• Journal of Computing Science and Engineering
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• 제9권2호
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• pp.51-72
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• 2015

Time predictability is crucial in hard real-time and safety-critical systems. Cache memories, while useful for improving the average-case memory performance, are not time predictable, especially when they are shared in multicore processors. To achieve time predictability while minimizing the impact on performance, this paper explores several time-predictable scratch-pad memory (SPM) based architectures for multicore processors. To support these architectures, we propose the dynamic memory objects allocation based partition, the static allocation based partition, and the static allocation based priority L2 SPM strategy to retain the characteristic of time predictability while attempting to maximize the performance and energy efficiency. The SPM based multicore architectural design and the related allocation methods thus form a comprehensive solution to hard real-time multicore based computing. Our experimental results indicate the strengths and weaknesses of each proposed architecture and the allocation method, which offers interesting on-chip memory design options to enable multicore platforms for hard real-time systems.

• 한국IT서비스학회지
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• 제16권3호
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• pp.103-111
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• 2017

The real time scheduling is a key research area in high performance computing and has been a source of challenging problems. A periodic task is an infinite sequence of task instance where each job of a task comes in a regular period. The RMS (Rate Monotonic Scheduling) algorithm has the advantage of a strong theoretical foundation and holds out the promise of reducing the need for exhaustive testing of the scheduling. Many real-time systems built in the past based their scheduling on the Cyclic Executive Model because it produces predictable schedules which facilitate exhaustive testing. In this work we propose hybrid scheduling method which combines features of both of these scheduling algorithms. The original rate monotonic scheduling algorithm didn't consider the uniform sampling tasks in the real time systems. We have enumerated some issues when the RMS is applied to our hybrid scheduling method. We found the scheduling bound for the hard real-time systems which include the uniform sampling tasks. The suggested hybrid scheduling algorithm turns out to have some advantages from the point of view of the real time system designer, and is particularly useful in the context of large critical systems. Our algorithm can be useful for real time system designer who must guarantee the hard real time tasks.

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.602-610
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• 2000

In communication networks used in safety-critical systems such as control systems in nuclear power plants there exist three types of data traffic : urgent or asynchronous hard real-time data hard real-time periodic data and soft real-time periodic data. it is necessary to allocate a suitable bandwidth to each data traffic in order to meet their real-time constraints. This paper proposes a method to meet the real-time constraints for the three types of data traffic simultaneously under a timer-controlled token bus protocol or the IEEE 802.4 token bus protocol and verifies the validity of the presented method by an example. This paper derives the proper region of the high priority token hold time and the target token rotation time for each station within which the real-time constraints for the three types of data traffic are met, Since the scheduling of the data traffic may reduce the possibility of the abrupt increase of the network load this paper proposes a brief heuristic method to make a scheduling table to satisfy their real-time constraints.

• 한국정보과학회논문지:시스템및이론
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• 제31권10호
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• pp.562-574
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• 2004

본 논문에서는 고정 우선순위 경성 실시간 시스템에 대한 에너지 측면에서의 최적의 전압 스케줄링 문제를 고려한다. 먼저, 이 문제가 NP-hard임을 증명한다. 다음으로 이 문제에 대한 fully polynomial time approximation scheme(FPTAS)을 제시한다 제안한 FPTAS는 주어진 임의의 $\varepsilon$>0에 대해 에너지 소모량이 최적의 전압 스케줄에 비해 (1＋$\varepsilon$)배 이내에 있는 전압 스케줄을 문제의 입력의 크기와 1/$\varepsilon$의 다항함수 이내의 시간에 계산해준다. 실험 결과, 제안된 FPTAS는 기존의 휴리스틱에 비해 더 효율적인 전압 스케줄을 더 빠른 시간에 찾아주었다.

• 대한임베디드공학회논문지
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• 제8권6호
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• pp.295-301
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• 2013

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

• 한국콘텐츠학회논문지
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• 제8권2호
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• pp.57-66
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• 2008

대부분의 실시간 동시성제어 기법은 주로 한 가지 종류의 실시간 트랜잭션들을 위한 데이터 충돌 해결에 적용되어왔다. 다양한 응용 프로그램 지원과 하드웨어 성능향상으로 실시간 데이터베이스 시스템에서 여러 종류의 실시간 트랜잭션들을 스케줄 할 필요성이 증가하고 있다. 본 논문에서는 하드와 소프트 실시간 트랜잭션들 사이의 데이터 충돌을 해결하는 통합된 동시성제어 기법을 제안한다. 기존에 연구된 PCP(Priority Ceiling Protocol)와 MVPR(Multiversion with Precedence Relationship) 기법을 기반으로 하드 실시간 트랜잭션이 종료시한 내에 작업을 종료하도록 보장하며 종료시한을 만족하는 소프트 실시간 트랜잭션의 비율을 향상시키도록 한다. 제안한 통합된 동시성제어 기법이 직렬화가능 스케줄을 만족시키고 교착상태를 발생시키지 않음을 증명하였다. 모의실험을 통하여 다른 동시성제어 기법과 성능평가 비교를 하였다.

• 제어로봇시스템학회논문지
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• 제3권4호
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• pp.373-380
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• 1997

In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.

• Journal of Computing Science and Engineering
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• 제7권2호
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• pp.89-98
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• 2013

This paper presents a complete survey of recent techniques that are applied in the field of real-time Java computing. It focuses on the issues that are especially important for hard real-time applications, which include time predictable garbage collection, worst-case execution time analysis of Java programs, real-time Java threads scheduling and compiler techniques designed for real-time purpose. It also evaluates experimental frameworks that can be used for researching real-time Java. This overview is expected to help researchers understand the state-of-the-art and advance the research in real-time Java computing.

• 한국군사과학기술학회지
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• 제16권3호
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• pp.260-267
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• 2013

A combat system for navy's battleship is a system of systems who supports naval indigenous operations by integrating and inter-operating many different kind of weapon and non-weapon systems, which has characteristics of large-scale complex computing system. This paper considers a characteristics of naval combat system which has been developed by domestic technology and suggests a way to improve future naval combat system in terms of computing architecture by applying commercial real-time operating system technologies. This paper also provides an evaluation criteria for combat system adaptability of real-time operating systems.

• Journal of Computing Science and Engineering
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• 제8권1호
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• pp.25-33
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• 2014

In this paper, we quantitatively compare two different time-predictable multicore cache architectures, separate and statically-partitioned caches, through extensive simulation. Current research trends primarily focus on partitioned-cache architectures in order to achieve time predictability for hard real-time multicore based systems, and our experiments reveal that separate caches actually lead to much better performance and energy efficiency when compared to statically-partitioned caches, and both of them are adequate for timing analysis for real-time multicore applications.