• 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 the Korea Society of Computer and Information
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• v.7 no.2
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• pp.1-8
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• 2002

By now, Schedulers for RMS and EDF are implemented for real-time Linux Scheduler. These Schedulers are used for do not consider there's characteristics. Missing Schedulability-test cause result that increase deadline miss rate. Also The present real-time Linux causes system halt Because of scheduling for unschedulable tasks . These appearances are very fatal for real-time system. Therefor, In this paper The peaceful schedulability-test use scheduler which is proper characteristics of RMS and EDF scheduling methods. This scheduler keeps deadline and eliminates system halt from scheduling unschedulable tasks. In this paper, we propose the schedulability-test algorithm and scheduler select algorithm for the effective management of tasks sets.

• 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.

• Proceedings of the IEEK Conference
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• 2000.11c
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• pp.101-104
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• 2000

One of the most important marketing strategies is how to solve customers' complaints. Under developing internet environment, it is possible to use internet multimedia consultant system to do cope with the problem. In this paper, we have realized the customer consulting system which is based on Linux as the operating system. Java is used as a programming language. With the use of the RTP(Real-time Transport protocol), the system provides picture and sound transactions between a consultant and customers in a real-time fashion.

• Journal of the Semiconductor & Display Technology
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• v.20 no.2
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• pp.131-136
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• 2021

EtherCAT is an Ethernet-based fieldbus system standardized in IEC 61158 and SEMI, and widely used in the fields of factory automation, semiconductor equipment and robotics. In this paper, a real-time EtherCAT master is implemented on Linux operating systems and its performances are evaluated. To enhance the real-time capability of mainline Linux kernel, Xenomai is applied as a real-time framework and an open source EtherCAT master stack, Simple Open EtherCAT Master (SOEM), is installed on it. Unlike other studies, the real-time performance of the EtherCAT master is evaluated at the output of the network interface card, so that the evaluation results include all possible effects from the EtherCAT master system. The implemented EtherCAT master can send and receive packets up to 20KHz control frequency with low jitter, even in stressed condition.

• The KIPS Transactions:PartA
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• v.8A no.4
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• pp.345-352
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• 2001

In this paper, a VoIP (Voice on Internet Protocol) terminal system, which can process voice in real time based on Linux, is designed and implemented. The hardware of it is designed using a i486 processor and a DSP codec chip which encodes and decodes voice data in real time. As an operating system, RTLinux, which is a real-time operating system based on Linux, is ported to manage real-time voice processing. The voice processing module of the system uses G.723.1 voice codec of ITU-T standard. It transfers voice data within 30ms to assure good voice quality. In order to satisfy the real time requirements and QoS (Quality-of-Service) for the voice data, the real-time voice processing device driver is designed and implemented. To verify the system, the chatting application program is developed and tested for QoS of the system.

• The Journal of the Korea Contents Association
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• v.20 no.8
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• pp.54-64
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• 2020

RTiK-Linux is a method to provide real-time performance to Linux, it is controlled by directly accessing hardware registers to implement time tick interrupts. It implemented on x86 Intel and ARM based Exynoss 5422, but it had a disadvantage that it could not be ported to both fragmented other platform environments. In this paper, We change structure of time tick interrupt for improve po rtability so that it can operate on other platforms. We apply high-resolution timers that are independent of hardware, and modify operating structure to task and event to satisfy time determinism. It was confirmed that the improved RTiK-Linux works well in x86 and various ARM AP environments.

• Journal of KIISE
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• v.44 no.2
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• pp.115-123
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• 2017

A message processor is server software that receives non-realtime messages as well as realtime messages from clients that need to be processed within a deadline. With the recent advances of micro-processor technologies and Linux, the message processor is often implemented in Linux-based multi-core servers and it is important to use cores efficiently to maximize the performance of system in multi-core environments. Numerous research efforts on a real-time scheduler for the efficient utilization of the multi-core environments have been conducted. Typically, though, they have been conducted theoretically or via simulation, making a subsequent real-system application difficult. Moreover, many Linux-based real-time schedulers can only be used in a specific Linux version, or the Linux source code needs to be modified. This paper presents the design of a Linux-based message processor for multi-core environments that maps the threads to the cores at user level. The message processor is implemented through a modification of the traditional RM algorithm that consolidates the real-time messages into certain cores using a first-fit-based bin-packing algorithm; this minimizes the response-time delay of the non-real-time messages, while guaranteeing the violation rate of the real-time messages. To compare the performances, the message processor was implemented using the two multi-core-scheduling algorithms GSN-EDF and P-FP, which are provided by the LITMUS framework. The benchmarking results show that the response-time delay of non-real-time messages in the proposed system was improved up to a maximum of 17% to 18%.

• Proceedings of the Korea Contents Association Conference
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• 2009.05a
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• pp.845-850
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• 2009

To support distributed environment that is independent and standardized between heterogeneous system, a study on the TAO(The ACE ORB) communication middleware based on the RT-CORBA is highly being done. The TAO supports real-time features not on the general purpose operating system like Windows or Linux but on the real time operating system like Vxworks or LynxOS. In this paper, we build and construct environment that supports a thread-level real time feature by porting the TAO on VxWorks target. Also we validate the ported TAO by network communication with the TAO of Windows.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.414-414
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• 2000

This paper presents a method for building a real-time kernel of autonomous mobile robot control systems. Until now, most of robots have their own operation softwares dedicated only for their use. Sometimes, operation softwares were developed based on MS-DOS or other real -time kernel based on UNIX. However, MS-DOS has many restrictions for use as a robot operation system. Also, mix based real-time kernel has some Limitations for use with mobile robots. So, in this paper, we focus on building a real-time kernel based on Linux. The in this paper, the software modules of Task Management, Memory Management, Intertask Communication, and Synchronization are redesigned. To show the efficiency of the paper, it was applied to run Nomad Super Scout II avoiding obstacles detected by sonar sensor array.