• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.548-550
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• 2006

This paper deals with the implementation of a small humanoid robot controller on the basis of Real Time Operating System(RTOS) and the FPGA. This controller was adapted to the humanoid robot with 25 DOFs, which are 12 DOFs in each leg, 8 DOFs in each arm, 3 DOFs in waist, and 2 DOFs in head. The robot actuators were used DX-117 servo motors that have all of the controller components in one module in order to simplify the control structure. In addition, the main controller is FPGA of Virtex4-FX from Xilinx, and ported on VxWorks that is kind of RTOS. It is essential to install this RTOS on the complex control system and to do control activity at the multitasking environments. This paper suggested the method of distributing the computational load in the humanoid robot controller using the FPGA and RTOS concepts. All of the control process was verified through the real action of the humanoid.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.12
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• pp.1423-1436
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• 1992

In the paper, a CAT interface supporting multitask is realized. To interface a computer with measuring instruments, a GPIB card is designed and implemented. Controlling and displaying software using OOP and GUI are programmed with C++. A spectrum analyzer and a power meter are chosen as object instrument to be controlled. Total 9 modules are configured to manage the various resources and each module in integrated system. Also in case that several instruments are used, the system is realized to be capable of multitasking to exchange the data mutually. The multitasking is implemented under the time-sharing DOS environment. Thread-based method is used for processing, and Round Robin method for scheduling. Provided proper software modules for other object instruments are integrated, the system can control more measuring instruments simultaneously by the computer. Users can save the time and errors even without expert knowledge.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.18 no.6
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• pp.133-137
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• 2018

Arduino is a small microcomputer that is used in a variety of industry fields and especially is widely used as an open source hardware IoT device. The multi-tasking method of Arduino is divided into super loop timing and RTOS thread method. The super loop timing method is simple and easy to understand. However, when one task is long, it affects the execution of the next task. In addition, RTOS threading has the advantage of being able to run without being influenced by other work time. However, Arduino, a small microcomputer, has a disadvantage in that, when the number of threads increases, the context switching time of the thread causes additional time not included in the super loop timing method have. In this paper, we use Arduino Uno R3 and FreeRTOS to analyze these different features, and the task for the experiment is to send 8000 digital signals to the built-in LED port. If two tasks of the same size are executed, the super loop method executes 3 ms faster than FreeRTOS multitasking. If multiple tasks are executed simultaneously, superloop type task is sequential execution and difference in execution time between first task and last task is large. FreeRTOS method can be executed concurrently, but execution time delay of about 30 ms occurs in context switching time.

• ETRI Journal
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• v.10 no.3
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• pp.62-72
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• 1988

HARP(High-performance Architecture for Risc-type Processor)는 한국전자통신연구소에서 개발하고 있는 고유 모델의 RISC형 32비트 CPU이다. HACAM은 HARP의 캐쉬 메모리 및 MMU를 1칩의 VLSI로 구현한 것으로서 virtual cache 구조를 갖는다. Virtual cache 시스팀에서는 synonym문제가 수반되는데, 이 문제는 multitasking을 하는 single CPU 시스팀에서도 발생하지만, multiprocessor 시스팀에서는 데이터 coherency 문제와 함께 해결하여야 되기 때문에 더욱 어렵다. 본 논문에서는 HACAM이 virtual cache 구조로 구현하게 된 배경 및 이의 타당성을 논하였고, 아울러 virtual cache 구조를 갖기 때문에 발생하는 synonym 문제를 설명하고, 이의 해결 방안을 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.654-659
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• 1993

In this paper, a robot controller that has a real time-multitasking OS (Operating System) is developed. It can do given jobs in realtime, so its effectiveness is increased. The controller has several CPU boards, and it is needed to communicate among these boards. For that reason, it is adopted VME bus system and VMEexec OS that can process multiprocess in realtime. Multiprocess includes robot language edit process, vision process, low level motion control process, and teach process in higher layer. And dynamics, kinematics, and inverse kinematics that require realtime calculation are included in lower layer.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.322-326
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• 1991

A real time process control package was developed in an INTEL 80386 based PC and MS OS/2 environment using MS-C and MS-FORTRAN. RTACS(Real Time Advanced Control System), process control computer software for distributed or centralized architectures, is a package which meets functional requirements specified for typical continuous process applications like chemical processes. The package consists of 5 parts, which are DB(data base), OCF(Operator Console Functions), CL (Control logic Library), MSM(Multitasking and Scheduling, Manager) and UAI(User Applications Interface), based upon a table and function block architecture to improve the system performance.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.191-196
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• 1986

This paper describes the development of general purpose operator interface which uses a color graphics terminal with a touch-sensitive screen as the control console. Operators interact with a process through a collection of application-dependent displays generated interactively by users familiar with the physical process. The use of real-time operating system(iRMX-86) and multitasking results in a straightforward and reliable development which may easily be extended to support multiple devices of varying types in the control console.

• 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.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.7-15
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• 2009

• Proceedings of the Korea Information Processing Society Conference
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• 2020.05a
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• pp.483-486
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• 2020

Age estimation and gender classification for human is a classic problem in computer vision. Almost research focus just only one task and the models are too heavy to run on low-cost system. In our research, we aim to apply multitasking learning to perform both task on a lightweight model which can achieve good precision on embedded system in the real time.