• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.292-298
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• 2012

It is a real-time system that the system correctness depends not only on the correctness of the logical result of the computation but also on the result delivery time. Real-time Operating System (RTOS) is a software that manages the time of a microprocessor to ensure that the most important code runs first so that it is a good building block to design the real-time system. The real-time performance is achieved by using real-time mechanisms through data communication and synchronization of inter-task communication (ITC) between tasks. Therefore, test on the response time of real-time mechanisms is a good measure to predict the performance of real-time systems. This paper aims to analysis the response characteristics of real-time mechanisms in kernel space for real-time embedded Linux: RTAI and Xenomai. The performance evaluations of real-time mechanism depending on the changes of task periods are conducted. Test metrics are jitter of periodic tasks and response time of real-time mechanisms including semaphore, real-time FIFO, Mailbox and Message queue. The periodicity of tasks is relatively consistent for Xenomai but RTAI reveals smaller jitter as an average result. As for real-time mechanisms, semaphore and message transfer mechanism of Xenomai has a superior response to estimate deterministic real-time task execution. But real-time FIFO in RTAI shows faster response. The results are promising to estimate deterministic real-time task execution in implementing real-time systems using real-time embedded Linux.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.7
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• pp.3566-3582
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• 2019

In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.6
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• pp.1122-1129
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• 2007

For a system with multiple real-time tasks of different deadlines, it is very difficult to find the optimal checkpoint interval because of the complexity in considering the scheduling of tasks. In this paper, we determine the optimal checkpoint interval for multiple real-time tasks that are scheduled by RM(Rate Monotonic) algorithm. Faults are assumed to occur with Poisson distribution. Checkpoints are inserted in the execution of task with equal distance in the same task, but different distances in other tasks. When faults occur, rollback to the latest checkpoint and re-execute task after the checkpoint. We derive the equation of maximum slack time for each task, and determine the number of re-executable checkpoint intervals for fault recovery. The equation to check the schedulibility of tasks is also derived. Based on these equations, we find the probability of all tasks executed within their deadlines successfully. Checkpoint intervals which make the probability maximum is the optimal.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.1
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• pp.41-47
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• 2011

The Pfair scheduling algorithm, which is an optimal scheduling algorithm in the hard real-time multiprocessor environments, propose the necessary and sufficient condition for the schedulability and is based on the fixed quantum size. Recently, several methods that determine the optimal quantum size dynamically were proposed in the mode change environments. But these methods considered only the case in which the period of a task is increased or decreased. In this paper, we also consider the case in which the execution time of a task is increased or decreased, and propose new methods that determine the optimal quantum size dynamically.

• Journal of KIISE:Computer Systems and Theory
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• v.26 no.11
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• pp.1333-1343
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• 1999

경성 실시간 시스템의 태스크들은 논리적으로 올바른 결과를 산출해야 하지만 또한 각자의 시간 제한 조건을 만족하여야 한다. 간격제한 스케줄링은 시간 제한 조건이 시간 간격 제한으로 주어지는 실시간 태스크들을 스케줄하기 위하여 도입되었다. 간격제한 스케줄링에서의 각 태스크들은 시간 간격 제한 조건을 갖는데, 이것은 태스크의 두 연속적인 수행의 종료시간에 대해 제한을 가한다. 다시 말해, 간격제한 스케줄링에서의 각 태스크 수행은 그 태스크의 직전 수행 완료 시간으로부터 발생하는 데드라인을 갖는다. 간격제한 태스크 스케줄링에 관한 많은 연구는 단순화 방법에 기초하고 있다. 그러나, 우리는 이 논문에서 단순화 방법을 사용하지 않고, 정적 우선순위 및 정적 분리 제한 정책을 채용한 새로운 간격제한 태스크 스케줄링 방법을 제안한다. 제안된 정적 할당 방법은 스케줄링 분석 및 구현을 매우 간단히 할 수 있으며, 또한 스케줄러의 실행시간 오버헤드를 줄일 수 있다.Abstract Tasks in hard real-time systems must not only be logically correct but also meet their timing constraints. The distance-constrained scheduling has been introduced to schedule real-time tasks whose timing constraints are characterized by temporal distance constraints. Each task in the distance-constrained scheduling has a temporal distance constraint which imposes restriction on the finishing times of two consecutive executions of the task. Thus, each execution of a task in the distance-constrained scheduling has a deadline relative to the finishing time of the previous execution of the task.Much work on the distance-constrained task scheduling has been based on the reduction technique. In this paper, we propose a new scheme for the distance-constrained task scheduling which does not use the reduction technique but adopts static priority and static separation constraint assignment policy. We show that our static assignment approach can simplify the scheduling analysis and its implementation, and can also reduce the run-time overhead of the scheduler.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.5
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• pp.48-61
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• 2017

An IaaS service of a cloud computing environment makes itself attractive for running large scale parallel application thanks to its innate characteristics that a user can utilize a desired number of high performance virtual machines without maintenance cost. The total execution time of a parallel application on a high performance computing environment depends on a task scheduling algorithm. Most studies on task scheduling algorithms on cloud computing environment try to reduce a user cost, and studies on task scheduling algorithms that try to reduce total execution time are rarely carried out. In this paper, we propose a task scheduling algorithm called an HAGD and a performance enhancement method called a group task duplication method of which the HAGD utilizes. The group task duplication method simplifies previous task duplication method, and the HAGD uses the group task duplication method or a task insertion method according to the characteristics of a computing environment and an application. We found that the proposed algorithm provides superior performance regardless of the characteristics in terms of normalized total execution time through performance evaluations.

• The KIPS Transactions:PartA
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• v.11A no.7 s.91
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• pp.521-528
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• 2004

In this-paper, we propose a new task scheduling scheme for bus-based cluster architectures and analyze performance of the scheduling scheme which has been implemented in a PC cluster. The implemented scheme schedules the tasks of a task graph to the processors of a PC cluster, and it reduces parallel execution time by selectively duplicating critical tasks using heuristic. Experimental results show that the proposed scheduling scheme produces better parallel execution time than the other scheduling scheme.

• KIPS Transactions on Computer and Communication Systems
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• v.4 no.5
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• pp.153-160
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• 2015

The effectiveness of multicores depends on how well a scheduler can assign tasks onto the cores efficiently. In a heterogeneous multicore platform, the execution time of an application depends on which core it executes on. That is to say, the effectiveness of task assignment is one of the important components for a multicore systems' performance. This work proposes a load scheduling technique that analyzes execution time of each task by profiling. The profiling result provides a basic information to predict which task-to-core mapping is likely to provide the best performance. By using such information, the proposed technique is about 26% performance gain.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• Journal of KIISE:Software and Applications
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• v.26 no.10
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• pp.1178-1178
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• 1999

A spatial join has the property that its execution time exponentially increases in proportion to the number of spatial objects. Recently, there have been many attempts for improving the performance of the spatial join by using parallel processing schemes, In the case of executing parallel spatial join using the parallel machine with shared disk architecture, the disk bottleneck of parallel processing of spatial join worsens in comparison with sequential spatial join. This paper presents the algorithms of task creation and assignment to reduce the disk bottleneck caused by accessing the shared disk at the same time, and to minimize message passing between processors, This paper proposes object caching which is a higher level of abstraction than page caching, and uses it to do creation and assignment of tasks according to temporal and spatial localities for minimizing disk access time. The object caching shows the performance improvement of 50%. The task creation and assignment using localities gives the gain of 30% and 20%. Overall performance evaluation of the proposed algorithms shows 7.2 times speed up than those of sequential execution of spatial joins.