• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.72-77
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• 2006

In this paper, a remote screen control by mobile networks on embedded system is implemented. For this system a server program is ported on the embedded system connected with internet. And on the side of a mobile phone, a client program is ported using GVM. The embedded system can display the text from the mobile phone on its LCD. In the implemented embedded system, the text data from GVM emulator is sent to the system for display on its LCD. The realization of the proposed embedded system can display the text from a working mobile phone.

• The KIPS Transactions:PartB
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• v.14B no.6
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• pp.437-444
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• 2007

The objective of this paper is to accommodate the existing motion-capture-based animation to small memories and low computing powers of mobile embedded systems. To use efficiently memories, we propose a paradigm in which a motion capture database is compressed on a PC and so-compressed motion capture database is decompressed little by little on mobile embedded systems and the decompressed data are eliminated right after used. As a compression method for this paradigm we propose an approach that compresses captured motion rendering parameters using a polynomial function fitting method. To enhance its performance we also propose an optimization method for the degree of the polynomial fitting function. Using so-obtained compression method we demonstrate motion-capture-based animation on commercial mobile embedded systems.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.2
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• pp.89-96
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• 2017

We develop an embedded system to measure various sensor data, control multiple motors, and communicate with mobile devices for system managements. Choosing TI AM3359 microprocessor featuring high processing performance, low power consumption, and various I/O device support, we design and build the embedded system hardware so that it supports multiple global positioning system (GPS) and gyro sensor modules to measure precise position; multiple pulse width modulation (PWM) outputs to control multiple direct current (DC) motors; a Bluetooth module to communicate with mobile devices. Then, we port the boot loader and device drivers to the built circuit board and construct the firmware development environment for the application programming. The performance of the designed and implemented embedded system is demonstrated by real motor control test using GPS and gyro sensor data and control parameters configured by a mobile device.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.194-200
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• 2006

The SoC and digital technology development recently enabled the emergence of information devices and control devices because the SoC presents many advantages such like lower power consumption, greater reliability, and lower cost. However, it is nearly impossible to use the SoC without operating systems because the SoC is included with many peripherals and complex architecture. It is required to use embedded operating systems and real-time operating systems may be used as an embedded operating system. So far, real-time operating systems are widely used to implement a Real-Time system since it meets developer's requirements. However, real-time operating systems have disadvantages including a lack of standards, expensive development, and license. Embedded Linux is able to overcome their disadvantages. In this paper, the implementation of control system platform for a mobile robot using real-time Embedded Linux is described. As a control hardware system platform, XScale board is used. As the real-time Embedded Linux, RTAI is adopted which is open source and royalty free, and supports various architectures and real-time devices, such like real-time CAN and real-time COM. This paper shows the implementation of RTAI on XScale board that means the porting procedure. We also applied the control system platform to the mobile robot and compared the Real-Time serial driver with non real-time serial driver. Experimental results show that that using RTAI is useful to build real-time control system with powerful functionalities of Linux.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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• pp.95-101
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• 2020

In situations where mobile robots are operated either by autonomous systems or human operators, such as smart factories, priority-based teleoperation is crucial for the multiple operators with different priority to take over the right of the robot control without conflict. This paper proposes a priority-based teleoperation system for multiple operators to control the robots. This paper also introduces an efficient joystick-based robot control command generation algorithm for differential-drive mobile robots. The proposed system is implemented with ROS (Robot Operating System) and embedded control boards, and is applied to Pioneer 3AT mobile robot platform. The experimental results demonstrate the effectiveness of the proposed joystick control command algorithm and the priority-based control input selection.

• Proceedings of the IEEK Conference
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• 2003.07a
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• pp.485-488
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• 2003

This paper has been studied on an IPv6 Protocol for Embedded Systems such as Informational Appliances and Mobile Terminals. IPv6 Protocol has 128-bit IP address space. Therefore, all devices come to have a chance of acquiring IPv6 address. This IPv6 Protocol Stack is very compact and reliable because the larger of the stack is Embedded Systems, which have typically characteristics of low cost and low performance. Hence, we designed and implemented this Stack for This Embedded Systems.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.5
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• pp.277-283
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• 2014

In this paper, we propose a control system for synchronizing attitude between an Android smartphone and a mobile robot. The control system is comprised of a smartphone and a mobile robot. The smartphone transports its attitude to the mobile robot and receives the attitude of mobile robot through bluetooth communication. Further, the smartphone displays the mobile robot on the screen by using embedded camera, which can be used as a pseudo augmented reality. Comparing the received attitude data from smartphone, the mobile robot measures its attitude by an AHRS(attitude heading reference system) and controls its attitude. Experiments show that the synchronization performance of the proposed system is maintained in the error range of $1^{\circ}$.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1269-1274
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• 2004

This paper presents a new quantisation algorithm which has the closed-loop form and guarantees the boundness of accumulative error. This algorithm is particularly useful for mobile robot navigation that is usually implemented on embedded systems. If wheel commands of the mobile robot are given by velocity or positional increment at every control instant and quantised due to finite word length of controller's CPU, the quantisation error gets accumulated to causes large position error. Such an error accumulative characteristic is fatal for non wheeled mobile robots or autonomous vehicles with non-holonomic constraint. To solve this problem, we propose a non-error accumulative quantisation algorithm with closed-loop form. We also show it can be extend to a generalized form corresponding to the n-th order accumulation. The boundness of the accumulative quantisation error is investigated by a series of computer simulation. The proposed method is particularly effective to precise navigation control the autonomous mobile robots.

• IEMEK Journal of Embedded Systems and Applications
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• v.5 no.4
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• pp.217-224
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• 2010

Nowadays, people perform their tasks anywhere anytime using their mobile devices. For this reason, data synchronization (DS) between mobile devices and a central server has become one of the most essential technologies in mobile environments. Currently, several mobile DS protocols are proposed and used. However, the existing DS protocols cannot guarantee interoperability between them. To solve the problem, an embedded DS gateway has been developed in our previous study. The gateway runs on a Windows Mobile-based emulator. It converts data on a mobile device into common data specified by OMA DS standard protocol and vice versa. The embedded gateway has been built to support the OMA DS standard protocol. In order to verify that the embedded gateway conforms to the OMA DS standard protocol, two kinds of OMA conformance tests have to be conducted - interoperability test with an OMA DS-based server and conformance test with SCTS (SyncML Conformance Test Suit). In this paper, some parts of the gateway previously built are modified and the modified gateway is installed on a Windows Mobile-based smart phone. And the interoperability test and the conformance test with the SCTS are conducted. The results of the tests show that the embedded DS gateway operates properly on the Windows Mobile-based smart phone and that the gateway passes the tests, verifying its conformity to the OMA DS standard protocol. In addition, DS performance tests show that DS delay times between a real smart phone and a DS server increase gently as the number of DS data increases. In other words, the embedded DS gateway built in this paper can be used for a real smart phone at a reasonable performance cost.