• 한국정보과학회논문지:시스템및이론
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• 제32권11_12호
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• pp.629-638
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• 2005

시스템 온 칩 설계에서 온 칩 버스는 전체 시스템의 성능을 결정하는 중요한 요소이다. 특히 프로세서, DSP 및 멀티미디어 IP와 같이 보다 높은 버스 대역폭을 요구하는 IP가 사용될 경우 온 칩 버스의 대역폭 문제는 더욱 심각해진다. 이에 따라 최근 ARM 사에서는 고성능 온 칩 버스 구조인 ML-AHB 버스 매트릭스를 제안하였다. ML-AHB 버스 매트릭스는 시스템 내의 다중 마스터와 다중 슬레이브간의 병렬적인 접근 경로를 제공하여 전체 버스 대역폭을 증가시켜주고, 최근 많은 프로세서 요소들을 사용하는 휴대형 기기 및 통신 기기 등에 적합한 고성능 온 칩 버스 구조이다. 하지만 내부 컴포넌트인 입력 스테이지와 무어 타입으로 구현된 중재 방식으로 인해 마스터가 새로운 전송을 수행할 때 또는 슬레이브 레이어를 변경할 때 마다 항상 1 클럭 사이클 지연 현상이 발생된다. 본 논문에서는 이러한 문제점을 해결하기 위해 기존 ML-AHB 버스 매트릭스 구조를 개선하였다. 기존 버스 매트릭스 구조에서 입력 스테이지를 제거하고, 개선된 구조에 적합하도록 중재 방식을 변경하여 1 클럭 사이클 지연 문제를 해결하였다. 개선된 결과 4-beat incrementing 버스트 타입으로 다수의 트랜잭션을 수행할 경우, 기존 ML-AHB 버스 매트릭스에 비해 전체 버스 트랜잭션 종료 시간 및 평균 지연 시간이 각각 약 $20\%,\;24\%$ 정도 짧아졌다. 또한 FPGA의 슬라이스 수는 기존의 ML-AHB 버스 매트릭스보다 약 $22\%$ 정도 감소하였고, 클럭 주기도 약 $29\%$ 정도 짧아졌다.

• 대한인간공학회지
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• 제32권1호
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• pp.17-26
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• 2013

Objective: The aim of this study is ergonomic analysis of tele-operation tasks using modified remote handling devices dedicated to the cell of PRIDE(PyRoprocess Integrated inactive DEmonstration facility) in KAERI(Korea Atomic Energy Research Institute). Background: Tele-operation manipulators of the PRIDE are applied to perform the remote handling and management of pyroprocessing facilities. Generally, these kinds of systems are composed of master-slave system and its peripherals installed along a wall or ceiling of the cell, and the manipulators transmit the user's own motion to grippers directly. However, a user convenience and intuitiveness while operating the manipulators have not been fully considered in research fields. Method: This study tries to analyze the ergonomic performance of remote handling manipulators in the developed cell facility. It was included that the analysis of operator's capability for his/her own motion range of upper arm while manipulating the MSM, considerations of its manipulation margin and related tool modifications to improve the remote handling performance. Conclusion: The test results of several remote handling tasks performed in PRIDE are represented, and adequate operation strategies for the tele-operation system of hot-cell type facilities are proposed. Application: The knowledge represented in this study can be utilized to improve a tele-operation system operated in a large-scale hot-cell system.

• 대한의용생체공학회:의공학회지
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• 제24권4호
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• pp.309-318
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• 2003

본 연구는 현재 산업용으로 널리 사용되고 있는 수직 다관절 6자유도 로봇을 의료용 목적으로 적용하기 위해 수행하였다. 이미 산업용으로 제안되어 검증된 로봇을 사용한다면 비용, 시간적인 면에서 상당한 잇점이 있다. 따라서 본 논문에서는 산업용으로 제안된 로봇을 의료 목적으로 사용하여 연구하였다. 본 시스템은 뇌졸중 환자와 같이 한쪽 팔을 다친 사람들을 위해 제안하였다. 한쪽 팔이 비정상이고 다른 팔이 정상인 환자를 대상으로 정상인 팔의 움직임을 획득하여 마비되거나 정상으로 움직이기 어려운 팔을 운동시키도록 마스터-슬레이브 시스템을 구성하였다. 또한 팔꿈치와 어깨의 기구학을 해석하기 위하여 기존의 인체에 관한 연구 결과를 적용하였다. 또한 슬레이브 로봇에 힘 센서를 부착하여 환자의 재활 정도를 측정할 수 있도록 하였으며, 위험 상황에 대비함으로써 슬레이브 로봇의 안전성을 높였다. 이러한 시스템으로 인해 물리치료사의 도움 없이 환자 혼자 운동이 가능하도록 시스템을 구성하였다. 제안된 시스템과 제어 알고리즘은 실험과 시뮬레이션을 통하여 타당성을 검증하였다.

• 한국자동차공학회논문집
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• 제11권5호
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• pp.201-209
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• 2003

Virtual human models are widely used to save time and expense in vehicle safety studies. A human model is an essential tool to visualize and simulate a vehicle driver in virtual environments. This research is focused on creation and application of a human model fer virtual reality. The Korean anthropometric data published are selected to determine basic human model dimensions. These data are applied to GEBOD, a human body data generation program, which computes the body segment geometry, mass properties, joints locations and mechanical properties. The human model was constituted using MADYMO based on data from GEBOD. Frontal crash and bump passing test were simulated and the driver's motion data calculated were transmitted into the virtual environment. The human model was organized into scene graphs and its motion was visualized by virtual reality techniques including OpenGL Performer. The human model can be controlled by an arm master to test driver's behavior in the virtual environment.

• Journal of Power Electronics
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• 제16권5호
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• pp.1725-1734
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• 2016

This paper presents a novel seven-level (7L) voltage source converter for high-power medium-voltage applications. The proposed topology is an H-bridge connection of two nested neutral-point clamped (NNPC) converters and is referred to as an HNNPC converter. This converter exhibits advantageous features, such as operating over a wide range of output voltages, particularly for 10-15 kV applications, without the need to connect power semiconductors in series; high-quality output voltage; and fewer components relative to other classic seven-level topologies. A novel sinusoidal pulse width modulation technique is also developed for the proposed 7L-HNNPC converter to control flying capacitor voltages. One of the main features of the control strategy is the independent application of control to each arm of the converter to significantly reduce the complexity of the controller. The performance of the proposed converter is studied under different operating conditions via MATLAB/Simulink simulation, and its feasibility is evaluated experimentally on a scaled-down prototype converter.

• 한국군사과학기술학회지
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• 제26권3호
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• pp.214-226
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• 2023

A transfer alignment is used to initialize, align, and calibrate a SINS(Slave INS) using a MINS(Master INS) in motion. This paper presents an airborne transfer alignment with velocity and azimuth matching to estimate inertial sensor biases under the wing flexure influence. This study also considers the lever arm, time delay and relative orientation between MINS and SINS. The traditional transfer alignment only uses velocity matching. In contrast, this paper utilizes the azimuth matching to prevent divergence of the azimuth when the aircraft is stationary or quasi-stationary since the azimuth is less affected by the wing flexibility. The performance of the proposed Kalman filter is analyzed using two factors; one is the estimation performance of gyroscope and accelerometer bias and the other is comparing aircraft dynamics and attitude covariance. The performance of the proposed filter is verified using a long term flight test. The test results show that the proposed scheme can be effectively applied to various platforms that require airborne transfer alignment.

• 대한물리의학회지
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• 제19권1호
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• pp.143-154
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• 2024

PURPOSE: The present study was conducted to improve the understanding of the Korean Standard Functional, Disability, and Health Classification (KCF) and its ease of use in the clinical domain of the musculoskeletal system by comparing, analyzing, and linking the KCF codes with items from patient-reported outcome measures (PROMs), which are currently mainly used to evaluate patients with neck, shoulder, waist, and knee pain. METHODS: The items of the most widely used PROMs, the Neck Disability Index (NDI), Disabilities of the Arm, Shoulder, and Hand (DASH) scores, Oswestry Disability Index (ODI), Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC), and the codes of the KCF were linked by two experts according to the linking rules. RESULTS: The concordance between the items of each of the PROMs and the KCF code linked by the two experts was NDI,86.4%86.4%, DASH 83.3%, ODI 92.0%, and WOMAC 80.7%. The NDI, DASH, and WOMAC indexes were found to comprise items corresponding to physical function, activity, and participation areas, and were linked to 22, 43, and 31 KCF codes, respectively. In addition to these two areas, the ODI included items related to environmental factors and was linked to 25 codes (duplicated codes are treated as one). CONCLUSION: This research can be used by adding the KCF code to the questions of the currently used evaluation tool. This coding can be easily applied and will contribute to the easy understanding of the KCF.

• Journal of Positioning, Navigation, and Timing
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• 제6권4호
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• pp.167-179
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• 2017

In this paper, a simplified Cubature Kalman Filter (SCKF) is proposed to reduce the computation load of CKF, which is then used as a filter for transfer alignment of shipboard INS. CKF is an approximate Bayesian filter that can be applied to non-linear systems. When an initial estimation error is large, convergence characteristic of the CKF is more stable than that of the Extended Kalman Filter (EKF), and the reliability of the filter operation is more ensured than that of the Unscented Kalman Filter (UKF). However, when a system degree is large, the computation amount of CKF is also increased significantly, becoming a burden on real-time implementation in embedded systems. A simplified CKF is proposed to address this problem. This filter is applied to shipboard inertial navigation system (INS) transfer alignment. In the filter design for transfer alignment, measurement type and measurement update rate should be determined first, and if an application target is a ship, lever-arm problem, flexure of the hull, and asynchronous time problem between Master Inertial Navigation System (MINS) and Slave Inertial Navigation System (SINS) should be taken into consideration. In this paper, a transfer alignment filter based on SCKF is designed by considering these problems, and its performance is validated based on simulations.

• JSTS:Journal of Semiconductor Technology and Science
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• 제2권2호
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• pp.132-140
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• 2002

This paper presents an ARM-based SOC bus transaction verification IP and the usage experiences in SOC designs. The verification IP is an AMBA AHB protocol checker, which captures legal AHB transactions in FSM-style signal sequence checking routines. This checker can be considered as a reusable verification IP since it does not change unless the bus protocol changes. Our AHB protocol checker is designed to be scalable to any number of AHB masters and reusable for various AMBA-based SOC designs. The keys to the scalability and the reusability are Object-Oriented Programming (OOP), virtual port, and bind operation. This paper describes how OOP, virtual port, and bind features are used to implement AHB protocol checker. Using the AHB protocol checker, an AHB simulation monitor is constructed. The monitor checks the legal bus arbitration and detects the first cycle of an AHB transaction. Then it calls AHB protocol checker to check the expected AHB signal sequences. We integrate the AHB bus monitor into Verilog simulation environment to replace time-consuming visual waveform inspection, and it allows us to find design bugs quickly. This paper also discusses AMBA AHB bus transaction coverage metrics and AHB transaction coverage analysis. Test programs for five AHB masters of an SOC, four channel DMAs and a host interface unit are executed and transaction coverage for DMA verification is collected during simulation. These coverage results can be used to determine the weak point of test programs in terms of the number of bus transactions occurred and guide to improve the quality of the test programs. Also, the coverage results can be used to obtain bus utilization statistics since the bus cycles occupied by each AHB master can be obtained.

• 전자공학회논문지CI
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• 제40권4호
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• pp.214-221
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• 2003

본 논문에서는 H.261과 H.263 표준을 모두 만족하는 영상 코텍을 임베디드 시스템에서 구현한다. 효율적인 실시간 처리를 위하여, 영상 코덱은 하드웨어 모듈과 소프트웨어 모듈로 구분되어 임베디드 시스템에서 통합 설계된다. 소프트웨어 모듈은 실시간 운영체제와 RISC 프로세서를 이용하여 수행되며, 하드웨어 모듈과 연동하여 실시간으로 영상을 압축하고 복원한다. 시스템 버스로는 AMBA AHB가 사용되며 하드웨어 모듈은 AMBA AHB의 마스터(master)와 슬레이브(slave)의 역할을 모두 수행한다. 영상 압축과정을 실시간으로 처리하기 위하여 인코더의 하드웨어 모듈은 파이프라인으로 설계된다. 구현된 영상 코덱은 H.261과 H.263 표준에 준하여 33㎒의 동작 주파수에서 1초 동안에 CIF 화면 15장을 동시에 압축하고 복원한다.