flash memory is widely used as a main storage of embedded devices. It is adopted as a storage of database as growing the capacity of the flash memory. We run TPC-C benchmark on various FTL algorithms. But, the database shows poor performance on flash memory because the characteristic of I/O requests is full random. In this paper, we show the performance of all existing FTL algorithms is very poor. Especially, the FTL algorithm known as good at small mobile equipment shows worst performance. In addition, the chip-inter leaving which is a technique to improve the performance of the flash memory doesn't work well. In this paper, we inform you the reason that we need a new FTL algorithm and the direction for the database in the future.

• KIPS Transactions on Computer and Communication Systems
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• v.12 no.1
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• pp.1-8
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• 2023

It is impossible to overwrite on an already allocated page in SSDs, so whenever a write operation occurs a page replacement with a clean page is required. To resolve this problem, SSDs have an internal flash translation layer called FTL that maps logical pages managed by a file system of operating system to currently allocated physical pages. SSD pages discarded due to write operations must be recycled through initialization, but since the number of initialization times is limited the FTL provides a caching function to reduce the number of writes in addition to the page mapping function, which is a core function. In this study, we focus on the FTL cache methodologies reducing the number of page writes and analyze the related algorithms, and propose a write-only cache strategy. As a result of experimenting with the write-only cache using a simulator, it showed an improvement of up to 29%.

• The KIPS Transactions:PartA
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• v.12A no.7 s.97
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• pp.621-626
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• 2005

Recently, flash memory is widely used in various embedded applications since it has many advantages in terms of non-volatility, fast access speed, shock resistance, and low power consumption. However, it requires a software layer called FTL(Flash Translation Layer) due to its hardware characteristics. We present a new FTL algorithm named LSTAFF(Large State Transition Applied Fast flash Translation Layer) which is designed for large block flash memory The presented LSTAFF is adjusted to flash memory with pages which are larger than operating system data sector sizes and we provide performance results based on our implementation of LSTAFF and previous FTL algorithms using a flash simulator.

• Journal of KIISE:Computing Practices and Letters
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• v.15 no.11
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• pp.836-840
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• 2009

Many researchers have studied flash memory in order to replace hard disk storages. Many FTL algorithms have been proposed to overcome physical constraints of flash memory such as erase-before-write, wear leveling, and poor write performance. Therefore, these constraints should be considered for testing FTL algorithms and the performance evaluation of flash memory. As doing the experiments, we suffer from several problems with costs and settings in experimental configuration. When we, for example, replay the traces of Oracle to evaluate the I/O performance with flash memory, it is hard to extract exact traces of I/O operations in Oracle. Since there are only write operations in the log, it is impossible to gather read operations. In MySQL and SQLite, we can gather the read operations by changing I/O functions in the source codes. But it is not easy to search for the exact points about I/O and even if we can find out the points, we might get wrong results depending on how we modify source codes to get I/O traces. The FlaSim proposed in this paper removes the difficulties when we evaluate the performance of FTL algorithms and flash memory. Our Linux drivers emulate the flash memory as a hard disk. And we can easily obtain the usage statistics of flash memory such as the number of write, read, and erase operations. The FlaSim can be gracefully extended to support the additional modules implemented by novel algorithms and ideas. In this paper, we describe the structure of FTL emulator, development tools and operating methods. We expect this emulator to be helpful for many experiments and research with flash memory.

• Journal of KIISE:Computing Practices and Letters
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• v.13 no.7
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• pp.476-487
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• 2007

Flash memory offers attractive features, such as non-volatile, shock resistance, fast access, and low power consumption for data storage. However, it has one main drawback of requiring an erase before updating the contents. Furthermore, flash memory can only be erased limited number of times. To overcome limitations, flash memory needs a software layer called flash translation layer (FTL). The basic function of FTL is to translate the logical address from the file system like file allocation table (FAT) to the physical address in flash memory. In this paper, a new FTL algorithm called an efficient and advanced space-management technique (EAST) is proposed. EAST improves the performance by optimizing the number of log blocks, by applying the state transition, and by using reallocation blocks. The results of experiments show that EAST outperforms FAST, which is an enhanced log block scheme, particularly when the usage of flash memory is not full.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.291-295
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• 2007

FTL(Fuel Test Loop) is a facility that confirms performance of nuclear fuel at a similar irradiation condition with that of nuclear power plant. FTL consists of In-Pile Test Section (IPS) and Out-Pile System (OPS). FTL construction work began on August, 2006 and ended on March, 2007. During Construction, ensuring the worker's safety was the top priority and installation of the FTL without hampering the integrity of the HANARO was the next one. Task Force Team was organized to do a construction systematically and the communication between members of the task force team was done through the CoP(community of Practice) notice board provided by the Institute. The installation works were done successfully overcoming the difficulties such as on the limited space, on the radiation hazard inside the reactor pool, and finally on the shortening of the shut down period of the HANARO. Without a sweet of the workers of the participating company of HEC(Hyundae Engineering Co, Ltd), HDEC(HyunDai Engineering & Construction Co. Ltd), equipment manufacturer, and the task force team, it is not possible to install the FTL facility within the planned shutdown period. The Commissioning of the FTL is on due to check the function and the performance of the equipment and the overall system as well. The FTL shall start operation with high burn up test fuels in early 2008 if the commissioning and licensing progress on schedule.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.3
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• pp.336-340
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• 2010

Flash storages are prevalent as portable storage in computing systems. When we consider the detachability of Flash storage devices, data integrity becomes an important issue. To assure extreme data integrity, file systems synchronously write all file data to storage accompanying hot write references. In this study, we concentrate on the effect of hot write references on Flash storage, and we consider the effect of absorbing the hot write references via nonvolatile write cache on the performance of the FTL schemes in Flash storage. In 80 doing, we quantify the performance of typical FTL schemes for workloads that contain hot write references through a wide range of experiments on a real system environment. Through the results, we conclude that the impact of the underlying FTL schemes on the performance of Flash storage is dramatically reduced by absorbing the hot write references via nonvolatile write cache.

• Journal of KIISE:Computer Systems and Theory
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• v.36 no.6
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• pp.521-531
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• 2009

Flash memory has physical characteristics different from hard disk where two costs of a read and write operations differ each other and an overwrite on flash memory is impossible to be done. In order to solve these restrictions with software, storage systems equipped with flash memory deploy FTL(Flash Translation Layer) software. Several FTL algorithms have been suggested so far and most of them prefer sequential write pattern to random write pattern. In this paper, we provide a new technique to efficiently store and maintain the B-tree index on flash memory. The operations like inserts, deletes, updates of keys for the B-tree generate random writes rather than sequential writes on flash memory, leading to inefficiency to the B-tree maintenance. In our technique, we convert random writes generated by the B-tree into sequential writes and then store them to the write-buffer on flash memory. If the buffer is full later, some sequential writes in the buffer will be issued to FTL. Our diverse experimental results show that our technique outperforms the existing ones with respect to the I/O cost of flash memory.

• KIISE Transactions on Computing Practices
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• v.21 no.10
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• pp.639-644
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• 2015

The capacity of flash-based storage such as Solid State Drive(SSD) and embedded Multi Media Card(eMMC) is ever-increasing because of the needs from the end-users. However, if a flash-based storage crashes, such as during power failure, the flash translation layer(FTL) is responsible for the crash recovery based on the entire flash memory. The recovery time increases as the capacity of the flash-based storages increases. We propose O1FTL with O(1) crash recovery time that is independent of the flash capacity. O1FTL adopts the working area technique suggested for the flash file system and evaluates the design on a real hardware platform. The results show that O1FTL achieves a crash recovery time that is independent of the capacity and the overhead, in terms of I/O performance, and achieves a low P/E cycle.