• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.622-629
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• 1999

This paper discusses a real time multi-tasking system model and a development environment for an elevator control system. Recently, as the elevator systems become large-scaled and operate with high speed, there are lots of software tasks to be processed with time constraints. Thus, the control systems are designed with distributed control structure and characteristics of typical real time systems. For stuructural design of such real time system, we introduce a multi-tasking model based on a real time operating system model and an software development environment based on virtual protopyping which simulates real system operation in the cross development of a new elevator system with distributed control structure and its system reliability can be verified through numerous field tests.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2004년도 봄 학술발표논문집 Vol.31 No.1 (A)
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• pp.160-162
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• 2004

실시간 운영 체제(Real-Time Operating Systems)는 시스템 동작이 논리적 정확성뿐만 아니라 시간적 정확성에도 좌우되는 운영 체제이다. 시간 결정성(Time Determinism)을 지키기 위해서는 시스템에서 발생하는 모든 사건에 대해서 예측이 가능해야 한다. 시스템에서 발생하는 사건은 인터럽트에 의해 처리되는데, 이것은 비동기적인 사건의 발생을 CPU에게 알리는 하드웨어 메커니즘으로서 인터럽트 서비스 루틴(Interrupt Service Routine ： ISR)을 통해서 인터럽트에서 처리해야 할 부분을 수행한다. 본 논문에서는 인터럽트의 처리를 인터럽트의 인지와 처리로 분리할 수 있도록 LISR과 HISR을 설계로 구현하였다.

• 대한기계학회논문집A
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• 제23권6호
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• pp.922-930
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• 1999

This paper describes a new 14-CPU real-time distributed automatic gauge control (AGC) system for POSCO's No. 2 Hot Strip Mill at Pohang Works. The new AGC system has adopted gaugemeter AGC, Monitor AGC, and roll gap disturbance compensators. The computer system for the new AGC system has been developed based on VMEbus computer systems and a commercial real-time operating system. A VMEbus computer system is also used for the position servo control of hydraulic cylinders. All the application programs and input/output signals have been reasonably distributed over the control computer systems for the maximum reliability and effectiveness of the system. The new AGC system has been successfully used for the No. 2 Hot Strip Mill.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제13권3호
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• pp.141-152
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• 2007

본 논문에서 우리는 ELOS(Embedded Lightweight Operating System)라 불리는 이벤트 기반의 운영체제와 멀티흡 에드혹 라우팅 프로토콜로 구성된 네트워크 기반의 소형 실시간 시스템의 구조를 제시한다. 효율적인 실시간 프로세싱을 위하여 보장된 시간 슬롯을 가진 조건적 선점형 FCFS 스케줄러가 개발되었다. 보다 정교한 네트워크 구성을 위하여 무선 에이전트 노드를 통한 반자동 구성(semi-auto configuration) 방식을 사용한다. 개발된 소프트웨어 시스템은 자체 개발한 소형 하드웨어 프로토타입에서 구현되었다. 또한, 제안된 시스템의 성능을 평가하기 위해서, 우리는 유비쿼터스 네트워크 테스트 베드를 개발했고, 다양한 환경에서의 실험이 이루어 졌다. 실험 결과를 통하여 제안된 ELOS 시스템은 실시간 제약을 가진 네트워크 기반의 소형 유비쿼터스 시스템에 상당히 알맞은 시스템이라는 것을 확인한다.

• 한국자동차공학회논문집
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• 제16권2호
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• pp.8-17
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• 2008

This paper presents the Matlab/Simulink-based software-in-the-loop simulation(SILS) environment which is the co-simulator for temporal and functional simulations of control systems. The temporal behavior of a control system is strongly dependent on the implemented software and hardware such as the real-time operating system, the target CPU, and the communication protocol. The proposed SILS abstracts the system with tasks, task executions, real-time schedulers, and real-time networks close to the implementation. Methods to realize these components in graphical block representations are investigated with Matlab/Simulink, which is most commonly used tool for designing and simulating control algorithms in control engineering. In order to achieve a seamless development from SILS to rapid control prototyping (RCP), the SILS block-set is designed to support automatic code generation without tool changes and block modifications.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권10호
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• pp.3423-3438
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• 2014

In recent years, wearable sensor devices are reshaping the way people live, work, and play. A wearable sensor device is a computer that is subsumed into the personal space of the user, and is always on, and always accessible. Therefore, among the most salient aspects of a wearable sensor device should be a small form factor, long battery lifetime, and real-time characteristics. Thereby, sophisticated applications of a wearable sensor device use real-time operating systems to guarantee real-time deadlines. The deterministic multi-dimensional task scheduling algorithms are implemented on ARC (Actual Remote Control) with relatively limited hardware resources. ARC is a wearable wristwatch-type remote controller; it can also serve as a universal remote control, for various wearable sensor devices. In the proposed algorithms, there is no limit on the maximum number of task priorities, and the memory requirement can be dramatically reduced. Furthermore, regardless of the number of tasks, the complexity of the time and space of the proposed algorithms is O(1). A valuable contribution of this work is to guarantee real-time deadlines for wearable sensor devices.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1117-1123
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• 2008

This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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• pp.519-522
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• 1998

The Constructive Battle simulation Model is very important to the recent military training for the substitution of the field training. However, real battlefield systems operate under rea-time conditions, they are inherently distributed, concurrent and dynamic. In order to reflect these properties by the computer-based simulation systems which represent real world processes, we have been developing constructive simulation model for several years. The constructive simulation system is one of the famous real-time system software, nd the one common feature of all real-time systems is defined as the correctness of the system depend not only on the logical result of computation, but also on the time at which the results are produced. Conventionally, scheduling and resource allocation activities which have timing constraints are major problem of real-time computing systems. To overcome these constraints, we elaborated on these issues and developed the simulation system on commercially available hardware and operating system with lock-free resource allocation scheme and rae monotonic scheduling.

• 제어로봇시스템학회논문지
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• 제10권8호
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• pp.689-695
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• 2004

This paper presents a robot system that combines computer network and an autonomous mobile robot where RTOS is installed. We propose a wireless communication protocol, and also implement it on the RTOS of the robot system. Main controller of the robot processes the control program as a task type in the real-time operating system. Peripheral devices are driven by the device driver functions with the dependency of the hardware. Because the client and server program was implemented to support the multi-platforms by Java SDK and Java JMF, it is easy to analyze programs, maintain system, and correct the errors in the system. End-user can control a robot with a vision showing remote sight over the Internet in real time, and the robot is moved keeping away from the obstacles by itself and command of the server received from end-user at the local client.

• 한국정보과학회논문지:시스템및이론
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• 제37권1호
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• pp.35-42
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• 2010

가상화 환경에서는 여러 개의 게스트 운영체제가 자원을 공유하고 있는데 특히 CPU는 시간 분할 방식에 의해 분배 된다. 따라서 각 가상 머신은 모든 물리 시간을 점유하지 못하고, 이는 CPU를 점유하지 못한 시간에 동작해야 하는 태스크 실행이 보장되지 못하는 결과를 야기시킨다. 이와 같은 응답성의 저하는 기존의 서버 가상화에서 치명적인 문제가 되지 않으나 임베디드 시스템에서 동작하는 실시간 태스크 측면에서는 중요하게 다루어 져야 하는 요구사항이 된다. 본 논문에서 우리는 실시간성과 관련된 타이머를 가상 머신 모니터에 등록할 수 있는 하이퍼콜을 제안한다. 이 하이퍼콜을 통하여 등록된 타이머는 만료된 시점에 해당 가상 머신이 실행되게 한다. 따라서 실시간성을 요하는 태스크들이 의도된 시간에 실행 가능하게 하며 다른 가상 머신의 기아 현상을 완화시켜 준다. 이어지는 실험에서는 Xen-Arm에 이를 구현하여 게스트 운영체제인 리눅스에서의 실시간성을 평가한다. 특히 테스트 응용과 Mplayer의 응답성 및 초당 프레임 수를 측정하여 한 개의 게스트 운영체제만이 동작하는 환경에서와 비슷한 실시간성이 지원될 수 있음을 보인다.