• Title, Summary, Keyword: Real-time control

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Implementation of a network-based Real-Time Embedded Linux platform

  • Choi, Byoung-Wook;Shin, Eun-Cheol;Lee, Ho-Gil
    • 제어로봇시스템학회:학술대회논문집
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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.

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Real-Time Centralized Soft Motion Control System for High Speed and Precision Robot Control (고속 정밀 로봇 제어를 위한 실시간 중앙 집중식 소프트 모션 제어 시스템)

  • Jung, Il-Kyun;Kim, Jung-Hoon
    • IEMEK Journal of Embedded Systems and Applications
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    • v.8 no.6
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    • pp.295-301
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    • 2013
  • In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

Implementation of a Mobile Robot Control Platform using Real-Time Embedded Linux (실시간 임베디드 리눅스를 이용한 이동 로봇 플랫폼 구현)

  • Choi Byoung-Wook;Shin Eun-Cheol
    • 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.

Implementation of Dual-Kernel based Control System and Evaluation of Real-time Control Performance for Intelligent Robots (지능형 로봇을 위한 이중 커널 구조의 제어 시스템 구현 및 실시간 제어 성능 분석)

  • Park, Jeong-Ho;Yi, Soo-Yeong;Choi, Byoung-Wook
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.11
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    • pp.1117-1123
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    • 2008
  • This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.

Real-time Message Network System for a Humanoid Robot

  • Ahn, Sang-Min;Gong, Jung-Sik;Lee, Bo-Hee;Kim, Jin-Geol;Huh, Uk-Youl
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2296-2300
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    • 2005
  • This paper deals with the real-time message network system by a CAN (controller area network) based on the real-time distributed control scheme to integrate actuators and sensors in a humanoid robot. In order to apply the real-time distributed processing for a humanoid robot, each control unit should have the real-time efficient control method, fast sensing method, fast calculation and real-time valid data exchange method. Moreover, the data from sensors and encoders must be transmitted to the higher level of control units in maximum time limit. This paper describes the real-time message network system design and the performance of the system.

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Real-Time Control of Networked Control Systems via Ethernet

  • Ji Kun;Kim Won-jong
    • International Journal of Control, Automation, and Systems
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    • v.3 no.4
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    • pp.591-600
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    • 2005
  • In this paper, we discuss real-time control of networked control systems (NCSs) and practical issues in the choice of the communication networks for this purpose. An appropriate integration of control systems, real-time environments, and network communication systems allows the optimization of the quality-of-control (QoC) in NCSs. We compare several prevailing network types that may be used in control applications to offer a guideline of choosing a proper network. A real-time operating environment is also presented as an important ingredient of NCS design. To evaluate its feasibility and effectiveness, a real-time NCS containing a ball magnetic levitation (Maglev) setup is implemented via an Ethernet. Based on the experimental results, it is concluded in this paper that real-time control via Ethernet is a practical and feasible solution to NCS design.

DEVELOPMENT OF TIMING ANALYSIS TOOL FOR DISTRIBUTED REAL-TIME CONTROL SYSTEM

  • Choi, J.B.;Shin, M.S.;M, Sun-Woo
    • International Journal of Automotive Technology
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    • v.5 no.4
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    • pp.269-276
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    • 2004
  • There has been considerable activity in recent years in developing timing analysis algorithms for distributed real-time control systems. However, it is difficult for control engineers to analyze the timing behavior of distributed real-time control systems because the algorithms was developed in a software engineer's position and the calculation of the algorithm is very complex. Therefore, there is a need to develop a timing analysis tool, which can handle the calculation complexity of the timing analysis algorithms in order to help control engineers easily analyze or develop the distributed real-time control systems. In this paper, an interactive timing analysis tool, called RAT (Response-time Analysis Tool), is introduced. RAT can perform the schedulability analysis for development of distributed real-time control systems. The schedulability analysis can verify whether all real-time tasks and messages in a system will be completed by their deadlines in the system design phase. Furthermore, from the viewpoint of end-to-end scheduling, RAT can perform the schedulability analysis for series of tasks and messages in a precedence relationship.

A Real-time Multibody Vehicle Dynamics and Control Model for a Virtual Reality Intelligent Vehicle Simulator (가상현실 지능형 차량 시뮬레이터를 위한 실시간 다물체 차량 동역학 및 제어모델)

  • 김성수;손병석;송금정;정상윤
    • Transactions of the Korean Society of Automotive Engineers
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    • v.11 no.4
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    • pp.173-179
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    • 2003
  • In this paper, a real-time multibody vehicle dynamics and control model has been developed for a virtual reality intelligent vehicle simulator. The simulator consists of low PCs for a virtual reality visualization system, vehicle dynamics and control analysis system a control loading system, and a network monitoring system. Virtual environment is created by 3D Studio Max graphic tool and OpenGVS real-time rendering library. A real-time vehicle dynamics and control model consists of a control module based on the sliding mode control for adaptive cruise control and a real-time multibody vehicle dynamics module based on the subsystem synthesis method. To verify the real-time capability of the model, cut-in, cut-out simulations have been carried out.

An interactive environment for simulation and real-time implementation of control systems

  • Koga, Masanobu
    • 제어로봇시스템학회:학술대회논문집
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    • pp.336-339
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    • 1995
  • An approach to efficient implementation of real-time control systems is presented in this paper. A compiler for translation of control algorithms is used in combination with a general program for real-time control. The compiler translates control algorithms written for the simulation in a design language to an implementation language. The translated algorithms are then automatically incorporated in the real-time control program.

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