• Title/Summary/Keyword: 부분 호환 테스트

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Data Association of Robot Localization and Mapping Using Partial Compatibility Test (Partial Compatibility Test 를 이용한 로봇의 위치 추정 및 매핑의 Data Association)

  • Yan, Rui Jun;Choi, Youn Sung;Wu, Jing;Han, Chang Soo
    • Journal of the Korean Society for Precision Engineering
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    • v.33 no.2
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    • pp.129-138
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    • 2016
  • This paper presents a natural corners-based SLAM (Simultaneous Localization and Mapping) with a robust data association algorithm in a real unknown environment. Corners are extracted from raw laser sensor data, which are chosen as landmarks for correcting the pose of mobile robot and building the map. In the proposed data association method, the extracted corners in every step are separated into several groups with small numbers of corners. In each group, local best matching vector between new corners and stored ones is found by joint compatibility, while nearest feature for every new corner is checked by individual compatibility. All these groups with local best matching vector and nearest feature candidate of each new corner are combined by partial compatibility with linear matching time. Finally, SLAM experiment results in an indoor environment based on the extracted corners show good robustness and low computation complexity of the proposed algorithms in comparison with existing methods.

Development of IPTV Service Discovery and Content Guide Standard Reference Implementation (IPTV 서비스 탐색 및 콘텐츠 가이드 표준 참조구현 개발)

  • Choi, Miae;Lee, EunHyang
    • Proceedings of the Korean Society of Broadcast Engineers Conference
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    • 2012.11a
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    • pp.191-194
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    • 2012
  • IPTV는 2008년 처음 서비스가 시작된 이후 IPTV 콘텐츠 호환성 확보와 단말 이동성 확보를 통한 IPTV 서비스 활성화 및 전체적인 비용 절감을 위해 많은 표준화 이슈들이 있었고 짧은 시간동안 많은 부분 표준화가 완료 되었다. 그러나 기존의 XML 기반의 서비스 정보를 송출하고 수신하는 제품이 없고 표준 검증을 위한 기준 단말 및 서버가 개발자에게 제공되지 않아 표준의 빠른 상용화 개발에 어려움이 있다. 이에 본 논문은 방통융합 기반기술 테스트 환경 구축 과제를 통해 IPTV 서비스 탐색과 콘텐츠 가이드 표준 참조구현 소스를 오픈소스 방식으로 무료 배포하기 위하여, IPTV 서비스 환경에 적합한 XML 기반의 서비스 정보와 콘텐츠 가이드 정보를 H/E단(서버)에서 송출하고 단말을 통해 이들 정보를 확인하는 기술 표준인 "IPTV 서비스 탐색 및 전송방식"과 "IPTV 콘텐츠 가이드 정보 및 전송방식" 표준을 적용한 서버와 단말 기능을 개발하였다.

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휴대인터넷 서비스 제공을 위한 IEEE 802.16 표준화 동향

  • 예충일;조석헌;차재선;윤철식
    • The Magazine of the IEIE
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    • v.32 no.6 s.253
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    • pp.43-51
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    • 2005
  • 시속 60 km/hour의 시내 주행 속도로 이동하면서도 언제 어디서나 인터넷 서비스를 제공받을 수 있는 휴대인터넷 서비스는 정보통신부 IT839 전략의 일환으로 추진되고 있다. 휴대인터넷 서비스는 2003년부터 HPi (High-speed Portable Internet) 라는 프로젝트 명으로 한국전자통신연구원, 주요 제조업체 및 사업자를 중심으로 규격 및 시스템이 개발되고 있으며 운용 주파수 대역은 2300$\~$2400 MHz of고 TDD (Time Division Duplex), OFDMA (Orthogonal Frequency Division Multiple Access) 방식을 사용한다. 휴대인터넷과 관련된 표준화 기구로는 IEEE 802.16 및 TTA PG302가 있다. 휴대인터넷 서비스 제공을 위한 국내 규격은 IEEE 802.16 표준과의 호환성이 완벽하게 유지되어야 한다. IEEE 802.16 표준은 성격상 프로파일 설정에 따라 다양한 형태의 시스템 형상이 가능하다. 따라서 TTA PG302에서 규정되는 표준은 IEEE 802.16 표준의 완전한 부분집합으로 정의되고 PG302 표준화 활동은 규격 작업과 더불어 시스템 형상 및 성능 검증을 위한 프로파일 및 컨포먼스 테스트를 위한 작업이 포함된다. 본고에서는 휴대인터넷과 관련된 IEEE 802.16 표준화 동향을 소개하고 향후 방향을 전망해 본다.

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A Design of Editor Tool for Mobile Harness Process (모바일 하네스 공정용 에디터 도구 설계)

  • Ryu, Gil Ho;Kim, Jung Ho;Ryu, Hwan Gyu;Park, Won Chan
    • Proceedings of the Korea Information Processing Society Conference
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    • 2012.04a
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    • pp.854-857
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    • 2012
  • 차량용 Wire Harness 전기 장치가 안전과 편의를 위해 차량에 복잡하게 설치되며 자동차 내 외부에의 정보와 제어신호를 잘못 전달해서 발생하는 돌발 교통사고와 Harness의 가공 잘못으로 정격전류 흐름의 방해로 인한 사고로 부터의 안정성을 검토하는 검사시스템 단계의 최적화를 위함이다. 본 논문은 Wire Harness 검사단계 중 Harness Tester를 통해 전선 부분의 도통검사 및 커넥터 체결시 Harness Tester 에 대한 검사 방법 중 Harness Editor 사용하여 7 개의 파일로 변환하던 것을 XML 파일 시스템으로 바꾸어 검사 함으로써 검사단계에서의 손실을 줄일 수 있다. 또한 모바일 기기와 호환 가능하도록 하여 무선으로 Wire Harness를 Open, Short, Extra, add 테스트 하는 방법을 연구 하였다.

Nation-wide Interoperable transportation card X-CASH System and Settlement interface Development (전국호환 교통카드 X-CASH 시스템과 정산인터페이스 개발)

  • Lee, Ki-Han;Kim, Hye-Hyeon;Kim, Tae-Hee;Maeng, Jae-Hwan;Park, Ha-Na
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.9 no.5
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    • pp.14-24
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    • 2010
  • Although the existing X-CASH card system observes the KS standard for a transportation card system, there has been an issue for interoperability between X-CASH and other public transportation system due to the partially undefined part in the standard. This issue is followed by the inconvenience of the existing X-CASH users. If the existing X-CASH card user wants to get any other public transportations which are not interoperated with X-CASH, the user would have to buy other cards. Consequently, some users have to bring more than one card with them. In addition, it is almost impossible that the existing X-CASH system operator makes the X-CASH card available for the infrastructure built by other cards operators because their technologies are too much different. The X-CASH operator must construct its own infrastructure on the same route and it would cause an unnecessary loss of expense and labor. To solve these problems, We modified the existing X-CASH system and developed the Nation-wide Interoerable X-CASH system which lets both the existing X-CASH card and Nation-wide Interoperable X-CASH card work. This developed X-CASH system consists of the purchase SAM, the purchase terminal and the settlement. And The conformity test for it was successfully authorized. Also we, KORAIL NETWORKS, have done the test-bed on this Nation-wide interoperable X-CASH system in Gwangju for six months with Telecommunications & Clearings, the HiPlusCard Corporation. This test confirmed that the Nation-wide Interoperable X-CASH system would practically work well.

Real-time Implementation of the G.729 Annex A Using ARM9 $Thumb^{\circledR}$ Processor Core (ARM9 $Thumb^{\circledR}$ 프로세서 코어를 이용한 G.729A의 실시간 구현)

  • 성호상;이동원
    • The Journal of the Acoustical Society of Korea
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    • v.20 no.7
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    • pp.63-68
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    • 2001
  • This paper describes the details of ITU-T SGIS G.729A speech coder implementation using ARM9 Thumb/sup R/ processor core and various techniques used in the optimization process. ITU-T G.729 speech coder is the standard of the toll quality 8 kbit/s speech coding. The input to the speech encoder is assumed to be a 16 bits PCM signal at a sampling rate of 8000 samples per second. G.729A is reduced complexity version of the G.729 coder. This version is bit stream interoperable with the full version. The implemented coder requires 34.8 MIPS for the encoder and 8.1 MIPS for the decoder, 36.5 kBytes of program ROM and 6.3 kBytes of data RAM, respectively. The implemented coder is tested against the set of 9 test vectors provided by ITU-T for bit exact implementation.

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Design of Portability Test Model for Evaluating Mobile Application on various Mobile Platform (다양한 모바일 플랫폼을 위한 모바일 애플리케이션 이식성 테스트 평가 모델 설계)

  • Park, Hae-Yoon;Choi, S.C.;Kim, B.H.;Choi, J.M.;Yoo, Hae-Young
    • Proceedings of the Korean Information Science Society Conference
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    • 2010.06b
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    • pp.120-125
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    • 2010
  • 최근 스마트폰과 같은 다양한 애플리케이션을 사용할 수 있는 모바일폰의 유행에 힘입어 모바일 애플리케이션 수요가 폭발적으로 증가하고 있다. 이에 따라 모바일 애플리케이션에서의 품질의 중요성도 점차 커지고 있다. 하지만 모바일 애플리케이션은 다양한 플랫폼이나 모바일폰의 제약사항에 따라 호환성이 떨어지는 특성을 가짐으로써, 다른 플랫폼에서 애플리케이션을 재사용시 해당 플랫폼이나 모바일폰의 제약사항에 따라 다시 개발해야하는 제약을 가지게 한다. 이런 재개발은 플랫폼의 특성이 플랫폼 별로 상이함에 따라 개발에 어려움을 겪게 하고, 이는 애플리케이션의 품질을 저하시키는 요인이 될 수 있다. 따라서, 본 논문에서는 모바일 애플리케이션을 개발함에 있어서, 플랫폼에 비종속적인 범용 애플리케이션을 개발하기 위해 고려되어야 하는 이식성 척도들과 기존 애플리케이션의 이식성 품질 평가 방법을 제안한다. 이를 위해, 먼저 애플리케이션을 다른 플랫폼으로 이식할 때 고려되어야 하는 모바일 애플리케이션의 특성들을 확인하고, ISO/IEC 9126에서 정의한 소프트웨어 품질 특성 모델을 참조하는 이식성 척도를 도출함으로써 기존 애플리케이션에서 이식성을 평가하기 위한 방법을 설계한다. 이를 통해 모바일 애플리케이션의 타 플랫폼 이식 가능성을 확인함으로써 다른 플랫폼에서의 재개발 필요성과 노력 정도를 확인할 수 있을 것으로 기대된다. 향후 이를 기반으로 모바일 애플리케이션의 타 플랫폼 이식 시, 수정되어야 하는 부분을 확인할 수 있도록 하는 자동화된 이식성 테스팅 툴을 연구하고자 한다.

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A Study On the Design of a Floating Point Unit for MPEG-2 AAC Decoder (MPEG-2 AAC 복호기를 위한 부동소수점유닛 설계에 관한 연구)

  • 구대성;김필중;김종빈
    • Journal of the Institute of Electronics Engineers of Korea TE
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    • v.39 no.4
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    • pp.355-355
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    • 2002
  • In this paper, we designed a FPU(floating point unit) that it is very important and requires of high density when digital audio is designed. Almost audio system must support the multi-channel and required for high quality. A floating point arithmetic function in MPEG-2 AAC that implemented by hardware is able to realtime decoding when DSP realization. The reason is that MPEG-2 AAC is compatible to the Audio field of MPEG-4 and afterwards. We designed a FPU by hardware to increase the speed of a floating point unit with much calculation part in the MPEG-2 AAC Decoder. A FPU is composed of a multiplier and an adder. A multiplier used the Radix-4 Booth algorithm and an adder adopted 1's complement method for speed up. A form of a floating point unit has 8bit of exponent part and 24bit of mantissa. It's compatible with the IEEE single precision format and adopted a pipeline architecture to increase the speed of a processor. All of sub blocks are based on ISO/IEC 13818-7 standard. The algorithm is tested by C language and the design does by use of VHDL(VHSIC Hardware Description Language). The maximum operation speed is 23.2MHz and the stable operation speed is 19MHz.

Real-Time Implementation of the G.729.1 Using ARM926EJ-S Processor Core (ARM926EJ-S 프로세서 코어를 이용한 G.729.1의 실시간 구현)

  • So, Woon-Seob;Kim, Dae-Young
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.33 no.8C
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    • pp.575-582
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    • 2008
  • In this paper we described the process and the results of real-time implementation of G.729.1 wideband speech codec which is standardized in SG15 of ITU-T. To apply the codec on ARM926EJ-S(R) processor core. we transformed some parts of the codec C program including basic operations and arithmetic functions into assembly language to operate the codec in real-time. G.729.1 is the standard wideband speech codec of ITU-T having variable bit rates of $8{\sim}32kbps$ and inputs quantized 16 bits PCM signal per sample at the rate of 8kHz or 16kHz sampling. This codec is interoperable with the G.729 and G.729A and the bandwidth extended wideband($50{\sim}7,000Hz$) version of existing narrowband($300{\sim}3,400Hz$) codec to enhance voice quality. The implemented G.729.1 wideband speech codec has the complexity of 31.2 MCPS for encoder and 22.8 MCPS for decoder and the execution time of the codec takes 11.5ms total on the target with 6.75ms and 4.76ms respectively. Also this codec was tested bit by bit exactly against all set of test vectors provided by ITU-T and passed all the test vectors. Besides the codec operated well on the Internet phone in real-time.

A Study of Equipment Accuracy and Test Precision in Dual Energy X-ray Absorptiometry (골밀도검사의 올바른 질 관리에 따른 임상적용과 해석 -이중 에너지 방사선 흡수법을 중심으로-)

  • Dong, Kyung-Rae;Kim, Ho-Sung;Jung, Woon-Kwan
    • Journal of radiological science and technology
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    • v.31 no.1
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    • pp.17-23
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    • 2008
  • Purpose : Because there is a difference depending on the environment as for an inspection equipment the important part of bone density scan and the precision/accuracy of a tester, the management of quality must be made systematically. The equipment failure caused by overload effect due to the aged equipment and the increase of a patient was made frequently. Thus, the replacement of equipment and additional purchases of new bonedensity equipment caused a compatibility problem in tracking patients. This study wants to know whether the clinical changes of patient's bonedensity can be accurately and precisely reflected when used it compatiblly like the existing equipment after equipment replacement and expansion. Materials and methods : Two equipments of GE Lunar Prodigy Advance(P1 and P2) and the Phantom HOLOGIC Spine Road(HSP) were used to measure equipment precision. Each device scans 20 times so that precision data was acquired from the phantom(Group 1). The precision of a tester was measured by shooting twice the same patient, every 15 members from each of the target equipment in 120 women(average age 48.78, 20-60 years old)(Group 2). In addition, the measurement of the precision of a tester and the cross-calibration data were made by scanning 20 times in each of the equipment using HSP, based on the data obtained from the management of quality using phantom(ASP) every morning (Group 3). The same patient was shot only once in one equipment alternately to make the measurement of the precision of a tester and the cross-calibration data in 120 women(average age 48.78, 20-60 years old)(Group 4). Results : It is steady equipment according to daily Q.C Data with $0.996\;g/cm^2$, change value(%CV) 0.08. The mean${\pm}$SD and a %CV price are ALP in Group 1(P1 : $1.064{\pm}0.002\;g/cm^2$, $%CV=0.190\;g/cm^2$, P2 : $1.061{\pm}0.003\;g/cm^2$, %CV=0.192). The mean${\pm}$SD and a %CV price are P1 : $1.187{\pm}0.002\;g/cm^2$, $%CV=0.164\;g/cm^2$, P2 : $1.198{\pm}0.002\;g/cm^2$, %CV=0.163 in Group 2. The average error${\pm}$2SD and %CV are P1 - (spine: $0.001{\pm}0.03\;g/cm^2$, %CV=0.94, Femur: $0.001{\pm}0.019\;g/cm^2$, %CV=0.96), P2 - (spine: $0.002{\pm}0.018\;g/cm^2$, %CV=0.55, Femur: $0.001{\pm}0.013\;g/cm^2$, %CV=0.48) in Group 3. The average error${\pm}2SD$, %CV, and r value was spine : $0.006{\pm}0.024\;g/cm^2$, %CV=0.86, r=0.995, Femur: $0{\pm}0.014\;g/cm^2$, %CV=0.54, r=0.998 in Group 4. Conclusion: Both LUNAR ASP CV% and HOLOGIC Spine Phantom are included in the normal range of error of ${\pm}2%$ defined in ISCD. BMD measurement keeps a relatively constant value, so showing excellent repeatability. The Phantom has homogeneous characteristics, but it has limitations to reflect the clinical part including variations in patient's body weight or body fat. As a result, it is believed that quality control using Phantom will be useful to check mis-calibration of the equipment used. A value measured a patient two times with one equipment, and that of double-crossed two equipment are all included within 2SD Value in the Bland - Altman Graph compared results of Group 3 with Group 4. The r value of 0.99 or higher in Linear regression analysis(Regression Analysis) indicated high precision and correlation. Therefore, it revealed that two compatible equipment did not affect in tracking the patients. Regular testing equipment and capabilities of a tester, then appropriate calibration will have to be achieved in order to calculate confidential BMD.

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