• 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.

• The Journal of Information Technology
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• v.4 no.2
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• pp.25-36
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• 2001

In this paper, we present the development of distributed dual real-time kernel system. This paper proposed that real-time applications should be split into small and simple parts with real-time constraints, Following this concept we have designed to preserve the properties of both hard real-time kernel and general kernel. To satisfy these properties, we designed real-time kernel and general kernel, that have their different properties. In real-time tasks, interrupt processing should be un. In general kernel, non real-time tasks or general tasks are run. We compared the results of this study for performance of the proposal real-time kernel with both RT Linux 0.5a and QNX 4.23A, that is, of interrupt latency scheduling precision and message passing.

• Journal of Information Technology Applications and Management
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• v.14 no.3
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• pp.227-236
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• 2007

Students in cyber universities can take every course because there are no physical constraints such as class rooms. On the other hand. cyber universities should take a heavy burden to schedule real-time exams in a designated time period. Any two courses a student takes must not be simultaneously allocated to a time slot in such a schedule. It is well known that the complexity of this kind of scheduling problem increases exponentially as the number of courses does. This research provides a heuristic method to make on-line real-time exam timetables with minimal exam time span. It considers the constraint of not allocating courses a student takes to simultaneous exam time and prioritizes courses by the number of students.

• Journal of Electrical Engineering and information Science
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• v.1 no.1
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• pp.118-128
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• 1996

In safety critical hard real-time systems, a timing fault may yield catastrophic results. In order to eliminate the timing faults from the fast responsive real-time control systems, it is necessary to schedule a code based on high precision timing analysis. Further, the schedulability enhancement by having multiple processors is of wide spread interest. However, although an instruction level parallel processing is quite effective to improve the schedulability of such a system, none of the real-time applications employ instruction level parallel scheduling techniques because most of the real-time scheduling models have not been designed for fine-grain execution. In this paper, we present a timing constraint model specifying high precision timing constraints, and a practical approach for constructing static schedules for a VLIW execution model. The new model and analysis can guarantee timing accuracy to within a single machine clock cycle.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.4
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• pp.57-64
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• 2012

Multiplayer, real-time games are a kind of soft real-time systems because a game server has to respond to requests from many clients within specified time constraints. Client events have different timeliness and consistency requirements according to their nature in the game world. These requirements lead to different priorities on CPU processing. Events can be divided into different groups, depending on their consistency degree and priority. To handle these events with different priority and meet their timing constraints, we propose a priority-based group task scheduling policy in this paper. The number of clients or events requested by each client may be increased temporarily. In the presence of transient overloading, the game server needs to allocate more CPU bandwidth to serve an event with the higher priority level preferentially. The proposed scheduling policy is capable of enhancing real-time performance of the entire system by maximizing the number of events with higher priority completed successfully within their deadlines. The performance of this policy is evaluated through extensive simulation experiments.

• Journal of Korea Multimedia Society
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• v.16 no.4
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• pp.493-501
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• 2013

A key challenge in massively multiplayer on-line game(MMOG) systems is providing real-time response latencies to the large number of concurrent game players. MMOG systems are a kind of soft real-time systems because requests from many players should be responded within specified time constraints. Client events have different timeliness and consistency requirements according to their nature in the game world. These requirements lead to tasks with different priorities on CPU processing. In order to meet their timing constraints, we propose priority scheduling methods that attempt to allocate preferentially more CPU bandwidth to serve an task with the higher priority level in the presence of transient overloading. The proposed scheduling methods are capable of enhancing real-time performance of MMOG system by maximizing the number of tasks with higher priority completed successfully within their deadlines while minimizing total average latency of tasks finished after given deadlines. The performance of these scheduling methods is evaluated through extensive simulation experiments.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.10
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• pp.1518-1527
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• 1989

We proposed a technique to design a multimicrocomputer system for real-time parallel processing with an interconnection network which has good network latency time. In order to simplify the performance evaluation and the design procedure under the hard real-time constraints we defined network latency time which takes into account the queueing delays of the networks. We designed a dynamic interconnection network following the proposed technique, and the simulation results show that we can easily estimate the multimicrocomputer system's approximate performance using the defined network latency time before the actual design, so this definition can help the efficient design of the real-time parallel processing systems.

• The Transactions of the Korea Information Processing Society
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• v.7 no.4
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• pp.1062-1072
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• 2000

The applications developing in distributed object computing enviroments are faced with the difficulties for managing various lots of distributed objects. Also, because the most multimedia service, like video, audio, and so forth, must be satisfied itself with real-time constraints, the users also are feeling with necessary to apply real-time mechanisms to distributed multimedia services. The goal of this paper is to solve the problems for managing distributed objects, and to be easy to develop complex applications that can provide real-time services. To do this, we designed and implemented a real-time object group platform that can be placed between applications and CORBA. This platform is extended the existing object group model[13,14] added to the scheduler and timer object components for supporting real-time concept. We designed the components for platform by using James Rumbaugh object modeling technology that consists of object, function, and dynamic model. And then we described the detailed interfaces of the components by IDL, and implemented our real-time object group's platform using OrbixMT 22 which is the IONA Technologies' ORB product. Finally, we showed the execution procedures of the schduler object of each components in a real-time object group platform.

• Journal of the Korean Operations Research and Management Science Society
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• v.25 no.3
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• pp.81-89
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• 2000

The real-time multicast problem is to construct a multicast tree starting from a source node and including multiple destination nodes and that has minimum network cost with delay constraints. It is known that to find a tree of the minimum network cost is the Steiner Tree problem which is NP-complete. In this paper, we propose a genetic algorithm to solve the multicast tree with minimum network cost and the delay constraints. The computational results obtained by comparing an existing algorithm. Kompella algorithm, and the proposed algorithm show that our algorithm tends to find lower network cost on the average than Kompella algorithm does.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.145-150
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• 1999

A real-time control system, composed of the controlled processor and the controller computer(s), may have a variety of task types, some of which have tight timing-constraints in generating the correct control input. The maximum period of those task failures tolerable by the system is called the hard deadline, which depends on not only fault characteristics but also task characteristics. In the paper, we extend a method deriving the hard deadline in LTI system executing single task. An algorithm to combine the deadlines of all the elementary tasks in the same operation-mode is proposed to derive the hard deadline of the entire system. For the end, we modify the state equation for the task to capture the effects of task failures (delays in producing correct values) and inter-correlation. We also classify the type of executing the tasks according to operation modes associated with relative importance of correlated levels among tasks, into series, parallel, and cascade modes. Some examples are presented to demonstrate the effectiveness of the proposed methods.