• 한국통신학회논문지
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• 제33권3C호
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• pp.219-233
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• 2008

스케줄링의 목적은 입력 작업(DAG)에 대한 스케줄 결과 길이를 최소화하는 것이다. 이런 스케줄링 문제는 잘 알려진 '정해진 시간 내에 해결하기 어려운 문제(NP-complete)'이며 최적의 스케줄링 결과 값을 얻기 위해서는 휴리스틱으로 해결해야 한다. 선후 관계의 제약을 갖는 노드들의 스케줄링을 효율적으로 수행하기 위해 부모 노드와 이질 프로세서에 대한 정보를 고려하는 TANH(the Task duplication based scheduling Algorithm for Network of Heterogeneous systems), GDL, BIL, TDS과 같은 많은 알고리즘이 제안되었다. 본 논문은 기존의 TANH 스케줄링에서 나타나는 여러 개의 부모 노드와 이질 프로세서에 대한 다양한 경우를 충분히 고려하지 못한 점을 보안하여 향상된 스케줄링을 수행할 수 있는 DTSC (Duplication based Task Scheduling with Communication Cost in Heterogeneous Systems)알고리즘을 제안하였다. 제안된 알고리즘의 성능은 기존 TANH, GDL 알고리즘과 비교하였으며, 스케줄링의 성능 향상을 보여 주었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1631-1634
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• 1997

Since surgery is usually a difficult task because of physiological tremor, eye strain, and tremor, contagious and radioactive hazard, it is necessary to develop micro-surgery telerobotic system using improved tools suitable for their specific tasks. Nowadays the growth of interest on microsurgery and medical applications of robotics has been so rapid. But the medical robots are only practical applications of the industrial robots. This paper identifies five general areas of advanced microsurgery based on the current technological background and expertise, and analyzes the motion, tool and accuracy with respect to microsurgery task, and proposed the criteria to evaluate micro-surgical manipulator. The analysis of microusrgery can be heplful to clarify some basic concept and design of micro-surgical manipulators. With these data we will alos propose an efficient in-parallel-platform manipulator having special kinematic structrue structure suitable for microsurgery.

• 한국정밀공학회지
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• 제15권9호
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• pp.158-166
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• 1998

This paper presents a geometrical approach to the characteristic analysis of parallel mechanism with free joints intended for use as a planar task robot. Solution of the forward and inverse kinematic problems are described. Because the mechanism has only three degree-of-freedom output, constraint equations must be generated to describe the inter-relationship between actuated joints and free joints so as to describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. and it is used for the solution of the forward kinematic equations by Newton-Raphson technique. Another Jacobian matrix was derived to describe the interrelationship between actuated joints and moving platform. The stiffness, velocity transmission ratio, force transmission ratio and dexterity of the mechanism are then determined based on this another Jacobian matrix. The geometrical construction of the mechanism for the best performance was investigated using the characteristic analysis.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권9호
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• pp.1544-1572
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• 2011

Task placement and scheduling are traditionally studied in following aspects: resource utilization, application throughput, application execution latency and starvation, and recently, the studies are more on application scalability and application performance. A methodology for task placement and scheduling centered on tasks based on virtual machines is studied in this paper to improve the performances of systems and dynamic adaptability in applications development and deployment oriented parallel computing. For parallel applications with no real-time constraints, we describe a thought of feature model and make a formal description for four layers of task placement and scheduling. To place the tasks to different layers of virtual computing systems, we take the performances of four layers as the goal function in the model of task placement and scheduling. Furthermore, we take the personal preference, the application scalability for a designer in his (her) development and deployment, as the constraint of this model. The workflow of task placement and scheduling based on virtual machines has been discussed. Then, an algorithm TPVM is designed to work out the optimal scheme of the model, and an algorithm TEVM completes the execution of tasks in four layers. The experiments have been performed to validate the effectiveness of time estimated method and the feasibility and rationality of algorithms. It is seen from the experiments that our algorithms are better than other four algorithms in performance. The results show that the methodology presented in this paper has guiding significance to improve the efficiency of virtual computing systems.

• 정보처리학회논문지A
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• 제11A권7호
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• pp.521-528
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• 2004

본 논문에서는 버스 기반의 클러스터 구조에 적합한 새로운 태스크 스케줄링 기법을 소개하고, PC 클러스터에 구현하여 스케줄링 기법의 성능을 분석한다. 구현된 스케줄링 기법은 태스크 그래프를 입력으로 받아 PC 클러스터로 스케줄링하며, 휴리스틱을 사용하여 태스크를 선택적으로 중복함으로써 병렬연산시간을 단축한다. PC 클러스터는 리눅스 OS가 설치된 6대의 PC가 Gigabit Ethernet으로 연결되어 있다. 통신을 위해 TCP/IP 프로토콜을 사용하며, 메시지 교환을 위해 표준화된 병렬 프로그래밍 도구로 MPI를 사용한다. 실험을 한 결과 본 논문에서 소개한 스케줄링 기법이 비교 기법보다 병렬연산시간 측면에서 성능이 우수함을 확인하였다.

• ETRI Journal
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• 제20권4호
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• pp.327-345
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• 1998

This paper deals with the problem of one-to-one mapping of 2$^n$ task modules of a parallel program to an n-dimensional hypercube multicomputer so as to minimize the total communication cost during the execution of the task. The problem of finding an optimal mapping has been proven to be NP-complete. First we show that the mapping problem in a hypercube multicomputer can be transformed into the problem of finding a set of maximum cutsets on a given task graph using a graph modification technique. Then we propose a repeated mapping scheme, using an existing graph bipartitioning algorithm, for the effective mapping of task modules onto the processors of a hypercube multicomputer. The repeated mapping scheme is shown to be highly effective on a number of test task graphs; it increasingly outperforms the greedy and recursive mapping algorithms as the number of processors increases. Our repeated mapping scheme is shown to be very effective for regular graphs, such as hypercube-isomorphic or 'almost' isomorphic graphs and meshes; it finds optimal mappings on almost all the regular task graphs considered.

• 한국정보처리학회논문지
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• 제7권4호
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• pp.1201-1210
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• 2000

In order to tolerate faults which may occur during the execution of distributed tasks in high-performance parallel computer systems, tasks are duplicated on different processors. In this paper, by utilizing the task duplication based scheduling algorithm, a new task scheduling algorithm which duplicates each task on more than two different processors with the minimum schedule length is presented, and the number of processors required for the duplication is analyzed with the ratio of communication cost to computation time and the workload of the system. A simulation with various task graphs reveals that the number of processors required for the full-duplex fault-tolerant task scheduling with the obtainable minimum schedule length increases about 30% to 75% when compared with that of the task duplication based scheduling algorithm.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제8권3호
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• pp.251-260
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• 2002

웹에 존재하는 수많은 유휴상태 호스트들을 이용한 병렬/분산 처리는 대규모 응용문제에 대해 높은 가격 대 성능비를 가진다. 웹 환경에서 병렬/분산 처리를 위하여 호스트들의 이질성 및 가변성, 자율성, 지속적인 성능보장과 참여 호스트 수 변화 등 예측할 수 없는 상태에 대한 해결책을 제시하여야 한다. 본 논문은 지리적으로 떨어져 있는 참여 호스트들의 작업 처리를 성능에 기반하는 적응적 작업 재할당 전략을 제안한다. 또한, 대규모 응용문제의 병렬 처리 중에 호스트 수가 변하는 동적 환경에 대해 동적 호스트 관리 스킴을 제공한다. 본 논문에서는 PDSWeb (Parallel/Distributed Scheme on Web) 시스템을 구현하여, 많은 연산량을 지닌 랜더링 이미지 생성에 적용하여 평가한다. 그 결과 호스트의 가변성에 대해 적응적 작업 재할당은 최고 90%이상 향상하였으며. 호스트 추가와 삭제에 따른 성능 향상 정도를 보인다.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 1999년도 가을 학술발표논문집 Vol.26 No.2 (3)
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• pp.777-779
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• 1999

A new distributed/parallel algorithm simulator, DASim(Distributed Algorithm Simulator), is proposed in this paper. The idea is to ease the task of design, analysis and implementation of distributed algorithms. A small high level language has been proposed for the purpose. Through this non-language specific high level language, the users are spared from the tedious details about how to program distributed or parallel algorithms. Further, visualization of these algorithms are pretty helpful to understand behaviors of these algorithms.

• 전자공학회논문지B
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• 제29B권1호
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• pp.11-17
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• 1992

This paper is to propose an analytical queuing model for parallel processing of sequential program with nested loops. The analytical results are compared with the results from the implemented multiprocessor system composed of four intel 8088 microprocessor, eight 2KB shared common memories, and a hardware token ring. At results, this study shows that the processed results are almost similar in proposed analytical model and real system. Proposed analytical model can be applied to evaluate parallel processing of sequential program with nested loops.