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논문 기본 정보

자료유형
학술대회자료
저자정보
Youngwoo Lee (Agency for Defense Development) Myeong Eon Jang (Agency for Defense Development) Jun Kim (Agency for Defense Development) Yong Woon Park (Agency for Defense Development)
저널정보
제어로봇시스템학회 제어로봇시스템학회 국제학술대회 논문집 ICCAS 2014
발행연도
2014.10
수록면
460 - 465 (6page)

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초록· 키워드

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This paper introduces software architectures of the Rescue Robot that lifts and moves wounded soldiers in battle fields or hospitals. Since the Rescue Robot interacts with humans, the robot needs a real-time operation for human safety. Moreover, it is necessary that a large number of calculations and various sensing data to move the soldiers without any damages. One of challenging problems of designing the robot software architecture is that a large number of calculations and data would disturb to decrease a response time taken until robot reacting from user’s commands or emergency sensing data.
The Rescue Robot uses Linux with real-time kernel patches as a real-time operating system and EtherCAT as a real-time network. We test three kinds of software architectures, Linux, Xenomai, and RTAI, for the Rescue Robots about the time taken until output commands are sent to joint motors just after the sensing data or input commands are delivered. Furthermore, we suggest a method to handle urgent commands or data quickly with a slightly modified kernel and a kernel module that reduces the time dramatically. This paper also analysis the difference of the real-time kernel patches.

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Abstract
1. INTRODUCTION
2. BACKGROUND
3. THE PROPOSED ARCHITECTURE
4. PERFORMANCE ANALYSIS OF DELIVERING PACKETS IN THE ARCHITECTURE
5. REDUCING THE END-TO-END DELAYS OF PACKET DELIVERY
6. CONCLUSION AND FUTUREWORK
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