• Title/Summary/Keyword: Real-time Operating System

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Implementation of Real-time EtherCAT Control System based on Open Source (오픈소스 기반의 실시간 EtherCAT 제어 시스템의 구현)

  • Yunjin Kyung;Dongil Choi
    • The Journal of Korea Robotics Society
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    • v.18 no.3
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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.

Implementation for Real-Time of MIL-STD-1553B Communication in Inspection Equipment Based on Windows with RTiK and DPC Control (RTiK과 DPC 제어를 통한 윈도우즈 기반의 검사장비에서 MIL-STD-1553B 통신의 실시간 구현)

  • Kim, Jong-Jin;Lee, Sang-Gil;Lee, Cheol-Hoon
    • Journal of Korea Multimedia Society
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    • v.24 no.2
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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.

Programing development environment for the elevator controller of real-time systems (실시간 시스템인 승강기 제어기 프로그램 개발)

  • Choe, Byeong-Uk;Im, Kye-Young;Go, Kyung-Chul
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.5
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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.

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Design and Implementation of Multi-Function Display Operational Flight Program and Middleware Using Real-Time and Embedded System Java Virtual Machine (실시간 임베디드 시스템용 자바 가상머신을 이용한 다기능 시현 비행운용 프로그램 및 미들웨어 설계 및 구현)

  • Won, Hyeon-Kwon;Jeong, Chai-Hun;Choi, Kyong-Sik;Kim, Jong-Pil;Kim, In-Gyu
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.39 no.11
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    • pp.1060-1068
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    • 2011
  • In this paper, we present a development of an Operation Flight Program(OFP) on Real Time Operating System(RTOS) and Java Virtual Machine(JVM) of real-time and embedded system. The OFPs are consisted of Multi Function Display(MFD), Integrated Up Front Control(IUFC), Head Up Display(HUD) and Fire Control(FC) and loaded for localization Mission Computer(MC). This paper describes the structure and implementation of a MFD OFP and middleware based on Java.

Development of On-line Life Monitoring System Software for High-temperature Components of Power Boilers (보일러 고온요소의 수명 감시시스템 소프트웨어 개발)

  • 윤필기;정동관;윤기봉
    • Proceedings of the Korea Society for Energy Engineering kosee Conference
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    • 1999.05a
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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.

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Implementation and Permance Evaluation of RTOS-Based Dynamic Controller for Robot Manipulator (로봇 매니퓰레이터를 위한 RTOS 기반 동력학 제어기의 구현 및 성능평가)

  • 임동철;국태용
    • Proceedings of the IEEK Conference
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    • 1999.11a
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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.

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An Abstract Object-Oriented Platform Model for an ATM Switching System

  • Kim, Young-Man;Jung, Boo-Geum;Lee, Eun-Hyang;Lim, Dong-Sun
    • Proceedings of the IEEK Conference
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    • 2000.07b
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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.

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A Real-time Interrupt Handling Scheme for Efficient Sensor Operating Systems (효율적인 센서 운영체제를 위한 실시간 인터럽트 처리 기법)

  • Ahn, Jae-Hoon;Choi, Kyu-Ho;Kim, Tae-Hyung;Hong, Ji-Man
    • Journal of KIISE:Computing Practices and Letters
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    • v.16 no.4
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    • pp.437-441
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    • 2010
  • A new application area in which wireless sensor networks are applied requires the performance of more elaborated and complicated task and the completion of those tasks within a time limit. Until now, it is, however, insufficient to do research on the mechanism of handling interrupt based on real-time sensor operating systems which carefully consider the limitation of resources of sensor nodes and the property of tasks which is executed in a wireless sensor network area. In this paper, the requirements satisfying real-time in sensor operating systems are analyzed and based on this, a system is designed and implemented. In addition, the proposed mechanisms are confirmed by several verification methods, and the efficiency of the performance and the satisfaction of those requirements for real-time are verified by simulation.

Distributed Real Time Simulation Programming with Time and Message Object Oriented in Computer Network Systems

  • Ra , Sang-Dong;Na, Ha-Sun;Kim, Moon-Hwan
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.29 no.1C
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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.

The Development of an Operating System for Load-following Real-time Transformer Loss Minimization and Economic Analyses on its' Test Operation (부하 추종형 실시간 변압기 손실감소운전시스템 개발과 시범운영 경제성 분석)

  • Lee, Ok-Bae;Ahn, Jae-Kyoung
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.61 no.6
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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.