• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.548-550
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• 2006

This paper deals with the implementation of a small humanoid robot controller on the basis of Real Time Operating System(RTOS) and the FPGA. This controller was adapted to the humanoid robot with 25 DOFs, which are 12 DOFs in each leg, 8 DOFs in each arm, 3 DOFs in waist, and 2 DOFs in head. The robot actuators were used DX-117 servo motors that have all of the controller components in one module in order to simplify the control structure. In addition, the main controller is FPGA of Virtex4-FX from Xilinx, and ported on VxWorks that is kind of RTOS. It is essential to install this RTOS on the complex control system and to do control activity at the multitasking environments. This paper suggested the method of distributing the computational load in the humanoid robot controller using the FPGA and RTOS concepts. All of the control process was verified through the real action of the humanoid.

• Journal of Advanced Navigation Technology
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• v.15 no.2
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• pp.298-306
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• 2011

In this paper, the RUNCODE encoder hardware IP was designed and implemented for symbol ID code length encoding, which is one of major modules of JBIG2 encoder for FAX. ImpulseC Codeveloper and Xilinx ISE/EDK program are used for the hardware generation and synthesis of VHDL code. The synthesized hardware was downloaded to Virtex-4 FX60 FPGA on ML410 development board. The synthesized hardware utilizes 13% of total slice of FPGA. Using Active-HDL tool, the hardware was verified showing normal operation. Compared with the software operating using Microblaze cpu on ML410 board, the synthesized hardware was better in operation time. The improvement ratio of operation time between the synthesized hardware and software showed about 40 times faster than software only operation. The synthesized H/W and S/W module cooperated to succeed in compressing the CCITT standard document.

• Journal of Advanced Navigation Technology
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• v.18 no.6
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• pp.600-608
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• 2014

In this paper, CABAC H/W module is developed using co-design method. After entire H.264/AVC encoder was developed with C using reference SW(JM), CABAC H/W IP is developed as a block in H.264/AVC encoder. Context modeller of CABAC is included on the hardware to update the changed value during binary encoding, which enables the efficient usage of memory and the efficient design of I/O stream. Hardware IP is co-operated with the reference software JM of H.264/AVC, and executed on Virtex-4 FX60 FPGA on ML410 board. Functional simulation is done using Modelsim. Compared with existing H/W module of CABAC with register-level design, the development time is reduced greatly and software engineer can design H/W module more easily. As a result, the used amount of slice in CABAC is less than 1/3 of that of CAVLC module. The proposed co-design method is useful to provide hardware accelerator in need of speed-up of high efficient video encoder in embedded system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.2C
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• pp.182-192
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• 2010

This paper proposes the hardware IP design of JBIG2 encoder. In order to facilitate the next generation FAX after the standardization of JBIG2, major modules of JBIG2 encoder are designed and implemented, such as symbol extraction module, Huffman coder, MMR coder, and MQ coder. ImpulseC Codeveloper and Xilinx ISE/EDK program are used for the synthesis of VHDL code. To minimize the memory usage, 128 lines of input image are processed succesively instead of total image. The synthesized IPs are downloaded to Virtex-4 FX60 FPGA on ML410 development board. The four synthesized IPs utilize 36.7% of total slice of FPGA. Using Active-HDL tool, the generated IPs were verified showing normal operation. Compared with the software operation using microblaze cpu on ML410 board, the synthesized IPs are better in operation time. The improvement ratio of operation time between the synthesized IP and software is 17 times in case of symbol extraction IP, and 10 times in Huffman coder IP. MMR coder IP shows 6 times faster and MQ coder IP shows 2.2 times faster than software only operation. The synthesized H/W IP and S/W module cooperated to succeed in compressing the CCITT standard document.

• Journal of Advanced Navigation Technology
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• v.17 no.1
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• pp.69-79
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• 2013

In this paper, DCT(Discrete Cosine Transform) and CAVLC(Context Adaptive Variable Length Coding) are co-designed as hardware IP with software operation of the other modules in H.264/AVC codec. In order to increase the operation speed, a new method using SHIFT table is proposed. As a result, enhancement of about 16(%) in the operation speed is obtained. Designed Hardware IPs are downloaded into Virtex-4 FX60 FPGA in the ML-410 development board and H.264/AVC encoding is performed with Microblaze CPU implemented in FPGA. Software modules are developed from JM13.2 to make C code. In order to verify the designed Hardware IPs, Modelsim program is used for functional simulation. As a result that all Hardware IPs and software modules are downloaded into the FPGA, improvement of processing speed about multiples of 16 in case of DCT hardware IP and multiples of 10 in case of CAVLC compared with software-only processing. Although this paper deals with co-design of H/W and S/W for H.264, it can be utilized for the other embedded system design.