• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.375-378
• /
• 1996

Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.

• 제어로봇시스템학회논문지
• /
• 제17권1호
• /
• pp.38-46
• /
• 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.

• 미생물학회지
• /
• 제49권3호
• /
• pp.292-296
• /
• 2013

본 연구는 multiplex real-time PCR을 이용하여 Actinobacillus actinomycetemcomitans, Campylobacter rectus, Porphyromonas gingivalis, Tannerella forsythus, Treponema denticola, Prevotella intermedia 등과 같은 6종의 주요 치주 질환 원인 미생물들을 동시에 검출할 수 있는 분석 방법에 관한 것이다. 4개의 형광 염료를 사용하여 internal control과 함께 3개의 균종씩 나누어 분석하였으며, 분석 대상 균종 간 그리고 다른 종류의 구강 미생물 균종과의 간섭과 교차 반응이 없음을 확인하였다. 본 연구의 multiplex real-time PCR은 타액과 플라그 등의 다양한 샘플에 포함되어 있는 각 미생물들을 정성, 정량적으로 분석할 수 있었으며, 치주염 환자와 건강한 사람들에 대한 비교 분석 결과 분명한 차이를 발견 할 수 있었다.

• 센서학회지
• /
• 제22권4호
• /
• pp.262-267
• /
• 2013

We developed a real-time screening system using optical coherence tomography (OCT) to distinguish the fruitful melon seeds efficiently. Cross-section images of melon seeds infected with Cucumber green mottle mosaic virus (CGMMV) showed an additional layer that did not appear in normal seeds. Additional layer appeared under $100{\sim}300{\mu}m$ from the surface of the seed. OCT can visualize the micro-structural and morphological changes of the internal seed structure. Real-time OCT seed screening system provided the real-time, non-destructive, cross-section image and quantitative information such as A-scan analysis of selected region in the cross-section image. We can distinguish the viral infection seeds while monitoring the averaged A-scan analysis graph in real-time by considering the second peak value of the graph which refers to the layer that occurred owing to the virus. Real-time OCT seed screening system could assist to distinguish the disease caused by CGMMV.

• 한국식품위생안전성학회지
• /
• 제26권2호
• /
• pp.114-119
• /
• 2011

본 연구에서는 신선편의 채소와 과일에서 주로 검출되는 대장균(E. coli Ol577:H7), 리스테리아(L. monocytogenes), 살모넬라(Salmonella, spp.), 형색포도상구균(S. aureus)을 검출하고 동정할 수 있는 real time PCR 방법을 melting curve 분석을 활용하여 single tube 반응으로 두 종의 식중독균을 동시 검출하는 방법을 개발하고자 하였다. 대장균의 ${\beta}$-glucuronidase (uidA), 황색포도상구균의 thermonuclease (nuc), 리스테리아의 hemolycin (hly), 살모넬라의 tetrahionate reductase (ttr) 를 특이적으로 검출할 수 있는 4종의 프라이머 세트에 대한 real-time PCR의 melting curve 분석을 통하여 황색포도상구균과 대장균 동시분석 시 $T_m$ 값이 $80.6{\pm}0.9^{\circ}C$와 $86.9{\pm}0.5^{\circ}C$, 리스테리아와 살모넬라 동시분석 시 Tm 값이 $80.4{\pm}0.6^{\circ}C$와 $88.1{\pm}0.11^{\circ}C$로 확인하였고, 그 결과 정제되어진 각 식중독균의 genomic DNA를 주형으로 한 duplex real-time PCR 방법이 uniplex real-time PCR 방법과 마찬가지로 10 genome equivalents 까지 검출할 수 있는 민감도를 나타내었다. 또한, 양배추에 네 종의 식중독균을 접종하고, 증균배양 없이 DNA를 추출하여 duplex real-time PCR 을 수행한 결과 모든 식종목균에서 $10^3$ CFU/g의 검출 한계를 나타내었다. 결과적으로 개발된 melting curve 분석을 이용한 duplex real-time PCR 방법은 식품안전 증진을 위한 시간, 노동력, 비용 절감에 있어서 유효한 방법이 될 것으로 판단된다.

• 전자공학회논문지A
• /
• 제31A권10호
• /
• pp.21-30
• /
• 1994

We discussed the Distributed Control System's design on preface and analyzed time of the real-time communication by using designed system. The DCS proposed in this thesis was implemented to network file system having recovery advantage and shared memory method to access file system of a Remote Station with ease. Also, this system minimized the network delay-time by using the real-time VME147 board. In implemented DCS, the performance analysis of real-time process of a Remote Station was done to get the total time for reak-tune communication from a Remote Station to the Central Station after terminating of process. For the analysis of system performance, we experiented by three steps. Firstly, we measuredthe processing the of LOOP function that real-time CPU convertes to-2,500~10.000 values from the input data of the Analog Interface Card. Secondly, we measured the processing time of the LOGIC function and the LOOP function. Lastly, we measured total processing time for communication from a Remote Station to the Centrol Station.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
• /
• pp.797-801
• /
• 2003

In this paper, a real-time communication method using a PICNET-NP (Plant Instrumentation and Control Network for Nuclear Power plant) is proposed with an analysis of the control network requirements of DCS (Distributed Control System) in nuclear power plants. The method satisfies deadline in case of worst data traffics by considering aperiodic and periodic real-time data and others.

• 로봇학회논문지
• /
• 제7권4호
• /
• pp.292-298
• /
• 2012

It is a real-time system that the system correctness depends not only on the correctness of the logical result of the computation but also on the result delivery time. Real-time Operating System (RTOS) is a software that manages the time of a microprocessor to ensure that the most important code runs first so that it is a good building block to design the real-time system. The real-time performance is achieved by using real-time mechanisms through data communication and synchronization of inter-task communication (ITC) between tasks. Therefore, test on the response time of real-time mechanisms is a good measure to predict the performance of real-time systems. This paper aims to analysis the response characteristics of real-time mechanisms in kernel space for real-time embedded Linux: RTAI and Xenomai. The performance evaluations of real-time mechanism depending on the changes of task periods are conducted. Test metrics are jitter of periodic tasks and response time of real-time mechanisms including semaphore, real-time FIFO, Mailbox and Message queue. The periodicity of tasks is relatively consistent for Xenomai but RTAI reveals smaller jitter as an average result. As for real-time mechanisms, semaphore and message transfer mechanism of Xenomai has a superior response to estimate deterministic real-time task execution. But real-time FIFO in RTAI shows faster response. The results are promising to estimate deterministic real-time task execution in implementing real-time systems using real-time embedded Linux.

• 제어로봇시스템학회논문지
• /
• 제14권4호
• /
• pp.376-380
• /
• 2008

This paper deals with a performance analysis of real-time control systems, which engages DMR(dual modular redundancy) to detect transient errors and checkpointing technique to tolerate transient errors. Transient errors are caused by transient faults and the most significant type of errors in reliable computer systems. Transient faults are assumed to occur according to a Poisson process and to be detected by a dual modular redundant structure. In addition, an equidistant checkpointing strategy is considered. The probability of the successful task completion in a real-time control system where periodic checkpointing operations are performed during the execution of a real-time control task is derived. Numerical examples show how checkpoiniting scheme influences the probability of task completion. In addition, the result of the analysis is compared with the simulation result.

• 한국컴퓨터정보학회논문지
• /
• 제10권3호
• /
• pp.75-88
• /
• 2005

본 논문에서는 원격으로 제어 가능한 실시간 시스템에서 발생 가능한 악의적인 코드 삽입에 의한 보안 공격을 방지할 수 있는 방법을 제안한다. 제안하는 방법은 원격으로 제어 코드를 전달하여 시스템을 업그레이드하는 경우 전달된 제어 코드의 안전성을 실행 전에 분석하는 방법으로서 정적 프로그램 분석 방법을 이용한다. 제안하는 분석 방법을 구현한 도구를 컴파일러 내에 삽입하여 실제 원격으로 소프트웨어 업그레이드가 가능한 실시간 시스템 환경에 적용하여 효용성을 검증하였다.