• Journal of the Institute of Electronics Engineers of Korea CI
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• v.38 no.4
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• pp.59-71
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• 2001

The Current CORBA shows some limitations for its successful deployment in real time system applications. Recently, OMG adopted Real-Time CORBA specification, which is defined as an extension to CORBA. The goal of the Real-Time CORBA is to provide a standard for CORBA ORB implementations that support 'end to end predictability'. In order to support 'end-to-end predictability', Real Time CORBA specifies many components such as priority model, communication protocol configuration, thread management, and etc. Among them, 'priority model' is the most important mechanism for avoiding or bounding priority inversion in CORBA invocations. In this paper, we present our efforts on a design ,and implementation of the Priority Model in Real-Time CORBA specification. The implementation is done as an extension of omniORB2(v.3.0.0), a popular open source non real time ORB. Experiment results demonstrate that our priority model implementation shows better performance and predictability than the non real-time ORB.

• Journal of IKEEE
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• v.17 no.1
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• pp.51-56
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• 2013

This thesis propose a improved matching method for implementing an ORB algorithm based multi-object recognition. SURF algorithm that is well known in the object recognition algorithms is robust in object recognition. However, there is a disadvantage for real time operation because, SURF implemention requires a lot of computation. Therefore we propose a modified ORB algorithm which shows the result of almost 70% speed improvement by improving matching part to recognize multi object on real time.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.10B
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• pp.1675-1689
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• 2000

We present CReMeS a CORBA-compliant design and implementation of a new real-time communication service. It provides for efficient predictable and scalable communication between information producers and consumers. The CReMeS architecture is based on MidART's Real-Time Channel-based Reflective Memory (RT-CRM) abstraction. This architecture supports the separation of QoS specification between producer and consumer of data and employs a user-level scheduling scheme for communicating real-time tasks. These help us achieve end-to-end predictability and allows our service to scale. The CReMeS architecture provides a CORBA interface to applications and demands no changes to the ORB layer and the language mapping layer. Thus it can run on non real-time Off-The-Shelf ORBs enables applications on these ORBs to have scalable and end-to-end predictable asynchronous communication facility. In addition an application designer can select whether to use an out-of-band channel or the ORB GIOP/IIOP for data communication. This permits a trade-off between performance predictability and reliability. Experimental results demonstrate that our architecture can achieve better performance and predictability than a real-time implementation of the CORBA Even Service when the out-of-band channel is employed for data communication it delivers better predictability with comparable performance when the ORB GIOP/IIOP is used.

• The Transactions of the Korea Information Processing Society
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• v.6 no.11
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• pp.3077-3085
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• 1999

Conventional caching system doesn't support Real-Time attributes and load balance. To solve these problems, this paper describes the design and implementation of the RIOP(Real-Time Inter-ORB Protocol) to provide QoS guarantees mechanism integrating RSVP and TAO ORB. Futhermore, it provides fast XCSLS(Extended Caching System for Load Balance) implementing main memory cache in Primary Server using locality of objects. In this paper, a key feature is presented : QoS enforcement, PS(Primary Server) and RS(Replicated Server)

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.89-89
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• 2000

The Current CORBA has many drawbacks to be deployed successfully in real-time system applications. Recently, OMG adopted Real-Time CORBA specification. In this paper, we report our efforts on an implementation of Priority Model of Real-Time CORBA spec., which is one of the most important components in Real-Time CORBA spec. The improvement of real-time performances of our implementation is verified experiments.

• Journal of Aerospace System Engineering
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• v.14 no.2
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• pp.1-11
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• 2020

Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

• Proceedings of the Korea Contents Association Conference
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• 2009.05a
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• pp.845-850
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• 2009

To support distributed environment that is independent and standardized between heterogeneous system, a study on the TAO(The ACE ORB) communication middleware based on the RT-CORBA is highly being done. The TAO supports real-time features not on the general purpose operating system like Windows or Linux but on the real time operating system like Vxworks or LynxOS. In this paper, we build and construct environment that supports a thread-level real time feature by porting the TAO on VxWorks target. Also we validate the ported TAO by network communication with the TAO of Windows.

• Journal of KIISE:Computing Practices and Letters
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• v.7 no.6
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• pp.602-613
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• 2001

Recently, the computing has developing in distributed object computing environment for supporting a programming paradigm of distributed application requiring interoperability between heterogeneous clients and servers. It involves the complex networking and the object-oriented technologies for various multimedia application service. In this paper, we construct the real-time object group platform for solving the difficulties of managements of distributed objects and the real-time constraints by requiring for real-time service supporting of applications in distributed computing environment. The existing researches are being tried to only improving the performance of systems by using real-time CORBA itself, or modifying the part of CORBA compliance. Hence, we design a new model of real-time object group platform that can support the real-time requirement without modifying the ORB. The structure of our real-time object group analyzed and defined the requirement about object management and real-time application service sides. And the role of the components of real-time object group is divided into 2 classes for reducing the side effect of interoperability between management and service. Also, we considered how to transparently express the parameters of real-time properties for clients and developers of server's service objects. If the expression of real-time parameters is transparent, then the developer can easily extend the real-time parameters simply and flexibly. Therefore, in this paper we defined the role of components of platform and described functions of each component and designed and then implemented the real-time object group platform. Finally, we showed the execution procedures of implemented our platform for verifying the functionality.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.32-32
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• 2000

We present CReMeS, a CORBA-compliant design and implementation of a new real-time communication service. It provide for of a new real-time communication service. It provide for efficient, predictable, and scalable communication between information producers and consumers. Experimental results demonstrate that CReMeS can achieve better performance, predictability and scalability than a Real-Time implementaion of the CORBA Event Service.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1057-1068
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• 2022

This paper compares the combination performance of feature point-based matching algorithms as a study to confirm the matching possibility between image taken by a user and a virtual texture image with the goal of developing mobile-based real-time image positioning technology. The feature based matching algorithm includes process of extracting features, calculating descriptors, matching features from both images, and finally eliminating mismatched features. At this time, for matching algorithm combination, we combined the process of extracting features and the process of calculating descriptors in the same or different matching algorithm respectively. V-World 3D desktop was used for the virtual indoor texture image. Currently, V-World 3D desktop is reinforced with details such as vertical and horizontal protrusions and dents. In addition, levels with real image textures. Using this, we constructed dataset with virtual indoor texture data as a reference image, and real image shooting at the same location as a target image. After constructing dataset, matching success rate and matching processing time were measured, and based on this, matching algorithm combination was determined for matching real image with virtual image. In this study, based on the characteristics of each matching technique, the matching algorithm was combined and applied to the constructed dataset to confirm the applicability, and performance comparison was also performed when the rotation was additionally considered. As a result of study, it was confirmed that the combination of Scale Invariant Feature Transform (SIFT)'s feature and descriptor detection had the highest matching success rate, but matching processing time was longest. And in the case of Features from Accelerated Segment Test (FAST)'s feature detector and Oriented FAST and Rotated BRIEF (ORB)'s descriptor calculation, the matching success rate was similar to that of SIFT-SIFT combination, while matching processing time was short. Furthermore, in case of FAST-ORB, it was confirmed that the matching performance was superior even when 10° rotation was applied to the dataset. Therefore, it was confirmed that the matching algorithm of FAST-ORB combination could be suitable for matching between virtual texture image and real image.