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A Method to Support Real-time for User-level Robot Components on Windows

윈도우 유저 레벨 로봇 컴포넌트에 실시간성 지원 방법

  • 주민규 (충남대학교 컴퓨터공학과) ;
  • 이진욱 (충남대학교 컴퓨터공학과) ;
  • 장철수 (한국전자통신연구원) ;
  • 김성훈 (한국전자통신연구원) ;
  • 이철훈 (충남대학교 컴퓨터공학과)
  • Received : 2011.03.08
  • Accepted : 2011.06.21
  • Published : 2011.07.28

Abstract

Intelligent service robots leading the future market are robots which assist humans physically, mentally, and emotionally. Since intelligent service robots operate in a tightly coupled manner with humans, their safe operation should be an inevitable consideration. For this safety, real-time capabilities are necessary to execute certain services periodically. Currently, most robot components are being developed based on Windows for the sake of development convenience. However, since Windows does not support real-time, there is no option but to use expensive third-party software such as RTX and INTime. Also since most robot components are usually execute in user-level, we need to research how to support real-time in user-level. In this paper, we design and implement how to support real-time for components running in user-level on Windows using RTiK which actually supports real-time in kernel level on Windows.

Keywords

Real-Time;RTiK;Robot Components;User-Level

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