• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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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.

• 제어로봇시스템학회논문지
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• 제3권4호
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.318-325
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• 2008

In this paper, a dynamic backoff adjustment method of IEEE 802.15.4 is proposed for time-critical sporadic data in a noisy factory environment. For this, a superframe of IEEE 802.15.4 is applied to a real-time mixed data (periodic data, sporadic data, and non real-time message) transmission in factory communication systems. To guarantee a channel access of real-time sporadic(non-periodic) data, a transmission method using the dynamic backoff is applied to wireless control networks. For the real-time property, different initial BE, CW parameters are used for the dynamic backoff adjustment method. The simulat-ion results show an enhancement of the real-time performance of sporadic emergency data. The proposed method provides the channel access of real-time sporadic data efficiently, and guarantee real-time transmission simultaneously within a limite-d timeframe.

• ETRI Journal
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• 제21권4호
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• pp.52-64
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• 1999

QoS monitoring is a kind of real-time systems which allows each level of the system to track the ongoing QoS levels achieved by the lower network layers. For these systems, real-time communications between corresponding transport protocol objects is essential for their correct behavior. When two or more entities are employed to perform a certain task as in the case of communication protocols, the capability to do so is called interoperability and considered as the essential aspect of correctness of communication systems. This paper describes a formal approach on modeling and interoperability test case generation of a real-time QoS monitoring protocol. For this, we specify the behavior of flow monitoring of transport layer QoS protocol, i.e., METS protocol, which is proposed to address QoS from an end-to-end's point of view, based on QoS architecture model which includes ATM net work in lower layers. We use a real-time Input/Output finite State Machine to model the behavior of real-time flow monitoring over time. From the modeled real-time I/OFSM, we generate interoperability test cases to check the correctness of METS protocol's flow monitoring behaviors for two end systems. A new approach to efficient interoperability testing is described and the method of interoperability test cases generation is shown with the example of METS protocol's flow monitoring. The current TTCN is not appropriate for testing real-time and multimedia systems. Because test events in TTCN are for message-based system and not for stream-based systems, the real-time in TTCN can only be approximated. This paper also proposes the notation of real-time Abstract Test Suite by means of real-time extension of TTCN. This approach gives the advantages that only a few syntactical changes are necessary, and TTCN and real-time TTCN are compatible. This formal approach on interoperability testing can be applied to the real-time protocols related to IMT-2000, B-ISDN and real-time systems.

• 한국정보시스템학회지:정보시스템연구
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• 제5권
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• pp.411-427
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• 1996

As the application of real time expert systems has been expanded, the real time expert systems have become an integral part of the information society. Real time expert systems are viewed as a new paradigm to integrate real time problem solving and expert system technology. However, a substantial amount of work is still required to effectively handle a new and challenging opportunity for successful implementation of real time expert systems. In this article, the basic concepts and characteristics of real time expert systems are discussed. The article also presents, through the literature survey, the summary of real time expert systems applications and a class of tools, providing an enabling real time based expert system technology. Finally, the article discusses a set of requirements which real time expert systems must satisfy.

• 대한음성학회지:말소리
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• 제44호
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• pp.93-104
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• 2002

There are many speech analysis tools available. Among them real-time analysis tool is very useful for interactive experiments. A real-time speech analysis tool was implemented using Matlab. Matlab is a very widely used general purpose signal processing tool. In general, its computational speed is relatively lower than that of the codes from conventional programming languages. Especially, real-time analysis including input of signal and output of the result was not possible in the past. However, due to the improvement of computing power of PCs and inclusion of real-time I/O toolboxes in Matlab, real-time analysis is now possible in some extent by Matlab only. In this experiment, we tried to implement a real-time speech analysis tool using Matlab. Pitch and spectral information is computed in real-time. From the result it is shown that such real-time applications can be implemented easily using Matlab.

• International Journal of Internet, Broadcasting and Communication
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• 제13권1호
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• pp.134-142
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• 2021

This paper proposes a probabilistic method in analyzing timing measurements to determine the periodicity of real-time tasks. The proposed method fills a gap in existing techniques, which either concentrate on the estimation of worst-case execution times, or do not consider the stochastic behavior of the real-time scheduler. Our method is based on the Z-test statistical analysis which calculates the probability of the measured period to fall within a user-defined standard deviation limit. The distribution of the measured period should satisfy two conditions: its center (statistical mean) should be equal to the scheduled period of the real-time task, and that it should be symmetrical with most of the samples focused on the center. To ensure that these requirements are met, a data adjustment process, which omits any outliers in the expense of accuracy, is presented. Then, the Z-score of the distribution according to the user-defined deviation limit provides a probability which determines the periodicity of the real-time task. Experiments are conducted to analyze the timing measurements of real-time tasks based on real-time Linux extensions of Xenomai and RT-Preempt. The results indicate that the proposed method is able to provide easier interpretation of the periodicity of real-time tasks which are valuable especially in comparing the performance of various real-time systems.

• Smart Structures and Systems
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• 제4권6호
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• pp.809-828
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• 2008

Real-time hybrid testing is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with time-dependent components. Real-time hybrid testing is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for time delays and actuator time lag is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid testing in which time delay/lag compensation is implemented using model-based response prediction. The efficacy of the proposed strategy is verified by conducting substructure real-time hybrid testing of a steel frame under earthquake loads. For the initial set of experiments, a specimen with linear-elastic behavior is used. Experimental results agree well with the analytical solution and show that the proposed approach and testing system are capable of achieving a time-scale expansion factor of one (i.e., real time). Additionally, the proposed method allows accurate testing of structures with larger frequencies than when using conventional time delay compensation methods, thus extending the capabilities of the real-time hybrid testing technique. The method is then used to test a structure with a rate-dependent energy dissipation device, a magnetorheological damper. Results show good agreement with the predicted responses, demonstrating the effectiveness of the method to test rate-dependent components.

• Pediatric Infection and Vaccine
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• 제23권3호
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• pp.194-201
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• 2016

목적: 폐렴구균은 주요 비인두 상재균으로, 주위 조직을 침범하여 침습성 감염을 일으킬 수 있어 보균율에 대한 감시가 중요하다. 본 연구에서는 임상에서 비인두 흡인물로부터 추출하고 남은 RNA를 이용하여 폐렴구균을 확인할 수 있는 실시간 중합효소 연쇄반응(real-time reverse transcription polymerase chain reaction [RT-PCR])법을 구축하고, 보균율 측정에 있어서의 정확성과 이점을 확인하고자 하였다. 방법: 2014년 9월부터 10월까지 중앙대학교병원에 입원하여 호흡기 바이러스 RT-PCR 검사를 시행받은 18세 이하의 소아들로부터 비인두 흡인물을 채취하였다. 먼저 배양법과 genomic DNA (gDNA)를 이용한 real-time PCR을 시행하여 폐렴구균 검출률의 정확성을 확인하였다. 이 중 처음 20개의 검체를 이용하여, 고전적인 배양법과 gDNA를 이용한 real-time PCR, 그리고 RNA를 이용한 real-time RT-PCR법을 시행하고 이를 비교 분석하였다. 결과: 총 157개의 검체에서 시행한 real-time PCR 검사는 기존의 배양검사와 일치율이 0.922 (P<0.01, Fisher exact test)로 매우 높았다. 배양검사에서 음성인 133개의 검체는 real-time PCR에서도 모두 음성을 보였다. 24개의 배양 양성 검체 중 21개의 검체는 real-time PCR에서도 양성이었지만, 나머지 검체는 음성 결과를 보였다. 20개의 검체에서 시행한 real-time RT-PCR 검사는 1개 검체를 제외하고 배양법 및 real-time PCR과 결과가 일치하였다. 한편, 배양법을 시행하고 결과를 확인하기까지는 총 26.5시간, real-time RT-PCR 검사에는 총 4.5시간이 소요되었다. 결론: 본 연구는 비인두 집락균 확인을 위한 real-time RT-PCR법의 확립과, 폐렴구균 보균율 측정에 있어서의 real-time RT-PCR 검사의 정확성 및 편의성을 보여주었다. Real-time RT-PCR 검사법은 주요 세균들의 보균율 연구에 있어서 시간과 노력을 줄일 수 있는 좋은 방법이며, 폐렴구균의 역학자료 수집에 큰 도움이 될 것으로 기대한다.