• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.375-378
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• 1996

Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.38-46
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• 2011

The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10ms.

• Korean Journal of Microbiology
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• v.49 no.3
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• pp.292-296
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• 2013

This study utilized an analysis method for detecting six microorganisms, such as Actinobacillus actinomycetemcomitans, Campylobacter rectus, Porphyromonas gingivalis, Tannerella forsythus, Treponema denticola, and Prevotella intermedia, triggering periodontal disease, using multiplex real-time polymerase chain reaction (PCR). The analysis including internal control was made by dividing the six species into two groups using four fluorescence dyes, and it was verified that there was no interference or cross-reaction between the target species and different kinds of oral microbial species. Qualitative and quantitative analyses were conducted on each microorganism in various samples, such as saliva and the plaque, using the multiplex real-time PCR and comparative analysis between periodontitis patients and healthy people, revealing obvious differences between them.

• Journal of Sensor Science and Technology
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• v.22 no.4
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• pp.262-267
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• 2013

We developed a real-time screening system using optical coherence tomography (OCT) to distinguish the fruitful melon seeds efficiently. Cross-section images of melon seeds infected with Cucumber green mottle mosaic virus (CGMMV) showed an additional layer that did not appear in normal seeds. Additional layer appeared under $100{\sim}300{\mu}m$ from the surface of the seed. OCT can visualize the micro-structural and morphological changes of the internal seed structure. Real-time OCT seed screening system provided the real-time, non-destructive, cross-section image and quantitative information such as A-scan analysis of selected region in the cross-section image. We can distinguish the viral infection seeds while monitoring the averaged A-scan analysis graph in real-time by considering the second peak value of the graph which refers to the layer that occurred owing to the virus. Real-time OCT seed screening system could assist to distinguish the disease caused by CGMMV.

• Journal of Food Hygiene and Safety
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• v.26 no.2
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• pp.114-119
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• 2011

In this study, two duplex real-time PCR approach with melting curve analysis is presented for the detection of Escherichia coli O157:H7, Listeria monocytogenes, Salmonella spp. and Staphylococcus aureus, which are important food-borne bacterial pathogens usually present in fresh and/or minimally processed vegetables. Reaction conditions were adjusted for the simultaneous amplification and detection of specific fragments in the ${\beta}$-glucuronidase (uidA, E. coli), thermonuclease (nuc, S. aureus), hemolycin (hly, L. monocytogenes) and tetrathionate reductase (ttr, Salmonella spp.) genes. Melting curve analysis using a SYBR Green I real-time PCR approach showed characteristic $T_m$ values demonstrating the specific and efficient amplification of the four pathogens; $80.6{\pm}0.9^{\circ}C$, $86.9{\pm}0.5^{\circ}C$, $80.4{\pm}0.6^{\circ}C$ and $88.1{\pm}0.11^{\circ}C$ for S. aureus, E. coli O157:H7, L. monocytogenes and Salmonella spp., respectively. For all the pathogens, the two duplex, real-time PCR was equally sensitive to uniplex real-time PCR, using same amounts of purified DNA, and allowed detection of 10 genome equivalents. When our established duplex real-time PCR assay was applied to artificially inoculated fresh lettuce, the detection limit was $10^3$ CFU/g for each of these pathogens without enrichment. The results from this study showed that the developed duplex real-time PCR with melting curve analysis is promising as a rapid and cost-effective test method for improving food safety.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.31A no.10
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• pp.21-30
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• 1994

We discussed the Distributed Control System's design on preface and analyzed time of the real-time communication by using designed system. The DCS proposed in this thesis was implemented to network file system having recovery advantage and shared memory method to access file system of a Remote Station with ease. Also, this system minimized the network delay-time by using the real-time VME147 board. In implemented DCS, the performance analysis of real-time process of a Remote Station was done to get the total time for reak-tune communication from a Remote Station to the Central Station after terminating of process. For the analysis of system performance, we experiented by three steps. Firstly, we measuredthe processing the of LOOP function that real-time CPU convertes to-2,500~10.000 values from the input data of the Analog Interface Card. Secondly, we measured the processing time of the LOGIC function and the LOOP function. Lastly, we measured total processing time for communication from a Remote Station to the Centrol Station.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.797-801
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• 2003

In this paper, a real-time communication method using a PICNET-NP (Plant Instrumentation and Control Network for Nuclear Power plant) is proposed with an analysis of the control network requirements of DCS (Distributed Control System) in nuclear power plants. The method satisfies deadline in case of worst data traffics by considering aperiodic and periodic real-time data and others.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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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.

• Journal of the Korea Society of Computer and Information
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• v.10 no.3 s.35
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• pp.75-88
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• 2005

This paper proposes a method to ensure security attacks caused by insertion of malicious codes in a real-time control system that can be accessed through networks. The proposed technique is for dynamically upgradable real-time software through networks and based on a static program analysis technique to detect the malicious uses of memory access statements. Validation results are shown using a remotely upgradable real-time control system equipped with a modified compiler where the proposed security technique is applied.