Title Page
초록
Contents
제1장 Introduction 7
제2장 Background 9
제1절 Robot Operating System (ROS) 9
제2절 Structure of ROS Process 10
제3절 Page Level Isolation 11
제4절 Memory Allocator 11
제3장 Design and Implementation 13
제1절 Memory Request Trampoline 14
제2절 Porting a Memory Allocator 16
제3절 Execution Context Tracer 17
제4절 Memory Tracer 18
제4장 Evaluation 20
제1절 Proof of Concept Experiment 20
제2절 Performance Evaluation 22
제5장 Conclusion 24
Reference 25
Abstract 26
Figure 1. ROS Process Structure 10
Figure 2. Memory allocation on each node should be handled on a separate region 14
Figure 3. Modified structure of ROS process to apply page level isolation 14
Figure 4. Memory allocation trampoline behavior 15
Figure 5. Memory deallocation trampoline behavior 16
Figure 6. The behavior of node execution resembles process execution. 18
Figure 7. Memory Tracer stores data about the location and owner of each heap 19
Figure 8. The setting of Proof of Concept Experiment 21
Figure 9. Execution time of one publisher and one subscriber on different settings 23