• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.198-203
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• 2004

This paper describes a real-time control architecture for DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), which has been developed at Korea Research Institute of Ships & Ocean Engineering (KRISO), KORDI, for being a test-bed oj development of technologies for underwater navigation and manipulator operation. DUSAUV has three built-in computers, seven thrusters for 6 degree of freedom motion control, one 4-function electric manipulator, one pan/tilt unit for camera, one ballasting motor, built-in power source, and various sensors such as IMU, DVL, sonar, and so on. A supervisor control system for GUI and manipulator operation is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers of vehicle for real-time control purpose, while MicroSoft OS product is ported on the supervisor system for GUI programming convenience. A hierarchical control architecture which consist of three layers (application layer, real-time layer, and physical layer) has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in a basin of KRISO is also provided.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.5 no.1
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• pp.60-64
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• 2004

In this paper, we implemented a real-time remote home monitoring system which we have ported the Linux OS and HTTP(Hypertext Transfer Protocol) web server. The GoAhead web server was ported using by ARM cross compiler. And then we used the analog to digital converter ADC0809 for sensing the vii able input signal at widely separated home. We have implemented linux device driver for ADC(Analog to Digital Convertor) and CGI-C(Common Gateway Interface - C language) application program using Client pull method for monitoring real-time changing data. The factor of monitoring is temperature, intensity of illumination and gas's existence. And this system has ability which check the status of out door and gas valve. We have designed the embedded web server system for home emergency monitoring in low cost.

• Journal of Navigation and Port Research
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• v.27 no.1
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• pp.31-40
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• 2003

Because yard monitoring system is a part of real-time operation system and yard planning system, most planers, in container terminal, Busan Port, can not consider real-time and exact yard situation and container information such as position of equipments or movement of container with current planning system when export yard planning os established. Therefore, many planers recognize the limit of current planning system and try to find the solution to get over it. The reason of this, heuristic algorithms for the export yard the limit of current planning ,operating on monitoring system, are suggested and integrated export yard planning system is designed and developed in this paper.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.26 no.5
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• pp.1151-1160
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• 2016

A TrustZone-based rootkit detecting solution using a secure timer ensures the integrity of monitoring system, because ARM TrustZone technology provides isolated environments from a monitored OS against intercepting and modifying invoke commands. However, it is vulnerable to transient attack due to periodic monitoring. Also, Address Translation Redirection Attack (ATRA) cannot be detected, because the monitoring is operated by using the physical address of memory. To ameliorate this problem, we propose a snoop-based kernel introspection system. The proposed system can monitor a kernel memory in real-time by using a snooper, and detect memory-bound ATRA by introspecting kernel pages every context switch of processes. Experimental results show that the proposed system successfully protects the kernel memory without incurring any significant performance penalty in run-time.

• Convergence Security Journal
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• v.22 no.1
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• pp.99-111
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• 2022

With current battlefield environment relying heavily on Network Centric Warfare(NCW), existing weaponary systems are evolving into a new concept that converges IT technology. Majority of the weaponary systems are implemented with numerous embedded softwares which makes such softwares a key factor influencing the performance of such systems. Furthermore, due to the advancements in both IoT technoogies and embedded softwares cyber threats are targeting various embedded systems as their scope of application expands in the real world. Weaponary systems have been developed in various forms from single systems to interlocking networks. hence, system level cyber security is more favorable compared to application level cyber security. In this paper, a secure real-time operating system has been designed, implemented and measured to protect embedded softwares used in weaponary systems from unknown cyber threats at the operating system level.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.1679-1682
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• 2005

최근 SoC를 포함하는 대부분의 임베디드시스템에서는 RTOS가 선택이 아닌 필수적인 구성요소가 됨에 따라 SoC 개발의 초기단계에서부터 RTOS를 도입하는 것이 바람직하다. 하지만, 기존의 범용 RTOS가 제공하는 기능은 대부분 응용 소프트웨어의 개발과 수행을 위한 것으로 SoC 개발 및 검증에는 적합하지 않은 문제점을 가지고 있다. 본 연구에서는 SoC 개발을 위해 운영체제가 만족시켜야할 요구사항을 제시하고, 소프트웨어의 재사용성과 SoC의 검증을 함께 지원하는 VPOS(Verification-Purpose OS)를 개발하였다. VPOS는 초경량의 단순한 계층적 구조(layered structure)를 가지는 RTOS로서 소프트웨어 재사용을 위해 POSIX 표준 API, 유닉스 호환 디바이스 드라이버 인터페이스, HAL 등을 제공한다. 또한 SoC 설계의 검증을 위해 RT 수준의 통합시뮬레이션에 적합한 커널 구조 및 최적화된 코드, 하드웨어 테스트를 위한 쉘 명령어, 응용 소프트웨어의 디버깅을 위한 KREM(kernel resource and event monitoring) 등의 특징을 함께 제공한다.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.59-60
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• 2008

In this paper, we investigate the ability of the ARM processor to implement an industrial controller with or without embedded operating system. Discrete-time PID controllers are implemented and tested under various settings e.g. cache on/off, different clock frequencies using S3C2410X chip. A method of real-time application of discrete-time PID controller in WinCE environment is proposed. Based on the test result, we provide the maximum sampling frequencies of PID controller using ARM processor.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1074-1081
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• 2007

This paper presents a method for real-time face detection and tracking which combined Adaboost and Camshift algorithm. Adaboost algorithm is a method which selects an important feature called weak classifier among many possible image features by tuning weight of each feature from learning candidates. Even though excellent performance extracting the object, computing time of the algorithm is very high with window size of multi-scale to search image region. So direct application of the method is not easy for real-time tasks such as multi-task OS, robot, and mobile environment. But CAMshift method is an improvement of Mean-shift algorithm for the video streaming environment and track the interesting object at high speed based on hue value of the target region. The detection efficiency of the method is not good for environment of dynamic illumination. We propose a combined method of Adaboost and CAMshift to improve the computing speed with good face detection performance. The method was proved for real image sequences including single and more faces.

• Journal of Korea Multimedia Society
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• v.7 no.8
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• pp.1058-1065
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• 2004

Embedded system is widely used in various applications from simple monitor to a set-top box with CPU, memory and hard disk drives. Specially, embedded OS is ported in moveable or small machinery since it ordinarily transmits multimedia data. In this paper, we propose Null copy scheme on the embedded linux system for multimedia service, which can reduce memory copy overhead from user address space to kernel one, and vice versa. Since embedded system for networked multimedia service has low level computing power as well as memory, the Null copy scheme can provide more improved QoS. Our image transmission experiment results on embedded linux target board(CPU utilization an Deadline miss rates) installed a web camera have shown that the proposed scheme can increase fast response and lower CPU overhead.

• Journal of Internet Computing and Services
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• v.4 no.6
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• pp.13-24
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• 2003

Grid technology requires use of geographically distributed resources from multiple domains. Resource monitoring services or tools consisting sensors or agents will run on many systems to find static resource information (such as architecture vendor, OS name and version, MIPS rate, memory size, CPU capacity, disk size, and NIC information) and dynamic resource information (CPU usage, network usage(bandwidth, latency), memory usage, etc.). Thus monitoring itself may cause system overhead. This paper proposes the optimal monitoring interval to reduce the cost of monitoring services and the dynamic monitoring interval to measure monitoring events accurately. By employing two features, we find out unnecessary system overhead is significantly reduced and accuracy of events is still acquired.