• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.69-78
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• 2009

Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.137-143
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• 2014

Demand Controller is a load control device that monitor the current power consumption and calculate the forecast power to not exceed the power set by consumer. Accurate demand forecasting is important because of controlling the load use the way that sound a warning and then blocking the load when if forecasted demand exceed the power set by consumer. When if consumer with fluctuating power consumption use the existing forecasting method, management of demand control has the disadvantage of not stable. In this paper, load forecasting of the unit of seconds using the Exponential Smoothing Methods, ARIMA model, Kalman Filter is proposed. Also simulation of load forecasting of the unit of the seconds methods and existing forecasting methods is performed and analyzed the accuracy. As a result of simulation, the accuracy of load forecasting methods in seconds is higher.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.80-82
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• 2004

Personal robot consist of various modules that have independent functions. Because personal robot has requirement that support various construction for user's tendency. Therefore, Middleware mechanism at support not only personal robot's main functional element but also embedded modules functional elements is required. Each module have various heterogeneous network interfaces and variable services and variables. Therefore, Middleware must support these various network interfaces. This paper, pointed in Controller Area Network(CAN) inreface that usually used in embedded system for control. For connect various heterogeneous network interfaces (Ethernet, RS232 etc..), it is necessary to modify bagic CAN frame format. And also make some kind of BUS topology for CAN network.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.6
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• pp.285-292
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• 2021

Autonomous vehicles are divided into an upper controller that calculates control value through cognitive judgment and a lower controller that appropriately transmits its control value to an actuator. Here, the longitudinal control in a lower controller has a problem as the road slopes due to the property of the Acceleration sensor to output the acceleration as the slope of the device. Therefore, in this paper, a sigmoid function is proposed to determine the slope to compensate for this problem. Through the experiment, Checked performance by comparing the existing table model with the proposed model.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.5
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• pp.269-275
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• 2019

This paper addresses the control problem of cyber-physical systems under controller attack. A novel discontinuous Lyapunov functionals are employed to fully utilize sampled-data pattern which characteristic is commonly appeared in cyber-physical systems. By considering the limited resource of networks, cyber-attacks on the controller are considered randomly occurring and are described as an attack function which is nonlinear but assumed to be satisfying Lipschitz condition. Novel criteria for designing controller with robustness for cyber-attacks are developed in terms of linear matrix inequality (LMI). Finally, a numerical example is given to prove the usefulness of the proposed method.

• Annual Conference of KIPS
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• 2009.11a
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• pp.147-148
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• 2009

In this paper, we describe a telemetry stimulation system that controls animal-robots. In our system, we send the main control command from PC to the controller embedded in the pigeon based animal-robots. Once the controller receives the control signal, it makes biphasic stimulation pulses to medial forebrain bundle neurons to control the pigeon behavior as we want. We design the embedded controller using CUBLOC, which is lightweight for attaching on the pigeon.

• Journal of Digital Convergence
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• v.18 no.3
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• pp.163-169
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• 2020

A smart key has been used in a variety of embedded environments and there also have been attacks from a remote place by amplifying signals at a location of a user. Existing studies on defence techniques suggest multiple sensors and hash functions to improve authentication speed; these, however, increase the electricity usage and the probability of type 1 error. For these reasons, I suggest an embedded security controller based on client authentication and user movement information improving the authentication method between a controller and a host device. I applied encryption algorithm to the suggested model for communication using an Arduino board, GPS, and Bluetooth and performed authentication through path analysis utilizing user movement information for the authentication. I found that the change in usability was nonsignificant when performing actions using the suggested model by evaluating the time to encode and decode. The embedded security controller in the model can be applied to the system of a remote controller for a two-wheeled vehicle or a mobile and stationary host device; in the process of studying, I found that encryption and decryption could take less then 100ms. The later study may deal with protocols to speed up the data communication including encryption and decryption and the path data management.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.69-72
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• 2008

In the paper, embedded system that manage, control the status of vehicle through internet and mobile instruments are designed. The network is composed of the distributed control system using CAN communication, where communication is possible with two lines, and the bluetooth, where wireless communication is possible. We also designed the Embedded system to make up the web server only for the vehicle, made it possible to catch hold of the conditions of the vehicle and control the vehicle through internet by interfacing the destributed controller. We also made such a Web Server possible th be monitored and controlled by the mobile instruments such as PDA, mobile phones.

• Journal of Korea Society of Industrial Information Systems
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• v.24 no.4
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• pp.9-19
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• 2019

As light-weight embedded devices become widely used in the area of low-power networking and high-precision sensor data acquisition, support for time-critical applications becomes essential for the light-weight embedded devices. This paper addresses the accuracy issue of a software timer for small or tiny embedded devices equiped with light-weight MCUs(Micro controller units). We first explore the characteristics of overhead in a typical implementation of a software timer, and then measure the overhead through a realistic implementation. Using the measurement result, we propose an overhead compensation technique which reduces the overhead from the hardware timer-tick.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.4
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• pp.203-210
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• 2024

The automotive industry is transitioning from traditional internal combustion engines to systems powered by motors, batteries, and various electronic control units. Central to this shift is the micro-controller unit, which processes data from various sensors for real-time environmental awareness and control. This paper explores using non-contact magnetic sensors for sensing vehicle inclination as part of a digital twin implementation. Unlike optical or contact sensors, non-contact magnetic sensors offer robust performance in challenging environments, providing consistent and reliable data under varying conditions. To optimize real-time data processing, we propose a double buffer structure to enhance digital signal processing performance in embedded systems. Experiments using a custom sensor-integrated board demonstrate that the double buffer structure with direct memory access-enabled serial peripheral interface significantly reduces data processing time and improves noise reduction filtering. Our results show that the proposed system can greatly enhance the reliability and accuracy of sensor data, crucial for real-time vehicle control systems. In particular, by using the double buffer structure proposed in this paper, it was possible to secure 8.27 times more data compared to raw data, despite performing additional filtering. The techniques outlined have potential applications in various fields, offering enhanced monitoring and optimization capabilities, thus paving the way for more advanced and efficient vehicle control technologies.