• The Journal of Korea Robotics Society
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• v.16 no.4
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• pp.327-335
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• 2021

In this paper, we propose an embedded robot system based on "ROS2 on Yocto" that can support various robots. We developed a lightweight OS based on the Yocto Project as a next-generation robot platform targeting cloud robotics. Yocto Project was adopted for portability and scalability in both software and hardware, and ROS2 was adopted and optimized considering a low specification embedded hardware system. We developed SLAM, navigation, path planning, and motion for the proposed robot system validation. For verification of software packages, we applied it to home cleaning robot and indoor delivery robot that were already commercialized by LG Electronics and verified they can do autonomous driving, obstacle recognition, and avoidance driving. Memory usage and network I/O have been improved by applying the binary launch method based on shell and mmap application as opposed to the conventional Python method. Finally, we verified the possibility of mass production and commercialization of the proposed system through performance evaluation from CPU and memory perspective.

• Journal of the Korea Computer Graphics Society
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• v.13 no.3
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• pp.19-24
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• 2007

In this paper, we describe a method of defining an object's real length in order to compare objects' lengths precisely using all real length units in the real world. The browser in our study represents an object's length by referencing to the physical length property defined at modeling when it displays the object. Since objects' lengths are appropriately scaled according to these units, objects can be precisely and visually compared in sire using real world length units. The concept of defining the real length unit is extended to the X3D specification. The units are ranged from $10^{-24}(yotta)\;to\;10^{24}(yocto)$. In addition, we explain the method for processing LOD (Levels Of Detail) and for applying the property of LOLD (Levels of Length Detail) when objects with different LOLD are read into the browser.

• Proceedings of the Korea Contents Association Conference
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• 2017.05a
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• pp.371-372
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• 2017

최근 IoT 디바이스가 증가함에 따라 IoT 환경에서 사용되고 있는 임베디드 시스템에 대한 보안의 중요성이 대두되고 있다. SELinux는 Linux 의 보안성을 강화시키는 보안 강화 커널로, 시스템의 취약점을 이용한 공격을 방지할 수 있는 Linux 시스템 보안의 핵심적인 요소이다. 본 논문에서는 임베디드 리눅스 빌드 시스템중 가장 활발히 진행되고 있는 Yocto 프로젝트를 활용하여 임베디드 리눅스 시스템에 SELinux를 적용하는 방법을 연구하고자 한다.