• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.38-46
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• 2011

The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10ms.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.7
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• pp.602-617
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• 1990

In this paper, we analyze the performance of D-channel access protocol at the S-reference point for the ISDN user network interface recommended by CCITT. For the case of multipoint access to D-channel, a queueing model of D-channel access protocol is proposed. The delay is analyzed by decomposing it into waiting queue delay and contention delay. The contention delay is decomposed further into vain contention delay and pure contention delay so the analysis of the priority queueing system with symmetrical and asymmetrical arrival rates may be applied. The numerical results obtained are compared with the results of the single station queueing system served by the non-preemptive priority.

• Journal of Communications and Networks
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• v.18 no.4
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• pp.610-618
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• 2016

A green cognitive radio network (CRN), characterized by base stations (BSs) that conserve energy during sleep periods, is a promising candidate for realizing more efficient spectrum allocation. To improve the spectrum efficiency and achieve greener communication in wireless applications, we consider CRNs with an long term evolution advanced (LTE-A) structure and propose a novel energy-saving strategy. By establishing a type of preemptive priority queueing model with a single vacation, we capture the stochastic behavior of the proposed strategy. Using the method of matrix geometric solutions, we derive the performance measures in terms of the average latency of secondary user (SU) packets and the energy-saving degree of BSs. Furthermore, we provide numerical results to demonstrate the influence of the sleeping parameter on the system performance. Finally, we compare the Nash equilibrium behavior and social optimization behavior of the proposed strategy to present a pricing policy for SU packets.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2369-2373
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• 2001

Usually the static scheduling algorithms such as DMS (Deadline Monotonic Scheduling) or RMS(Rate Monotonic Scheduling) are used for CAN scheduling due to its ease with implementation. However, due to their inherently low utilization of network media, some dynamic scheduling approaches have been studied to enhance the utilization. In case of dynamic scheduling algorithms, two considerations are needed. The one is a priority inversion due to rough deadline encoding into stricted arbitration fields of CAN. The other is an arbitration delay due to the non-preemptive feature of CAN. In this paper, an extended algorithm is proposed from an existing EDS(Earliest Deadline Scheduling) approach of CAN scheduling algorithm haying a solution to the priority inversion. In the proposed algorithm, the available bandwidth of network media can be checked dynamically by all nodes. Through the algorithm, arbitration delay causing the miss of their deadline can be avoided in advance. Also non real-time messages can be processed with their bandwidth allocation. The proposed algorithm can achieve full network utilization and enhance aperiodic responsiveness, still guaranteeing the transmission of periodic messages.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.1181-1184
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• 2005

In this paper, we proposed small scale real-time operating system for embedded system. Real-time system is characterized by the severe consequences that result if logical as well as timing correctness properties of system are not met. On real-time system, real-time operating system allows real-time applications to be designed and expanded easily. Functions can be added without requiring major changes to the software. We design small scale real-time operating system for preemptive kernel, and design kernel component such as multitasking, scheduler, task priority, semaphore, inter-task communication, clock tick timer, ISR(Interrupt Service Routine) mechanism has low interrupt latency.

• Proceedings of the Korean Environmental Health Society Conference
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• 2005.12a
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• pp.45-48
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• 2005

In 2005, the KMOE and an advisory members for environmental health policy are exploring new environmental policy directions in the 21st century by suggesting a 10-year plan of environmental health policy with its specific goals, grounded on four basic principles: preemptive environmental control instead of post hoc facto control of environmental contaminants or discharged substances, receptor-centered approach, priority on protection of the people vulnerable and sensitive to environmental contamination, and warranty of citizens' rights to be engaged and informed. Such new policy challenges in the area of environmental health, which must be significant of important policy shift for environmental health in the 21t century, is expected to conduct to improvement of environmental health in Korea and Northeast Asian Regions as well.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2005.05a
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• pp.866-872
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• 2005

본 연구는 비축출형 우선순위 2-계층 대기행렬을 다룬다. 각 계층별 고객들은 마코비안 도착과정(Markovian arrival process, MAP)에 의하여 시스템에 도착하고, 각 계층마다 고유의 임계점을 갖는다. 시스템 내에 고객들이 존재하지 않으면 서어버는 유휴해지고 어느 계층이든지 상관없이 계층에 부여된 임계점에 먼저 도달하면 서어버는 서비스를 시작한다. 우선순위가 높은 고객들을 먼저 서비스하는 비축출형 우선순위 서비스규칙을 따른다. 본 연구에서는 각 계층별 고객들의 대기시간분포에 대한 라플라스(Laplace-Stieltjes) 변환과 평균 대기시간을 유도한다.

• Journal of Korean Society for Quality Management
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• v.31 no.3
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• pp.114-125
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• 2003

In this paper, we deal with the problem of modeling of agent-based robot manufacturing cell. Its role is becoming increasingly important in automated manufacturing systems. For Object Oriented & Queueing Petri Nets (OO&QPNs), an extended formalism for the combined quantitative and qualitative analysis of different systems is used for structure and performance analysis of mobile robotic cell. In the case study, the OO&QPN model of a mobile robotic cell is represented and analyzed, considering multi-class parts, non-preemptive priority and alternative routing. Finally, the comparison of performance values between Shortest Process Time (SPT) rule and First Come First Serve (FCFS) rule is suggested. In general, SPT rule is most suitable for parts that have shorter processing time than others.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.223-223
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• 2000

Embedded system area has brought an innovation and has been spread rapidly by the growth of the Internet, wireless telephony and multimedia recently. Many embedded systems are required to be real-time systems in that it needs multi-tasking and priority based scheduling. This paper introduces a real-time system that was developed with web server ability for control and monitoring system employing a real-time operating system. It discusses the design model, structure, and applications of web server system. We used SNDS100 board which has a 32-bit RISC microcontroller of ARM7TDMI core as a hardware platform. MicroC/OS kernel was used as Real-time operating system that supports a preemptive and multitasking functions. We developed a hierarhchical control and monitoring system that not only reduced system and management costs, but also enhanced reusability and portability.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.10
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• pp.790-798
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• 1991

The congestion control methods of an integrated heterogeneous traffic multiplexer are studied. The real-time traffics have preemptive priority over nonreal-time traffics in capturing the common output link. Also real-time traffics are transmitted with bandwidth reduction when the nonreal-time traffics are over the buffer threshold. The proposed model formulated the system as a continous time Markov process and is analysed using matrix equation. Time delay and average number of used channel are applied for performance parameters. In this study, a new control method with the sizable buffer threshold is introduced and the optimal congestion control can be obtained.