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실시간 리눅스 기반의 회전익 무인항공기 제어 시스템 개발
위영준(Young-Jun Wie),박기석(Ki-Seok Park),이영무(Young-Mu Lee),박정근(Jung-Keun Park),문창주(Chang-Joo Moon) 한국정보기술학회 2012 한국정보기술학회논문지 Vol.10 No.2
It is difficult to use the commercial RTOS (Real-Time Operating System) in the low-cost UAVs (Unmanned Aerial Vehicles) because of licenses cost. But recently the low-cost UAVs are required high performance computing and development convenience in order to extend utilizability so the use of noncommercial RTOS such as real-time Linux is increasingly needed. But the existing researches of real-time linux application only describe the basic concept and the software architecture. This paper implements the hard real-time Rotary UAV system with the low cost and high performance characteristics based on Xenomai which is real-time Linux. This paper explains the method of Xenomai patch, compile with Xenomai and bootloader creation which is reflected UART setting for sensor data transmission. These works have to be preceded before the software implementation. Also the Rotary UAV control and management software of multi-thread type are implemented based on the Xenomai. This paper can provide a guideline to developer who want to implement the hard real tim system based on the Xenomai in the various fields.
UML을 이용한 RUAV 제어 소프트웨어 설계 및 검증
박중희(Joung-Hee Park),이영무(Young-Mu Lee),박정근(Jung-Keun Park),문창주(Chang-Joo Moon) 한국정보기술학회 2012 한국정보기술학회논문지 Vol.10 No.1
The RUAV is connected to various sensors to receive and save attitude and position data with the flight control computer as the center and simultaneously controls the servo motor depending on the mission by automatic control command. Complex inner tasks satisfy assigned deadline, interact each other and operate system. If quality of these control software have problem, it can have fatal effects. To secure the reliability of control software, analysis, design and verification steps should be performed in advance. This paper proposes analysis, design and verification method about RUAV system using the RTP of UML. Based on system’s requirements analysis, we design software using general resource model, concurrency model and schedulability model profiles of RTP from various points of views. Verify the designed software using the statechart and the rate monotonic scheduling theory.