• 로봇학회논문지
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• 제18권3호
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• pp.281-284
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• 2023

Real-time control communication network system is important for developing defense robots because it affects environmental interaction, performance, and safety. We propose a real-time control communication network using the Xenomai real-time operating system and the open-source EtherCAT master library, SOEM. EtherCAT is an Ethernet-based industrial communication method. It has low latency and many functions such as cable redundancy and distributed clock synchronization. We use Xenomai RTOS and Intel NUC to develop the system. Experimental tests demonstrate the Real-time EtherCAT master implementation, and communication with CiA301-based slave devices. The jitter measurement was conducted to validate the real-time performance of the system. The proposed system shows possibility for real-time robotics applications in various defense robots.

• 한국멀티미디어학회논문지
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• 제24권2호
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• pp.199-207
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• 2021

It is very important to support real-time on the inspection equipment based on Windows. In particular, in the system using MIL-STD-1553B communication, which is widely used in military weapon systems, real-time is required for inspection equipment that uses mostly platforms based on Windows such as Industrial PCs. However, in order to use a complete real-time operating system such as VxWorks, the purchase cost is expensive and the implementation is complicated on the system, so it is not suitable for inspection equipment that requires simple functions to just check go or no-go. Therefore, in this paper, a Real-Time implanted Kernel(RTiK) in the Windows kernel is implanted in order to improve these defects, and real-time performance is implemented for periodically MIL-STD-1553B communication by Deferred Procedure Call(DPC) of Windows. Also, it was verified that the period of up to 2ms was guaranteed with a RDTSC into the EDX:EAX registers for measuring the periodicity.

• 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.

• 한국항공우주학회지
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• 제39권11호
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• pp.1060-1068
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• 2011

본 논문에서는 실시간 운영체제(Real Time Operating System, RTOS)기반의 실시간 임베디드 시스템용 자바 가상 머신(Jamaica Virtual Machine, JVM)을 이용한 비행운용 프로그램(Operational Flight Program, OFP)의 객체 지향적 개발사례에 대해 기술하였다. 국산화 임무 컴퓨터(Mission Computer, MC)에는 다기능 시현(Multi Functional Display, MFD), 통합 전방 상향 제어(Integrated Up-Front Control, IUFC), 전방 시현(Head-Up Display, HUD) 및 화력 제어(Fire Control, FC)를 지원하는 OFP가 각각의 프로세스에 탑재되어 구동되는데, 본 논문에서는 자바(Java) 기반의 MFD OFP(다기능 시현기에 조종사 참고 정보를 제공하는 비행운용 프로그램)와 미들웨어의 설계 및 구현에 대하여 기술하였다.

• 한국에너지공학회:학술대회논문집
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• 한국에너지공학회 1999년도 춘계 학술발표회 논문집
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• pp.171-176
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• 1999

Nondestructive inspection and accompanying life analysis based on fracture mechanics were the major conventional methods for evaluating remaining life of critical high temperature components in power plants. By using these conventional methods, it has been difficult to perform in-service inspection for life prediction. Also, quantitative damage evaluation due to unexpected abrupt changes in operating temperature was almost impossible. Thus, many efforts have been made for evaluating remaining life during operation of the plants and predicting real-time life usage values based on the shape of structures, operating history, and material properties. In this study, a core software for on-line life monitoring system which carries out real-time life evaluation of a critical component in power boiler(high temperature steam headers) is developed. The software is capable of evaluating creep and fatigue life usage from the real-time stress data calculated by using temperature/stress transfer Green functions derived for the specific headers and by counting transient cycles. The major benefits of the developed software lie in determining future operating schedule, inspection interval, and replacement plan by monitoring real-time life usage based on prior operating history.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.716-719
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• 1999

In this paper, a real-time control system for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested for tasks of tracking moving objects and compared with the conventional servo controller.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.723-726
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• 2000

In this paper, we present an abstract object-oriented plat-form model .suitable for the real-time distributed telecommunication system. The proposed platform is constructed upon the extended version of the real-time, distributed operating system, SROS(Scalable Real-time Operating System), that is developed at ETRI and successfully operated in the ATM switching system for several years. The object-oriented software development and maintenance methodology will resolve the current software crisis in the area of telecommunication and switching systems due to the everlasting maintenance about the huge amount of the existing software and the ever increasing needs for the better and new communication services. In general, an object-oriented software platform realizes the object-oriented methodology and possesses many good aspects like high productivity, better reusability, easy maintenance, et at. The platform is also designed to present the distributed multimedia service in addition to real-time event delivery. Recently, we have been implementing a couple of prototype bated on the proposed platform. Reflecting the evaluation results from these prototypes, the final platform specification will be determined.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제16권4호
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• pp.437-441
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• 2010

무선 센서 네트워크가 적용되는 새로운 응용분야는 점점 더 정교하고 복잡한 태스크 수행과 정해진 시간내에 태스크 수행을 완료해야 한다는 조건 만족을 요구하고 있다. 그러나 현재까지, 무선 센서 네트워크에서 센서 노드의 자원 제약성과 수행 작업 특성을 고려한 실시간 센서 운영체제 기반의 인터럽트 처리 기법에 관한 연구는 미비하다. 본 논문에서는 센서 운영체제에서 실시간성을 만족시키기 위한 요구 사항들을 분석하고, 이를 바탕으로 시스템을 설계 및 구현한다. 또한 다양한 검증을 통해, 제안하는 기법의 신뢰성 제공을 확인하며, 시뮬레이션을 통해 실시간 특성에 대한 요구사항 충족 및 성능의 효율성을 검증한다.

• 한국통신학회논문지
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• 제29권1C호
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• pp.157-165
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• 2004

Real-time(RT) object-oriented(OO) distributed computing is a form of RT distributed computing realized with a distributed computer system structured in the form of an object network. Several approached proposed in recent years for extending the conventional object structuring scheme to suit RT applications, are briefly reviewed. Then the approach named the TMO(Time-triggered Message-triggered Object)structuring scheme was formulated with the goal of instigating a quantum productivity jump in the design of distributed time triggered simulation. The TMO scheme is intended to facilitate the pursuit of a new paradigm in designing distributed time triggered simulation which is to realize real-time computing with a common and general design style that does not alienate the main-stream computing industry and yet to allow system engineers to confidently produce certifiable distributed time triggered simulation for safety-critical applications. The TMO structuring scheme is a syntactically simple but semantically powerful extension of the conventional object structuring approached and as such, its support tools can be based on various well-established OO programming languages such as C++ and on ubiquitous commercial RT operating system kernels. The Scheme enables a great reduction of the designers efforts in guaranteeing timely service capabilities of application systems. Start after striking space key 2 times.

• 전기학회논문지
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• 제61권6호
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• pp.797-803
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• 2012

In this paper, for minimizing the real-time operating load losses of the power transformer, a SCADA optimum operating system was developed, and the economic analyses on the test operation were performed. Transformer loss DB which reflects the economic integration operation criteria was constructed by referring the transformer manufacturer's loss data(iron loss, copper loss). Based on the loss DB, each substation transformer real-time loss was calculated according to the size of the transformer loads, and if integration or separation transformer operating conditions minimizing the loss are met, then a window pops-up and the dispatcher performs the substation equipments operation according to the procedure provided by this system. With the existing SCADA main program, the relation database of the substation facilities and integration/separation operation algorithm were developed and applied to Auto MTR Processor and pconn Processor Task module. Seven stations test data for seven months were analyzed for the economic analyses, and the results showed that Cost-Benefit ratio was 2.64, and IRR(Internal Rate of Return), 36%, which asserted the economic justification of the proposed system.