• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.292-298
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• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1036-1042
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• 2013

In this paper, an elderly assistance system is developed based on Xenomai, a real-time development framework cooperating with the Linux kernel. A Kinect sensor is used to recognize the behavior of the elderly and A-star search algorithm is implemented to find the shortest path to the person. The mobile robot also generates a trajectory using a digital convolution operator which is based on a Bezier curve for smooth driving. In order to follow the generated trajectory within the control period, we developed real-time tasks and compared the performance of the tracking trajectory with that of non real-time tasks. The real-time task has a better result on following the trajectory within the physical constraints which means that it is more appropriate to apply to an elderly assistant system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.2
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• pp.159-168
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• 2002

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 Real Time Simulation Programing(RTSP) structuring scheme was formulated with the goal of instigating a quantum productivity jump in the design of distributed time triggered simulation. The RTSP 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 RTSP 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.

• The KIPS Transactions:PartD
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• v.9D no.1
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• pp.153-160
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• 2002

This paper describes the design and implementation of library for real-time operating system Q+, that was developed for the internet appliance. The library in the real-time operating system should be defined according to the standard interface and support the functions that are adequate to the real-time application. To ensure the compatibility between application programs, the Q+ library follows industrial and international standards, such as POSIX.1, ISO 7942 GKS. And, to support the Q+ application, library provides C standard functions, graphic/window functions, network functions, security support functions, file system functions. The Q+ library was implemented using the Q+ kernel, Digital TV set-top box, and KBUG debugging tool.

• Journal of Korea Society of Digital Industry and Information Management
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• v.10 no.2
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• pp.13-20
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• 2014

In this paper, we implemented the object scanning with nxtOSEK which is an open source platform. nxtOSEK consists of device driver of leJOS NXJ C/Assembly source code, TOPPERS/ATK(Automotive real time Kernel) and TOPPERS/JSP Real-Time Operating System source code that includes ARM7 specific porting part, and glue code make them work together. nxtOSEK can provide ANSI C by using GCC tool chain and C API and apply for real-time multi tasking features. We experimented the 3D scanning with ultra sonic and laser sensor which are made directly by laser module diode and experimented the measurement of scanning the object by knowing x, y, and z coordinates for every points that it scans. In this paper, the laser module is the dimension of $6{\times}10[mm]$ requiring 5volts/5[mW], and used the laser light of wavelength in the 650[nm] range. For detecting the object, we used the beacon detection algorithm and as the laser light swept the objects, the photodiode monitored the ambient light at interval of 10[ms] which is called a real time. We communicated the 3D scanning platform via bluetooth protocol with host platform and the results are displayed via DPlot graphic tool. And therefore we enhanced the functionality of the 3D scanner for identifying the image scanning with laser sensor modules compared to ultra sonic sensor.

• The KIPS Transactions:PartA
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• v.13A no.5 s.102
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• pp.405-412
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• 2006

Real-time operating systems have been used in various computing environments, where a job must be completed in its deadline, with various conditions, such as effective scheduling policies, the minimum of an interrupt delay, and the solutions of priority inversion problems, that should be perfectly satisfied to design and develop optimal real-time operating systems. Up to now, in order to solve priority inversion problems among several those conditions. There have been two representative protocols: basic priority inheritance protocol and priority ceiling emulation protocol. However, these protocols cannot solve complicated priority inversion problems. In this paper, we design a protocol, called recursive priority inheritance (RPI), protocol that effectively solves the complicated priority inversion problems. Our proposed protocol is also implemented in the Linux kernel and is compared with other existing protocols in the aspect of qualitative analysis.

• Convergence Security Journal
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• v.22 no.1
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• pp.99-111
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• 2022

With current battlefield environment relying heavily on Network Centric Warfare(NCW), existing weaponary systems are evolving into a new concept that converges IT technology. Majority of the weaponary systems are implemented with numerous embedded softwares which makes such softwares a key factor influencing the performance of such systems. Furthermore, due to the advancements in both IoT technoogies and embedded softwares cyber threats are targeting various embedded systems as their scope of application expands in the real world. Weaponary systems have been developed in various forms from single systems to interlocking networks. hence, system level cyber security is more favorable compared to application level cyber security. In this paper, a secure real-time operating system has been designed, implemented and measured to protect embedded softwares used in weaponary systems from unknown cyber threats at the operating system level.

• Korean Journal of Remote Sensing
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• v.5 no.1
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• pp.41-56
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• 1989

Improvement of the multichannel sea surface temperature(MCSST) software, which had been developed for the purpose of operating under mainframe computer system, was seeked in order to operate effectively in a mini computer system. CPU time and processing time, which is not a major factor under mainframe computer system, become a critical factor in real time image processing under mini computer system. Due to fixed kernel size(3$\times$4) of the old MCSST software, high spatial resolution characteristics of the original image received from satellites were apparently degraded when images are transformed into a cartesian coordinate system after geometrical distortions of the image due to earth curvature are removed. CPU and processing time were reduced to 0.13 and 0.15~0.22 comparing with the old MCSST's, respectively, by applying disk block I/O and M/T queue I/O method under VAX-11/750 computer. The high resolution quality (1.1km in AVHRR) of the processed image was guaranted using 2$\times$2 kernel size and applying moving window techniques without sacrificing CPU and processing time much.

• The KIPS Transactions:PartA
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• v.11A no.7 s.91
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• pp.483-488
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• 2004

For real-time applications, the underlying operating system (0S) should support timeliness guarantees of real-time tasks. However, most of current operating systems do not provide timely management facilities in an efficient way. There could be two approaches to support timely management facilities for real-time applications: (1) by modifying 0S kernel and (2) by Providing a middleware without modifying 0S. In our approach, we adopted the middleware approach based on the TMO (Time-triggerred Message-triggered Object) model which is a well-known real-tine object model. The middleware, named TMSOM (TMO Support Middleware) has been implemented on various OSes such as Linux and Windows XP/NT/98. In this paper, we mainly consider TMOSM implemented on Linux(TMOS/Linux). Although the real-time schedul-ing aIgorithm used in current TMOSM/Linux can produce an efficient real-time schedule, it can be improved for periodic real-time tasks by considering several factors. In this paper, we discuss those factors and propose an improved real-time scheduling algorithm for periodic real-time tasks, In order to simulate the performance of our algorithm, we measure timeliness guarantee rate for periodic real-time tasks. The result shows that the performance of our algorithm is superior to that of existing algorithm. Additionally, the proposed algorithm can improve system performance by making the structure of real-time middleware simpler.

• The Journal of the Korea Contents Association
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• v.18 no.3
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• pp.101-113
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• 2018

Systems such as military inspection equipment which it is important to acquire and evaluate data in real-time should be able to real-time processing at the operating system level. As technology advances, there is a demand for replacing existing equipment with mobile device, but mobile devices with Android are not suitable for systems requiring real-time performance. On Android, garbage collection ensures free memory, while other tasks are interrupted while this task is performed, which cannot guarantee periodicity of particular tasks. In this paper, we designed and implemented a structure to control execution garbage collection of Android to solve this problem. Real-time performance is ensured by controlling garbage collection during the time required for real-time operation, and RTiK(Real-Time implanted Kernel) is applied to ensure real-time performance on Android. In order to evaluate the performance, we measured the call period of the 5ms period task, and, only 34.31% of the task was guaranteed before the control, but the task period of 98.18% was satisfied through control, providing real-time performance to Android.