• Journal of Electrical Engineering and information Science
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• 제1권1호
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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.

• 한국정보과학회논문지:시스템및이론
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• 제35권6호
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• pp.273-283
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• 2008

최근 많은 임베디드 실시간 시스템에 동적 전압 조절(Dynamic Voltage Scaling: DVS)을 지원하는 프로세서를 사용하고 있다. 이런 시스템의 설계 및 동작의 최적화를 위한 중요한 요소 중 하나가 전력(power)이다. 동적 전압 조절을 지원하는 프로세서의 슬로우다운을 이용하므로서 많은 소비 전력을 절약할 수 있다. 본 논문에서는 태스크의 동기화가 필요한 임베디드 실시간 시스템에서 효율적인 전력 소비를 위해 태스크들의 슬로우다운 값을 구하는 휴리스틱 알고리즘들을 제안한다. 기존 알고리즘에서는 상대 마감시간이 작은 태스크의 슬로우다운 값은 상대 마감시간이 크거나 같은 태스크의 슬로우다운 값보다 크거나 같아야 한다는 제약조건을 가지고 있다. 본 논문에서는 이 제약조건을 완화하여 기존 알고리즘과 같은 시간복잡도를 가지면서 전력을 더 작게 소비하는 휴리스틱 알고리즘들을 제시한다. 실험을 통해 소비전력 면에서 효율적임을 보였다.

• 한국입자에어로졸학회지
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• 제10권1호
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• pp.1-8
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• 2014

In this study, we have developed a real-time monitoring device for measuring $PM_{10/2.5/1}$ of ambient aerosol particles. The real-time PM (Particulate Matter) monitor was based on the light scattering method and had 16 channels in particle size. The laboratory and field tests were carried out to evaluate the performance of the PM monitor developed. Arizona Road Dust particles ranging from diameter of 0.1 to $20{\mu}m$ were generated as test particles in the laboratory test. The field test was carried out at the Seoul Meteorological Observatory. We can obtain the particle size and number concentration (particle size distribution) only from the real-time PM monitor developed. Therefore, the average density of aerosol particles was used to obtain the PM data from the particle size distribution. The $PM_{10/2.5/1}$ results of the PM monitor were compared with the data of the Grimm Dust Monitor (Model 1.108) and a beta ray gauge (Thermo Fisher Scientific). As a result, it was shown that the $PM_{10/2.5/1}$ results obtained by the real-time PM monitor agreed well with the data of the reference devices, and overall, the real-time PM monitor could be used as a PM monitoring device for real-time monitoring of the ambient particles.

• 한국자동차공학회논문집
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• 제2권1호
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• pp.106-115
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• 1994

A parallel integration approach is proposed for real-time simulation of controlled mechanical systems. The proposed approach, which employs the dual-rate integration method in a parallel computing environment, is developed to deal with stiffness and high frequency characteristics of the controlled mechanical systems effectively. Numerical experiments are performed to demonstrate the effectiveness of the approach in shared memory multiprocessors, Alliant FX/8 and Alliant FX/80.

• ETRI Journal
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• 제32권5호
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• pp.657-664
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• 2010

Many embedded multimedia systems employ special hardware blocks to co-process with the main processor. Even though an efficient handling of such hardware blocks is critical on the overall performance of real-time multimedia systems, traditional real-time scheduling techniques cannot afford to guarantee a high quality of multimedia playbacks with neither delay nor jerking. This paper presents a hardware-aware rate monotonic scheduling (HA-RMS) algorithm to manage hardware tasks efficiently and handle special hardware blocks in the embedded multimedia system. The HA-RMS prioritizes the hardware tasks over software tasks not only to increase the hardware utilization of the system but also to reduce the output jitter of multimedia applications, which results in reducing the overall response time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.108.3-108
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• 2001

In this work, we consider a real time optimal control problem of mechanical systems with restrictions for actuators i.e. input restrictions and constraints for the movable area i.e. state constraints. First, we formulate an optimal control problem which evaluates the cost function for a finite time horizon with input restrictions and state constraints of a wheeled vehicle as an example of mechanical systems. In this problem, the differentiability of the cost function is not required and this implies that the problem cannot be solved analytically. Therefore, in this work, we use an optimization method to solve the optimal control problem and a new real time optimization method is proposed to solve the problem. In this method, we provide a parameter that indicates the ...

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

• Smart Structures and Systems
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• 제14권6호
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• pp.1151-1172
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• 2014

This paper presents a user programmable computational/control platform developed to conduct real-time hybrid simulation (RTHS). The architecture of this platform is based on the integration of a real-time controller and a field programmable gate array (FPGA).This not only enables the user to apply user-defined control laws to control the experimental substructures, but also provides ample computational resources to run the integration algorithm and analytical substructure state determination in real-time. In this platform the need for SCRAMNet as the communication device between real-time and servo-control workstations has been eliminated which was a critical component in several former RTHS platforms. The accuracy of the servo-hydraulic actuator displacement control, where the control tasks get executed on the FPGA was verified using single-degree-of-freedom (SDOF) and 2 degrees-of-freedom (2DOF) experimental substructures. Finally, the functionality of the proposed system as a robust and reliable RTHS platform for performance evaluation of structural systems was validated by conducting real-time hybrid simulation of a three story nonlinear structure with SDOF and 2DOF experimental substructures. Also, tracking indicators were employed to assess the accuracy of the results.

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.720-725
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• 2008

This paper proposes a system architecture for USN with a service robot to provide more active assisted living services for elderly persons by monitoring their mental and physical well-being with USN environments at home, hospital, or silver town. Sensors embedded in USN are used to detect preventive measures for chronic disease. Logged data are transferred to main controller of a service robot via wireless channel in which the analysis of data is performed. For the purpose of handling emergency situations, it needs real-time processing on gathering variety sensor data, routing algorithms for sensor nodes to a moving sink node and processing of logged data. This paper realized multi-hop sensor network to detect user movements with biometric data transmission and performed algorithms on Xenomai, a real-time embedded Linux. To leverage active sensing, a mobile robot is used of which task was implemented with a priority to process urgent data came from the sink-node. This software architecture is anticipated to integrate sensing, communication and computing with real-time manner. In order to verify the usefulness of a proposed system, the performance of data transferring and processing on a real-time OS with non real-time OS is also evaluated.

• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.601-614
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• 2006

In this paper, a study on task assignment strategies for a complex real-time network system is presented. Firstly, two task assignment strategies are proposed to improve previous strategies. The proposed strategies assign tasks with meeting end-to-end real-time constraints, and also with optimizing system utilization through period modulation of the tasks. Consequently, the strategies aim at the optimizationto optimize of system performance with while still meeting real-time constraints. The proposed task assignment strategies are devised using the genetic algorithmswith heuristic real-time constraints in the generation of new populations. The strategies are differentiated by the optimization method of the two objectives-meeting end-to-end real-time constraints and optimizing system utilization: the first one has sequential genetic algorithm routines for the objectives, and the second one has one multiple objective genetic algorithm routine to find a Pareto solution. Secondly, the performances of the proposed strategies and a well-known existing task assignment strategy using the BnB(Branch and Bound) optimization are compared with one other through some simulation tests. Through the comparison of the simulation results, the most adequate task assignment strategies are proposed for some as system requirements-: the optimization of system utilization, the maximization of running tasktasks, and the minimization of the number of network node nodesnumber for a network system.