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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
> Journal Vol & Issue
Journal of Computing Science and Engineering
Journal Basic Information
Journal DOI :
Korean Institute of Information Scientists and Engineers
Editor in Chief :
In-Sup Lee / Il-Yeol Song / Jong C. Park / Tae-Whan Kim
Volume & Issues
Volume 2, Issue 4 - Dec 2008
Volume 2, Issue 3 - Sep 2008
Volume 2, Issue 2 - Jun 2008
Volume 2, Issue 1 - Mar 2008
Selecting the target year
A Modified Multiple Depth First Search Algorithm for Grid Mapping Using Mini-Robots Khepera
El-Ghoul, Sally ; Hussein, Ashraf S. ; Wahab, M. S. Abdel ; Witkowski, U. ; Ruckert, U. ;
Journal of Computing Science and Engineering, volume 2, issue 4, 2008, Pages 321~338
DOI : 10.5626/JCSE.2008.2.4.321
This paper presents a Modified Multiple Depth First Search algorithm for the exploration of the indoor environments occupied with obstacles in random distribution. The proposed algorithm was designed and implemented to employ one or a team of Khepera II mini robots for the exploration process. In case of multi-robots, the BlueCore2 External Bluetooth module was used to establish wireless networks with one master robot and one up to three slaves. Messages are sent and received via the module`s Universal Asynchronous Receiver/Transmitter (UART) interface. Real exploration experiments were performed using locally developed teleworkbench with various autonomy features. In addition, computer simulation tool was also developed to simulate the exploration experiments with one master robot and one up to ten slaves. Computer simulations were in good agreement with the real experiments for the considered cases of one to one up to three networks. Results of the MMDFS for single robot exhibited 46% reduction in the needed number of steps for exploring environments with obstacles in comparison with other algorithms, namely the Ants algorithm and the original MDFS algorithm. This reduction reaches 71% whenever exploring open areas. Finally, results performed using multi-robots exhibited more reduction in the needed number of exploration steps.
On the Design of Distributed Time-Triggered Embedded Systems
Kopetz, Hermann ;
Journal of Computing Science and Engineering, volume 2, issue 4, 2008, Pages 340~356
DOI : 10.5626/JCSE.2008.2.4.340
The cognitive constraints of the human mind must drive the decisions in architecture and methodology design in order that the systems we build are comprehensible. This paper presents a methodology for the design of time-triggered embedded systems that leads to understandable artifacts. We lift the design process to a higher level of abstractionto the level of computational components that interact solely by the exchange of messages. The time-triggered architecture makes it possible to specify the temporal properties of component interfaces precisely and provides temporally predictable message communication, such that the precise behavior of a large design can be studied in the early phases of a design on the basis of the component interface specifications. This paper shows how the cognitive simplification strategies of abstraction, partitioning and segmentation are supported by the time-triggered architecture and its associated design methodology to construct evolvable embedded systems that can be readily understood and modified.
Experimental Evaluation of Unmanned Aerial Vehicle System Software Based on the TMO Model
Park, Han-Sol ; Kim, Doo-Hyun ; Kim, Jung-Guk ; Chang, Chun-Hyon ;
Journal of Computing Science and Engineering, volume 2, issue 4, 2008, Pages 357~374
DOI : 10.5626/JCSE.2008.2.4.357
Over the past few decades, a considerable number of studies have been conducted on the technologies to build an UAV (Unmanned Aerial Vehicle) control system. Today, focus in research has moved from a standalone control system towards a network-centric control system for multiple UAV systems. Enabling the design of such complex systems in easily understandable forms that are amenable to rigorous analysis is a highly desirable goal. In this paper, we discuss our experimental evaluation of the Time-triggered Message-triggered Object (TMO) structuring scheme in the design of the UAV control system. The TMO scheme enables high-level structuring together with design-time guaranteeing of accurate timings of various critical control actions with significantly smaller efforts than those required when using lower-level structuring schemes based on direct programming of threads, UDP invocations, etc. Our system was validated by use of environment simulator developed based on an open source flight simulator named FlightGear. The TMO-structured UAV control software running on a small computing platform was easily connected to a simulator of the surroundings of the control system, i.e., the rest of the UAV and the flight environment. Positive experiences in both the TMO-structured design and the validation are discussed along with potentials for future expansion in this paper.
Practical and Verifiable C++ Dynamic Cast for Hard Real-Time Systems
Dechev, Damian ; Mahapatra, Rabi ; Stroustrup, Bjarne ;
Journal of Computing Science and Engineering, volume 2, issue 4, 2008, Pages 375~393
DOI : 10.5626/JCSE.2008.2.4.375
The dynamic cast operation allows flexibility in the design and use of data management facilities in object-oriented programs. Dynamic cast has an important role in the implementation of the Data Management Services (DMS) of the Mission Data System Project (MDS), the Jet Propulsion Laboratory`s experimental work for providing a state-based and goal-oriented unified architecture for testing and development of mission software. DMS is responsible for the storage and transport of control and scientific data in a remote autonomous spacecraft. Like similar operators in other languages, the C++ dynamic cast operator does not provide the timing guarantees needed for hard real-time embedded systems. In a recent study, Gibbs and Stroustrup (G&S) devised a dynamic cast implementation strategy that guarantees fast constant-time performance. This paper presents the definition and application of a cosimulation framework to formally verify and evaluate the G&S fast dynamic casting scheme and its applicability in the Mission Data System DMS application. We describe the systematic process of model-based simulation and analysis that has led to performance improvement of the G&S algorithm`s heuristics by about a factor of 2. In this work we introduce and apply a library for extracting semantic information from C++ source code that helps us deliver a practical and verifiable implementation of the fast dynamic casting algorithm.
New Control System Aspects for Supporting Complex Data and High Performance System
Yoo, Dae-Seung ; Tan, Vu Van ; Yi, Myeong-Jae ;
Journal of Computing Science and Engineering, volume 2, issue 4, 2008, Pages 394~411
DOI : 10.5626/JCSE.2008.2.4.394
The data in automation and control systems can be achieved not only from different field devices but also from different OPC (OLE for Process Control) servers. However, current OPC clients can only read and decode the simple data from OPC servers. They will have some problems to acquire structured data and exchange the structured data. In addition to the large network control systems, the OPC clients can read, write, and subscribe to thousands of data points from/to OPC servers. Due to that, the most important factor for building a high performance and scalable industrial control system is the ability to transfer the process data between server and client in the most efficient and fastest way. In order to solve these problems, we propose a means to implement the OPC DA (Data Access) server supporting the OPC complex data, so that the OPC DA clients are able to read and decode any type of data from OPC servers. We also propose a method for caching the process data in large industrial control systems to overcome the limitation of performance of the pure OPC DA system. The performance analysis and discussion indicate that the proposed system has an acceptable performance and is feasible in order for applying to real-time industrial systems today.
IEEE 802.15.4 MAC-based Location-ID Exchange Protocol for Realizing Micro-Cell Connectionless Location- Awareness Services
Kim, Baek-Gyu ; Kang, Soon-Ju ;
Journal of Computing Science and Engineering, volume 2, issue 4, 2008, Pages 412~427
DOI : 10.5626/JCSE.2008.2.4.412
We propose ID-exchange protocol for Connectionless Location-Awareness Service (CLAS) to locate mobile nodes in indoor sensor network. When adapting location-awareness service to sensor network, the target system must be designed in accordance with various metrics which reflect the system requirement. We especially consider sustainability of the existing service which has been provided for its original purpose, such as environmental monitoring. The detailed meaning of sustainability here is that, even if location-awareness service is newly added to the existing service, the system must be assured to retain a stable network condition, and to deal with newly caused traffic properly. The CLAS ID-exchange protocol is especially designed for fixture and mobile nodes communication to achieve these properties. The protocol operates on 802.15.4 MAC layer to make mobile node work independently of the procedure to build routing table of fixture node, so a stable routing condition can be achieved even if there are many mobile nodes. Moreover, the dedicated frequency channel is assigned only for this protocol, so that traffic caused by location-awareness service can be distributed to another channel. A real system adapting the protocol was implemented to monitor fire and authorities` positions. We verified the overhead and elapsed time for location-awareness. The result shows the proposed protocol has a high performance in detecting speed, traffic distribution, and stability of overall network.