• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.194-200
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• 2006

The SoC and digital technology development recently enabled the emergence of information devices and control devices because the SoC presents many advantages such like lower power consumption, greater reliability, and lower cost. However, it is nearly impossible to use the SoC without operating systems because the SoC is included with many peripherals and complex architecture. It is required to use embedded operating systems and real-time operating systems may be used as an embedded operating system. So far, real-time operating systems are widely used to implement a Real-Time system since it meets developer's requirements. However, real-time operating systems have disadvantages including a lack of standards, expensive development, and license. Embedded Linux is able to overcome their disadvantages. In this paper, the implementation of control system platform for a mobile robot using real-time Embedded Linux is described. As a control hardware system platform, XScale board is used. As the real-time Embedded Linux, RTAI is adopted which is open source and royalty free, and supports various architectures and real-time devices, such like real-time CAN and real-time COM. This paper shows the implementation of RTAI on XScale board that means the porting procedure. We also applied the control system platform to the mobile robot and compared the Real-Time serial driver with non real-time serial driver. Experimental results show that that using RTAI is useful to build real-time control system with powerful functionalities of Linux.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.977-981
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• 2015

We propose a method for the implementation of an EtherCAT communication bus in a Linux-based open source Computerized Numerical Control (CNC) system. Recently, increasingly more CNC systems support real-time Ethernet protocols such as EtherCAT, which is a high-performance industrial communication protocol. For real-time CNC control over an Ethernet-based protocol, an additional layer driver needs to be implemented between the CNC system and the master of industrial communication protocol. Among the various solutions for the connection layer driver, we employ a Hardware Abstraction Layer (HAL) driver based on Linux. The operation of the implemented CNC system is demonstrated and confirmed by Hal Meter, which is used to observe the pins, signals, or parameters of HAL.

• The KIPS Transactions:PartA
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• v.19A no.2
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• pp.101-112
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• 2012

In recently years, distributed real-time software has performed important roles in various areas. Real-time applications should be performed with satisfying strict constraints on response time. Usually real-time applications are developed on the real-time supporting middleware such as TMO(Time-triggered, Message-triggered Object), CORBA/RT, and RTAI. However, it is not easy to develop applications using them since these real-time middleware are unfamiliar to programmers. In this paper, we propose an automatic code generator for real-time application based on TMO in order to reduce development costs. For increasing or reflecting the characteristics of TMO into the design model, SpM and SvM methods are added into the class diagram, which have time constraints as their properties. And behaviors of them are represented as separated regions on state machine diagram in different abstract level. These diagrams are inputted into TMO-based code automatic generator, which generates details of the TMO class. Our approach has advantages for decreasing effort and time for making real time software by automatically generating TMO codes without detailed knowledge of TMO.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.940-946
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• 2004

In this paper, an efficient real-time control architecture for autonomous navigation of powered wheelchair is developed. Since an advanced intelligent wheelchair requires real-time performance, the control software architecture of powered wheelchair is developed under Linux real-time extension Real-time Application Interface (RTAI). A hierarchical control structure for autonomous navigation is designed and implemented using real-time processe and interrupts handling of sensory perception based on slanted surface LRF, emergency handling capability, and motor control with 0.1 msec sampling time. The performance of our powered wheelchair system with the implemented control architecture for autonomous navigation is verified via experiments in a corridor.

• Journal of Power Electronics
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• v.12 no.2
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• pp.305-316
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• 2012

The paper presents an accurate loss model based controller of an induction motor to calculate the optimal air gap flux. The model includes copper losses, iron losses, harmonic losses, friction and windage losses, and stray losses. These losses are represented as a function of the air gap flux. By using the calculated optimal air gap flux compared with rated flux for speed sensorless indirect vector controlled induction motor, an improvement in motor efficiency is achieved. The motor speed performance is improved using a fuzzy logic speed controller instead of a PI controller. The fuzzy logic speed controller was simulated using the fuzzy control interface block of MATLAB/SIMULINK program. The control algorithm is experimentally tested within a PC under RTAI-Linux. The simulation and experimental results show the improvement in motor efficiency and speed performance.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.263-272
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• 2008

We implemented a real-time servo system for a manipulator based on Laser Range Finder (LRF). and established algorithms for grasping a moving cylinder. We devised a manipulator mechanism and driving hardware based on a system board equipped with Xscale Processor with real-time operating system RTAI on Linux. The manipulator motor driver is connected to the system board via CAN communication link, and LRF is connected via RS-232C. We implemented real-time software including CAN device driver, RS-232C device driver, manipulator trajectory generator, and LRF control software. A typical application experiment for grasping a cylinder with circle motion demonstrated our system's real-time performance.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.2 s.308
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• pp.20-27
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• 2006

This paper proposes to use the UPnP as a middleware for robots. It describes the advantages of the UPnP by comparing it with the TAO CORBA that was used in a few robot development projects. We select a sample robot architecture, and examine the possible use of the UPnP as a robot middleware. This paper shows how the UPnP architecture can be applied to building a robot in the view of software architecture, message mapping, realtime, priority, network selection, performance, memory footprint, and deployment issues.