• 제어로봇시스템학회논문지
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• 제11권2호
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• pp.175-185
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• 2005

The scheduling methods of the distributed real-time systems have been proposed. However, they have some weak points. They did not schedule both sporadic and periodic tasks and messages at the same time or did not consider the end-to-end constraints such as precedence relations between sporadic tasks. This means that system scheduling must guarantee the constraints of practical systems and be applicable to them. This paper proposes a new scheduling method that can be applied to more practical model of distributed real-time systems. System model consists of sporadic and periodic tasks with precedence relations and sporadic and periodic messages and has end-to-end constraints. The proposed method is based on a binary search-based period assignment algorithm, an end-to-end laxity-based priority assignment algorithm, and three kinds of schedulability analysis, node, network, and end-to-end schedulability analysis. In addition, this paper describes the application model of sporadic tasks with precedence constraints in a distributed real-time system, shows that existing scheduling methods such as Rate Monotonic scheduling are not proper to be applied to the system having sporadic tasks with precedence constraints, and proposes an end-to-end laxity-based priority assignment algorithm.

• 정보처리학회논문지C
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• 제14C권4호
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• pp.371-382
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• 2007

본 논문에서는 주기 및 비주기 태스크의 효율적인 관리를 제공하는 실시간 센서 노드 플랫폼을 설계하고 구현하였다. 기존 센서 노드의 소프트웨어 플랫폼은 제한된 센서 노드의 자원을 효율적으로 사용하기 위하여 메모리 및 전력 소비량의 최소화에만 초점을 두었기 때문에 태스크의 실시간성과 빠른 평균 응답시간을 보장하는 실시간 센서 노드의 소프트웨어 플랫폼에는 적합하지 않다. 이에 본 논문에서는 센서 노드의 소프트웨어 플랫폼으로 많이 사용되고 있는 TinyOS 기반에서 태스크의 실시간성과 빠른 평균 응답시간을 보장할 수 있는 기법과 한계를 분석하였으며, 모든 주기 태스크가 마감시한 내에 실행이 완료되는 것을 보장하고 비주기 태스크의 응답시간을 최소화하는 실시간 센서 노드 플랫폼을 제안하였다. 본 논문에서 제안한 플랫폼은 Atmel사의 초경량 8비트 마이크로프로세서인 Atmega128L이 탑재된 센서 보드에서 구현되었다. 구현된 실시간 센서 플랫폼의 성능을 분석한 결과, 모든 주기 태스크의 마감시한 보장을 제공함과 동시에 향상된 비주기 태스크의 평균 응답시간과 낮은 시스템의 평균 처리기 이용률을 확인할 수 있었다.

• 한국통신학회논문지
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• 제21권11호
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• pp.2801-2809
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• 1996

실시간 시스템을 위한 다중프로세서 환경에서 스케줄링 문제는 대부분 NP hard 문제로서 최적의 해를 구하는 것은 매우 어려우나, 휴리스틱에 의한 여러 효율적인 방법이 계속 연구되고 있다. 이중 주기적인 타스크들을 여러 프로세서에 어떻게 배치하면서 실시간성을 보장하는 가에 대한 연구도 진행되고 있다. 그 동안 연구되었던 배치 방법인 RMNF, RMFF, FFDUF 및 NEXT-Fit-M과 유사한 그룹에 의한 배치로 보다 적은 프로세서를 요구하는 방식 및 알고리즘 네가지를 제안하고, 주기적인 타스크들을 임의로 발생시켜 시뮬레이션을 수행하였다. 이러한 분석결과 제안한 방법이 기존의 방식보다 프로세서 수를 더 줄일 수 있음을 보였다.

• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.376-380
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• 2008

This paper deals with a performance analysis of real-time control systems, which engages DMR(dual modular redundancy) to detect transient errors and checkpointing technique to tolerate transient errors. Transient errors are caused by transient faults and the most significant type of errors in reliable computer systems. Transient faults are assumed to occur according to a Poisson process and to be detected by a dual modular redundant structure. In addition, an equidistant checkpointing strategy is considered. The probability of the successful task completion in a real-time control system where periodic checkpointing operations are performed during the execution of a real-time control task is derived. Numerical examples show how checkpoiniting scheme influences the probability of task completion. In addition, the result of the analysis is compared with the simulation result.

• 전자공학회논문지B
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• 제29B권3호
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• pp.6-15
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• 1992

This paper proposes a method for the global optimization of redundancy over the whole task period for a kinematically redundant robot. The necessary conditions based on the calculus of variations for an integral type cost criterion result in a second-order differential equation. For a cyclic task, the periodic boundary conditions due to conservativity requirements are discussed. We refine the two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method for providing the conservative global optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of the redundancy, we only search the parameter value in the space of as many dimensions as the number of degrees of redundancy. We show through numerical examples that multiple nonhomotopic extremal solutions and the generality of the proposed method by considering the dynamics of a robot.

• 한국정보처리학회논문지
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• 제6권5호
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• pp.1203-1211
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• 1999

Checkpointing is the one of fault-tolerant techniques to restore faults and to restart job fast. Checkpointing algorithms in distributed systems have been studied for many years. These algorithms can be classified into synchronous Checkpointing algorithms and asynchronous Checkpoiting algorithms. In this paper, we propose an independent Checkpointing algorithm that has a minimum Checkpointing counts equal to periodic Checkpointing algorithm, and relatively short rollback distance at faulty situation. Checkpointing count is directly related to task completion time in a fault-free situation and short rollback distance is directly related to task completion time in a faulty situation. The proposed algorithm is compared with the previously proposed asynchronous Checkpointing algorithms using simulation. In the simulation, the proposed Checkpointing algorithm produces better results than other algorithms in terms of task completion time in fault-free as well as faulty situations.

• 전기학회논문지
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• 제61권1호
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• pp.148-154
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• 2012

For a successful checkpointing strategy, we should place checkpoints so as to optimize fault-tolerance capability of real-time systems. This paper presents a novel scheme of checkpoint placement for real-time systems with periodic multi-tasks. Under the influence of transient faults, multi-tasks are scheduled by the Rate Monotonic (RM) algorithm. The optimal checkpoint intervals are derived to maximize the probability of task completion. In particular, this paper is concerned about the general case that the deadline of a task is longer than the period. Compared with the special condition that the deadline is equal to or less than the period, this general case causes a more complicate test procedure for schedulability of the RM algorithm with respect to a given set of checkpoint re-execution vectors. The probability of task completion is also derived in a more complex form. A case study is given to show the applicability of the proposed scheme.

• 한국정보처리학회논문지
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• 제4권11호
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• pp.2891-2902
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• 1997

본 논문은 실시간 시스템에서 주기 및 비주기적 태스크들의 마감시간 만족을 위한 캐쉬(캐쉬 메모리)의 최적 분할 형태를 분석한다. 연구 목적은 태스크들의 가용비용을 최소화하여 태스크들의 마감시간 위반율을 줄일 뿐 아니라 캐쉬의 유휴공간을 다른 태스크에게 할당시키기 위함이다. 이를 위해 캐쉬의 분할공간에 태스크들을 할당시키기 위한 캐쉬 분할공간 할당 알고리즘을 제시한다. 여기에서 태스크들이 할당된 캐쉬 분할공간들의 집합을 캐쉬 분할 형태라고 한다. 태스크들이 분할공간에 어떻게 할당되는가에 따라 다양한 캐쉬 분할 형태들을 얻을 수 있다. 이러한 캐쉬 분할 형태들로부터 스케쥴링 가능한 태스크들의 가용비용의 한계범위와 태스크들이 최소 가용비용으로 실행 할 수 있는 캐쉬의 최 적 분할 형태를 분석한다．

• Nuclear Engineering and Technology
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• 제50권7호
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• pp.1051-1059
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• 2018

Fast periodic pulsed reactor is a type of reactor in which the fission bursts are formed entirely with external reactivity modulation with a specified time periodicity. This type of reactors could generate much larger intensity of neutron beams for experimental use, compared with the steady state reactors. In the design of fast periodic pulsed reactors, the time dependent simulation of the power pulse is majorly based on a point kinetic model, which is known to have limitations. A more accurate calculation method is desired for the design analyses of fast periodic pulsed reactors. Monte Carlo computer code MCNP6 is used for this task due to its three dimensional transport capability with a continuous energy library. Some new routines were added to simulate the rotation of the movable reflector parts in the time dependent calculation. Fast periodic pulsed reactor IBR-2M was utilized to validate the new routines. This reactor is periodically in prompt supercritical state, which lasts for ${\sim}400{\mu}s$, during the equilibrium state. This generates long neutron fission chains, which requires tremendously large amount of computation time during Monte Carlo simulations. Russian Roulette was applied for these very long neutron chains in MCNP6 calculation, combined with other approaches to improve the efficiency of the simulations. In the power pulse of the IBR-2M at equilibrium state, there is some discrepancy between the experimental measurements and the calculated results using the point kinetics model. MCNP6 results matches better the experimental measurements, which shows the merit of using MCNP6 calculation relative to the point kinetics model.

• 한국IT서비스학회지
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• 제16권3호
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• pp.103-111
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• 2017

The real time scheduling is a key research area in high performance computing and has been a source of challenging problems. A periodic task is an infinite sequence of task instance where each job of a task comes in a regular period. The RMS (Rate Monotonic Scheduling) algorithm has the advantage of a strong theoretical foundation and holds out the promise of reducing the need for exhaustive testing of the scheduling. Many real-time systems built in the past based their scheduling on the Cyclic Executive Model because it produces predictable schedules which facilitate exhaustive testing. In this work we propose hybrid scheduling method which combines features of both of these scheduling algorithms. The original rate monotonic scheduling algorithm didn't consider the uniform sampling tasks in the real time systems. We have enumerated some issues when the RMS is applied to our hybrid scheduling method. We found the scheduling bound for the hard real-time systems which include the uniform sampling tasks. The suggested hybrid scheduling algorithm turns out to have some advantages from the point of view of the real time system designer, and is particularly useful in the context of large critical systems. Our algorithm can be useful for real time system designer who must guarantee the hard real time tasks.