• 한국정보과학회:학술대회논문집
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• 한국정보과학회 1998년도 가을 학술발표논문집 Vol.25 No.2 (1)
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• pp.463-465
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• 1998

COncurrent Design Approach for Real-Time System(이하 COSATRS) 방법론은 Gomaa가 제안한 실시간 설계 방법론으로서 Real-Time Structured Analysis(이하 RTSA)또는 Concurrent Object-Based Real-Time Analysis(이하 COBRA)방법론을 이용하여 Control and Data Flow Diagram(이하 C&DFD)를 구성하고 이것에 병렬 태스크 구조화 지침, 정보 은닉 모듈 구조화 지침을 적용하여 Task Architecture Diagram (이하 TDA), Information Hiding Module(이하 IHM)을 구성하고 나서 이 둘을 결합하여 Software Architecture Diagram(이하 SAD)를 구성하게 된다. 본 논문에서는 CODARTS 방법론의 적용과정을 테이블을 구성하여 적용함으로써 실시간 S/W 설계 지원 시스템을 설계하였다.

• 제어로봇시스템학회논문지
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• 제10권8호
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• pp.689-695
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• 2004

This paper presents a robot system that combines computer network and an autonomous mobile robot where RTOS is installed. We propose a wireless communication protocol, and also implement it on the RTOS of the robot system. Main controller of the robot processes the control program as a task type in the real-time operating system. Peripheral devices are driven by the device driver functions with the dependency of the hardware. Because the client and server program was implemented to support the multi-platforms by Java SDK and Java JMF, it is easy to analyze programs, maintain system, and correct the errors in the system. End-user can control a robot with a vision showing remote sight over the Internet in real time, and the robot is moved keeping away from the obstacles by itself and command of the server received from end-user at the local client.

• 제어로봇시스템학회논문지
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• 제13권12호
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• pp.1147-1152
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• 2007

This paper deals with a scheme for fault-tolerance improvement of real-time embedded systems, which engages an equidistant checkpointing technique to tolerate transient errors. Transient errors are caused by transient faults which are the most significant type of fault in reliable computer systems. Transient faults are assumed to occur according to a Poisson process and to be detected in a non-concurrent manner (e.g., checked periodically). The probability of the successful real-time task completion in the presence of transient errors is derived with the consideration of the possible effects of the transient errors. Based on this, a condition under which inserting checkpoints improves the fault-tolerance of the system is introduced and an optimal equidistant checkpointing strategy that achieves the highest fault tolerance is presented.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2005년도 한국컴퓨터종합학술대회 논문집 Vol.32 No.1 (A)
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• pp.430-432
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• 2005

센서 네트워크를 구성하는 대부분의 센서 노드들은 제한된 용량의 배터리로부터 전력을 공급받는다. 그러한 센서 노드들의 수명은 장착된 배터리의 수명에 의해 결정되기 때문에 배터리의 수명을 최대화시키는 것이 센서 네트워크 응용 설계에서 중요한 고려 사항이 된다. 한편, 배터리는 전력 소모 패턴에 따라 전지가 제공할 수 있는 총 용량이 일정하지 않으며 방전이 진행됨에 따라서 비선형적인 특성을 보이기 때문에, 배터리의 수명은 연결된 로드의 특성에 따라서 항상 다르게 결정된다. 본 논문에서는 그러한 배터리의 방전 특성을 고려한 실시간 태스크 스케줄링 알고리즘을 제안한다. 실험을 통하여 얻은 결과는 제안된 배터리의 특성을 고려한 태스크 스케줄링 알고리즘이 그렇지 않은 태스크 스케줄링 알고리즘에 비해 배터리 수명을 향상시킴을 보인다.

• 한국생산제조학회지
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• 제26권1호
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• pp.50-58
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• 2017

This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.

• 정보처리학회논문지A
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• 제18A권4호
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• pp.143-150
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• 2011

본 논문은 필수 실행 부분과 선택 실행 부분으로 구성된 불확정 태스크(imprecise task) 모델에서 효과적으로 스케줄링 하는 EDF(Earliest Deadline First)기반의 알고리즘을 제안한다. 이러한 태스크 모델은 태스크가 과부하 상태가 되었을 때 처리하는데 유용하게 사용된다. 과부하 상황이 발생하면 선택 실행 부분 중 일부를 포기해야 하는데, 제안한 DOP 알고리즘은 이후에 발생할 태스크에 대해서 보다 유연하게 대처 할 수 있게 하기 위해서 마감시간이 빠른 태스크의 선택 실행 부분을 제거하고, 마감시간이 늦은 태스크의 선택 실행 부분을 남기는 방법을 사용한다. 시뮬레이션을 통하여 성능을 평가한 결과 DOP는 기존에 연구된 스케줄링 알고리즘들에 비해서 좋은 성능을 보였다.

• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.946-951
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• 2009

The small multi-jointed robots for most education are developed with the way of firmware. But the firmware may be very difficult to develop as gradually increasing throughputs and control routines. Due to limit of firmware we try to use on RTOS, but hard to adapt on the small multi-jointed robots. It would be hard to install RTOS into the small multi-jointed robots because of the size capacity of RTOS, and lack of libraries for control of the particular hardware. Moreover, even its RTOS with many functions causes its to make overheads scheduling, TCB (Task Control Block), and task states. Also to keep maintenance of RTOS, it is composed of components for the whole structure of my proposed RTOS. Additionally, We provided with libraries of servo motor and sensor control and developed RMS (Rate Montonic scheduler) to handle tasks on real time and reduce overheads. Therefore, It is possible to work the fixed priority and task preemptive way. We show one example of the multi-jointed robot installed with my proposed RTOS, which shows to obstacle avoidance and climbing up the slope.

• 한국정보통신학회논문지
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• 제19권2호
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• pp.351-356
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• 2015

다중프로세서 시스템에서 실시간 비주기 태스크 스케줄링 방법 중 하나인 합성 이용율 방법은 주기 태스크들을 고려하지 않고 단지 비주기 태스크들을 위한 스케줄링 방식이다. 하지만 실제로 비주기 태스크는 대부분의 경우에 주기 태스크와의 혼합된 형태로 스케줄링이 이루어지며, 주기 태스크의 스케줄링을 보장하면서 비주기 태스크의 스케줄링 가능성을 판단해야 한다. 본 논문에서는 다중프로세서 시스템에서 주기태스크와 비주기 태스크가 혼합된 태스크 집합을 개선된 합성 이용율을 이용하여 스케줄링하기 위한 방법을 제시하였으며, 기존의 비주기 서버를 이용하여 혼합 태스크 집합을 스케줄링 하는 방법보다 스케줄링 성능이 향상됨을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2164-2168
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• 2003

Real time control system such as in factory automation fields, defense field, aerospace, railway industries, financial trading and so forth, includes multiple computers on multiple nodes, and share data to process various actions and functions. This is similar to multitasking in a multiprocessor computer system. The task processing efficiency of such system is proportionally increased by process speed of each process computer. And also it is greatly influenced by communication latencies of each node. To provide proper operation of such real time system, a network that can guarantee deterministic exchange of certain amount of data within a limited time is required. Such network is called as a real time network. As for modern distributed control system, the timeliness of data exchange gives important factor for the dynamics of entire control system. In a real time network system, exchanged data are determined by off-line design process to provide the timeliness of data. In other word, designer of network makes up a network data table that describes the specification of data exchanged between control equipments. And by this off-line design result, the network data are exchanged by predetermined schedule. First, this paper explains international standard real time network TCN (Train Communication Network) applied to the KHST (Korean High Speed Train) project. And then it explains the computer program developed for design tool of network data table of TCN.

• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.614-621
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• 1999

In this paper, the analytical appproaches are presented for jointly determining the profit-miximizing configuration of the fault-tolerance real time modular cell manufacturing system. The transient(time-dependent) analysis of Markovian models is firstly applied to modular cell manufacturing system from a performability viewpoint whose modeling advantage lies in its ability to express the performance that truly matters - the user's perception of it - as well as various performance measures compositely in the context of application. The modular cells are modeled with hybrid decomposition method and then availability measures such as instantaneous availability, interval availability, expected cumulative operational time are evaluated as special cases of performability. In addition to this evaluation, sensitivity analysis of the entire manufacturing system as well as each machining cell is performed, from which the time of a major repair policy and the optimal configuration among the alternative configurations of the system can be determined. Secondly, the recovery policies from the machine failures by computing the minimal number of redundant machines and also from the task failures by computing the minimum number of tasks equipped with detection schemes of task failure and reworked upon failure detection, to meet the timing requirements are optimized. Some numerical examples are presented to demonstrate the effectiveness of the work.