• 한국정보통신학회논문지
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• 제16권2호
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• pp.273-278
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• 2012

본 연구에서는 임베디드 시스템에서 많이 사용되는 대용량 플래쉬 메모리 모듈 중 멀티미디어카드 (MMC; Multi-Media Card)와 마이크로프로세서간 데이터를 송수신 할 수 있는 SPI (serial peripheral interface) 버스 인터페이스를 설계하였다. 제안하는 구조는 AMBA 버스구조의 APB 저전력 버스에 호환되도록 설계하였다. 임베디드 시스템에 OS를 탑재하게 되면 여러 가지 주변기기들을 제어하기는 쉬워지지만 하드웨어와 소프트웨어의 덩치가 커져 결국 시스템 성능에 부담스런 영향을 미치게 된다. 본 논문에서는 OS를 사용하지 않는 임베디드 시스템에 멀티미디어카드를 인터페이스하기 위하여 SPI 통신 개념을 도입하였고, FPGA로 구현하였다. 설계한 SPI 모듈은 Altera QuartusII 툴을 사용하여 자동 합성하여 P&R을 수행하였다. 결과물은 Altera CycloneII FPGA로 구현하였으며 타겟으로 정한 25MHz에서 충분히 동작 가능하다.

• 정보보호학회논문지
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• 제26권5호
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• pp.1185-1189
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• 2016

현대 사회에서는 임베디드 장비의 수가 급증하고 있다. 그러나 급증하는 임베디드 장비와 동시에 악용 가능한 취약점과 백도어 등이 계속해서 발견되고 있어 이에 대한 분석의 필요성이 끊임없이 제기되고 있는 실정이다. 이에 따라 본 논문에서는 임베디드 장비 펌웨어의 정적 분석 환경 구축을 위해 필요한 기준 주소 정보를 추출하는 도구를 개발하고, 이를 사용하여 정적 분석 환경을 구축함으로써 펌웨어 내부 문자열의 파싱과 참조를 가능하게 하고, 증가된 함수식별 개수 등을 통해 도구의 타당성을 증명한다.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1196-1204
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• 2001

In this paper, a new architecture of operating software associated with the component-based method is proposed. The proposed architecture comprises 문 execution module and a decision-making module. In order to make effective development and maintenance, the execution module is divided into three components. The components are referred to as Symbol, Gateway, and Control, respectively: The symbol component is for the GUI environments and the standard interfaces; the gateway component is for the network communication and the structure of asynchronous processes; the control component is for the asynchronous processing and machine setting or operations. In order to verify the proposed architecture, and off-line version of operating software is made, and its steps are as follows; I) Make virtual execution modules for the manufacturing devices such as dual-arm robot, handling robot, CNC, and sensor; ii) Make decision-making module; iii) Integrate the modules and GUI using a well-known development tools such as Microsofts Visual Basic; iv) Execute the overall operating software to validate the proposed architecture. The proposed software architecture in this paper has the advantages such as independent development of each module, easy development of network communication, and distributed processing of resources, and so on.

• 자원환경지질
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• 제42권4호
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• pp.367-376
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• 2009

신생대 제3기 포항분지의 두호층과 학전층으로부터 총 40점의 거미불가사리 화석을 채집하였다. 학전층에서 총 32개체, 두호층 8개체로 학전층에서 상대적으로 많은 개체가 발견되었다. 하지만 보존 상태는 오히려 두호층에서 더 완전한 보존 상태를 보이며 전체적으로 보존 상태가 불량하여 종 수준까지의 감정은 불가능하다. 즉, 대부분의 표본들은 분절된 형태로 발견되었고, 분류학상으로 중요한 중심판(disk)과 판(plate)등의 세부적인 구조는 나타나지 않는다. 따라서, 발견된 거미불가사리 화석은 중심판과 팔의 형태나 완절의 구조 등에 따라 크게 3개의 그룹으로 구분하였다. 그룹 1은 학전층에서 산출된 거미불가사리 화석들로 대부분 분절된 팔만이 보존되어 있고, 완판은 팔로부터 분리되어 완절이 드러나 있으며, 완극은 길고 곧게 뻗어 있으며, 촉수공(tentacle pores)이 보존된 특징을 갖는다. 그룹 2는 두 호층에서 산출된 표본들로(4 개체) 짧고 원뿔 형태의 완극을 가지며 완판이 잘 보존되어 있는 특징을 갖는다. 이 화석들은 측완판(lateral arm plates)이 복완판(ventral arm plates)이나 배완판(dorsal arm plates)에 비해 크기가 작다. 그룹 3은 외형은 희미하나 원형의 중심판이 뚜렷하게 보존되어 있는 것들로 두호층에서만 4개체가 발견되었다. 포항분지에서 발견된 거미불가사리 화석의 보존 특징과 각 지층의 이미 알려진 퇴적학적 조건 및 암상관계를 비교 검토해 본 결과 이들이 상호 연관성이 있음이 확인되었다. 즉 학전층에서 발견된 거미불가사리 화석들(그룹 1)은 상대적으로 보존상태가 불량한데, 이는 사암 또는 사질 이암이 우세한 역질 사암이 퇴적되었던 상대적으로 좀 더 고 에너지의 퇴적환경의 영향 때문으로 해석된다. 반면 두호층의 표본(그룹 2, 3)들은 개체 수는 적지만 상대적으로 완전한 보존 상태를 보이는데, 이는 세립질의 이암이 퇴적되는 상대적으로 저에너지 환경에서 재퇴적 및 이동 없이 퇴적되었기 때문으로 추정된다. 또한 학전층에서 거미불가사리 화석의 산출량이 더 높은 이유는 이들이 상대적으로 얕은 수심에 많이 모여 살았던 것으로 판단된다.

• 전자공학회논문지B
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• 제29B권8호
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• pp.15-23
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• 1992

Neural network control has many innovative potentials for fast, accurate and intelligent adaptive control. In this paper, two kinds of neurocontrol architectures for the dynamic control of robot manipulators are developed. One is based on a System Identification and Control scheme and the other is based on the Feedback-Error leaming scheme. Both of the proposed architectures use an inverse dynamic neurocontroller in parallel with a linear neurocontroller. The difference is that the first architecture uses the system identifier to get the signals used for training neurocontrollers, while the second architecture uses a properly defined energy function. Compared with the previous types of neurocontrollers which are using an inverse dynamic neurocontroller and a fixed PD gain controller, the proposed architectures not only eliminate the painful process of the fixed gain tuning but also exhibit superior peformances because the linear neurocontroller can adapt its gains according to the applied task. This superior performance is tested and verified through computer simulation of the dynamic control of the PUMA 560 arm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.280-285
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• 1991

Neural network control has many innovative potentials for fast, accurate and intelligent adaptive control. In this paper, a learning control architecture for the dynamic control of a robot manipulator is developed using inverse dynamic neurocontroller and linear neurocontroher. The inverse dynamic neurocontrouer consists of a MLP (multi-layer perceptron) and the linear neurocontroller consists of SLPs (single layer perceptron). Compared with the previous type of neurocontroller which is using an inverse dynamic neurocontroller and a fixed PD gain controller, proposed architecture shows the superior performance over the previous type of neurocontroller because linear neurocontroller can adapt its gain according to the applied task. This superior performance is tested and verified through the control of PUMA 560. Without any knowledge on the dynamic model, its parameters of a robot , (The robot is treated as a complete black box), the neurocontroller, through practice, gradually and implicitly learns the robot's dynamic properties which is essential for fast and accurate control.

• 한국시뮬레이션학회논문지
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• 제12권2호
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• pp.45-53
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• 2003

This paper presents a retargetable compiled assembly simulation technique for fast ASIP(application specific instruction processor) simulation. Development of ASIP which satisfies design requirements in various fields of applications such as telecommunication, wireless network, etc. needs formal design methodology and high-performance relevant software environments such as compiler and simulator In this paper, we employ the architecture description language(ADL) named ${HiXR}^2$ to automatically synthesize an instruction-level compiled assembly simulator. A compiled simulation has benefit of time efficiency to interpretive one because it performs instruction fetching and decoding at compile time. Especially, in case of assembly simulation, instruction decoding is usually a time-consuming job(string operation), so the compiled simulation of assembly simulation is more efficient than that of binary simulation. Performance improvement of the compiled assembly simulation based on ${HiXR}^2$ is exemplified with an ARM9 architecture and a CalmRISC32 architecture. As a result, the compiled simulation is about 150 times faster than interpretive one.

• 전기전자학회논문지
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• 제5권1호
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• pp.35-42
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• 2001

This paper deals with an architecture of network-based control system using the CAN(Controller Area Network) protocol and its traffic analysis. It is difficult to determine an optimal network-based control architecture for a specific AGV(Autonomous Guided Vehicle) system with a manipulator arm. The fixed number of periodic messages to be occurred is pre-defined in the system. To determine whether the proposed system architecture is effective or not, we perform traffic analysis for the real-time communication of all messages. Through simulations, the range of transmission speed is found satisfying required conditions and the permissible number of additional sensors is investigated for improving the system performance, when the sampling periods of analog sensors are determined under fixed condition that the transmission speed is over 500Kbps.

• 대한임베디드공학회논문지
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• 제10권6호
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• pp.335-343
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• 2015

As the usage of mobile devices becomes diverse, a number of attacks on Android also have increased. Among the attacks, Android can be compromised by flashing a new image of compromised Android Linux. In order to solve this problem, we propose SeBo (Secure Boot System) which prevents compromised Android Linux by guaranteeing secure boot environment for mobile devices based on ARM TrustZone architecture. SeBo checks the hash value of the Android Linux image before the Android Linux executes. SeBo detects all the attacks within 5 seconds. Moreover, since SeBo only trusts the Secure Bootloader from Secure World, SeBo can reduce the additional overhead of checking the Normal Bootloader from Normal World.

• Journal of Welding and Joining
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• 제28권5호
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• pp.58-63
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• 2010

The purpose of this study is to develop improved boom structures with reliable fatigue strength of weldment and lower production cost. For that purpose, multibody dynamic analysis was performed to evaluate forces acting on arm & boom cylinders and joints of boom structure during operation of an excavator for three working postures, then stress analysis was made to investigate stress distribution around diaphragms at the bottom plate of boom structures which was known to be susceptible to fatigue failures of welded joints, and finally boom structure with optimum arrangement of diaphragms was proposed. This work basically consists of the following two parts: part 1 focuses on multibody dynamic analysis of excavators during operation and part 2 includes evaluations of fatigue strength of welded joints for modified boom structures.