• Proceedings of the Korean Information Science Society Conference
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• 2001.04a
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• pp.289-291
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• 2001

본 논문에서는 실시간처리 리눅스에 기반한 VoIP 단말기를 설계 구현한다. 설계 구현된 하드웨어 시스템은 i386 프로세서를 기반으로 설계되며, 실시간음성처리 지원을 위해 음성코덱 칩과 실시간처리 리눅스인 RTLinux를 사용하여 실시간 음성처리 모듈을 구현한다. 설계 구현된 시스템의 테스트 및 타당성 검증을 위해 LAN환경에서의 음성채팅 프로그램에 적용하여 통화품질을 시험하였다. 음성처리에 사용한 음성처리 모듈은 ITU-T 음성 코덱인 G.723.1 사용하여 30ms 내에 24 바이트로 인코딩/디코딩된 음성 데이타를 전송하도록 구현하였다.

• The Journal of the Korea Contents Association
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• v.11 no.9
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• pp.45-53
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• 2011

According to the necessity of measuring equipments for advanced military systems, real-time characteristics such as time determinism and execution accuracy pursuing low-latencies have become very important. With this reason, the market demand for real-time features in the general purpose operating system such as Linux has been enlarging. To meet these requirements, RTLinux and RTAI has been developed as dual-kernels based on Linux. However, developers should use assembler languages to facilitate real-time in RT-Linux, it is very difficult to deal with it. RTAI has disadvantage that it only provides soft real-time. To solve these problems, RTiK-Linux was developed. In this paper, we propose a new dual-kernel with hard real-time capabilities in Linux, called RTiK-Linux(Real-Time implemented Kernel for Linux). We first introduce related researches and then describe the design methodologies to guarantee the resolution which almost accords with the timer settings. Finally, we present the results of experimental measurements and analyze them in order to validate and evaluate the proposed RTiK-Linux.

• The KIPS Transactions:PartA
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• v.8A no.4
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• pp.345-352
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• 2001

In this paper, a VoIP (Voice on Internet Protocol) terminal system, which can process voice in real time based on Linux, is designed and implemented. The hardware of it is designed using a i486 processor and a DSP codec chip which encodes and decodes voice data in real time. As an operating system, RTLinux, which is a real-time operating system based on Linux, is ported to manage real-time voice processing. The voice processing module of the system uses G.723.1 voice codec of ITU-T standard. It transfers voice data within 30ms to assure good voice quality. In order to satisfy the real time requirements and QoS (Quality-of-Service) for the voice data, the real-time voice processing device driver is designed and implemented. To verify the system, the chatting application program is developed and tested for QoS of the system.

• Proceedings of the Korea Information Processing Society Conference
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• 2002.11b
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• pp.1371-1374
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• 2002

본 논문에서는 내장형 리눅스를 기반으로 무선 네트웍과 실시간 음성처리 VoIP 와의 연동시스템을 설계 구현한다. 설계 구현하는 시스템의 하드웨어 스펙은 Motorola-XPC860 프로세서를 기반으로 설계되었으며, 음성 코덱칩을 사용하여 실시간으로 음성데이터를 처리하도록 설계하였다. 또한 2.4GHz 무선 통신 규약인 Bluetooth 를 무선 네트웍 인터페이스로 사용하였다. 실시간 음성데이터의 효과적인 처리를 위하여 실시간 운영 체제인 RTLinux 를 사용하였으며, 무선 네트워크의 동시다중 서비스 지원을 위해 커널레벨의 문자 디바이스 형태로의 Bluetooth 인터페이스 구현에 대해 살펴보도록 하겠다.

• Proceedings of the Korea Information Processing Society Conference
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• 2003.05a
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• pp.141-144
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• 2003

본 논문에서는 클라이언트/서버 형태로 신발 공정에 관한 컨베이어 원격 감시 제어 시스템을 웹 기반으로 설계하고 구성하였다. 클라이언트가 원격으로 영상을 감시하고 제어하기 위한 모듈들은 JAVA를 기반으로 제작하였으며, 실시간 제어를 위한 컨베이어 서버는 RTLinux를 기반으로 디바이스 드라이버와 API를 개발하였다. 이러한 소프트웨어 제작과 Lego 기반의 프로토타입핑을 통해 산업 현장에서 웹을 통해 실시간으로 컨베이어를 제어하는 방법을 제시하고자 한다.

• Proceedings of the KIEE Conference
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• 2006.10d
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• pp.218-221
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• 2006

This paper reports on a Realtime OS based motor control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. The system has a conventional master-slave robot configuration and the control system consists of joint controllers, host controllers, and power units. The robot features (1) a compact slave robot with 5 DOF (Degree Of Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously, and (2) direct 1:1 correspondence in the joint of master and slave robot that simplifies control algorithm and enhances reliability. Each master, slave and GUI (Graphical User Interface) host has a dedicated RTOS (RealTime OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) Each master and slave controller set pair has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication. Total 4 pairs of the master/slave manipulators as current are monitored by one host controller for operation monitoring and higher level motion control. The system showed acceptable performance in both position control precision and master-slave motion synchronization and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.