• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.4
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• pp.233-239
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• 2015

This paper describes a method that is integrated trace for real-time virtualization environment. This method has solved the problem that the performance trace may not be able to analyze integrated method between heterogeneous operating systems which is consists of real-time operating systems and general-purpose operating system. In order to solve this problem, we have attempted to reuse the performance analysis function in general-purpose operating system, thereby real-time operating systems can be analyzed along with general-operating system. Furthermore, we have implemented a prototype based on ARM Cortex-A15 dual-core processor. By using this integrated trace method, real-time system developers can be improved productivity and reliability of results on real-time virtualization environment.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1840-1845
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• 2005

The SoC and digital technology development recently enabled the emergence of information devices and control devices because the SoC present many advantages such as lower power consumption, greater reliability, and lower cost. It is required to use an embedded operating system for building control systems. So far, the Real-Time operating system is widely used to implement a Real-Time system since it meets developer's requirements. However, Real-Time operating systems reveal a lack of standards, expensive development, and license costs. Embedded Linux is able to overcome these disadvantages. In this paper, the implementation of control system platform using Real-Time Embedded Linux is described. As a control system platform, we use XScale of a Soc and build Real-Time control platform using RTAI and Real-Time device driver. Finally, we address the feasibility study of the Real-Time Embedded Linux as a Real-Time operating system for mobile robots.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.194-200
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• 2006

The SoC and digital technology development recently enabled the emergence of information devices and control devices because the SoC presents many advantages such like lower power consumption, greater reliability, and lower cost. However, it is nearly impossible to use the SoC without operating systems because the SoC is included with many peripherals and complex architecture. It is required to use embedded operating systems and real-time operating systems may be used as an embedded operating system. So far, real-time operating systems are widely used to implement a Real-Time system since it meets developer's requirements. However, real-time operating systems have disadvantages including a lack of standards, expensive development, and license. Embedded Linux is able to overcome their disadvantages. In this paper, the implementation of control system platform for a mobile robot using real-time Embedded Linux is described. As a control hardware system platform, XScale board is used. As the real-time Embedded Linux, RTAI is adopted which is open source and royalty free, and supports various architectures and real-time devices, such like real-time CAN and real-time COM. This paper shows the implementation of RTAI on XScale board that means the porting procedure. We also applied the control system platform to the mobile robot and compared the Real-Time serial driver with non real-time serial driver. Experimental results show that that using RTAI is useful to build real-time control system with powerful functionalities of Linux.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.3
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• pp.260-267
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• 2013

A combat system for navy's battleship is a system of systems who supports naval indigenous operations by integrating and inter-operating many different kind of weapon and non-weapon systems, which has characteristics of large-scale complex computing system. This paper considers a characteristics of naval combat system which has been developed by domestic technology and suggests a way to improve future naval combat system in terms of computing architecture by applying commercial real-time operating system technologies. This paper also provides an evaluation criteria for combat system adaptability of real-time operating systems.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.12
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• pp.13-23
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• 1996

In tis paper we researched the implementation methodology and techniques for the high real-time responsive operating system of an ISDN PABX system. The operating system we developed takes a high role as a dedicated real-time operating system for PABX systems. It provides the functions and synchronization, interprocessor communication, interrupt processing, and data I/O processing. And also it provides lots of real-time processing functions for supproting various real-time applications. Finally, we evaluated the performance by measuring the best, the average, and the worst-case execution time of all functions implemented in this real-time operating system.

• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.372-377
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• 2012

In this paper, we propose an implementation of a real-time operating system for the two-wheel mobile robot. With this implementation, we have the ability to control the complex embedded systems of the two-wheel mobile robot. The advantage of the real-time operating system is increasing the reliability and stability of the two-wheel mobile robot when they work in critical environments such as military and industrial applications. The real-time operating system which was ported to this implementation is open systems and the corresponding interfaces for automotive electronics (OSEK/VDX). It is known as the set of specifications on automotive operating systems, published by a consortium founded by the automotive industry. The mechanical design and kinematics of the two-wheel mobile robot are described in this paper. The contributions of this paper suggest a method for adapting and porting OSEK/VDX real-time operating system to the two-wheel mobile robot with the differential drive method, and we are also able to apply the real-time operating system to any complex embedded system easily.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.1181-1184
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• 2005

In this paper, we proposed small scale real-time operating system for embedded system. Real-time system is characterized by the severe consequences that result if logical as well as timing correctness properties of system are not met. On real-time system, real-time operating system allows real-time applications to be designed and expanded easily. Functions can be added without requiring major changes to the software. We design small scale real-time operating system for preemptive kernel, and design kernel component such as multitasking, scheduler, task priority, semaphore, inter-task communication, clock tick timer, ISR(Interrupt Service Routine) mechanism has low interrupt latency.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.373-380
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• 1997

In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.184-186
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• 2007

Currently many sensors and processing data in a robot based on USN environments need to real-time features. In this paper, we examine recent research trends on real-time operating systems, especially on real-time embedded Linux, RTAI and Xenomai, for intelligent robots. Xenomai is a real-time development framework and have special feature supporting RTAI, VxWorks, pSOS+ etc. through the "skin". This research gives a guide to researcher in using real-time embedded Linux in the sense of architecture, supporting real-time mechanisms, kinds of real-time device driver, performances.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.375-378
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• 1996

Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.