• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.375-384
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• 2020

Today's robots consist of many hardware and software subsystems, depending on the functions needed for specific tasks. Integration of subsystems can require a great deal of effort, as both the communication method and protocol of the subsystem can vary. This paper proposes an expandable robotic system in which all subsystems are integrated under Robot Operation System (ROS) framework. To achieve this, the paper presents a software library, ROS_M, developed to implement the TCP/IP-based ROS communication protocol in different control environments such as MCU and RT kernel based embedded system. Then, all the subsystem including hardware can use ROS protocol consistently for communication, which makes adding new software or hardware subsystems to the robotic system easier. A latency measurement experiment reveals that the system built for loop control can be used in a soft real-time environment. Finally, an expandable mobile manipulator robot is introduced as an application of the proposed system. This robot consists of four subsystems that operate in different control environments.

• The KIPS Transactions:PartA
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• v.9A no.4
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• pp.479-484
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• 2002

This paper presents the model that integrates an SDL system and a CORBA system using mapping rules between method and signal for developing embedded systems connected with internet. In order to support communication between the two different systems (SDL and CORBA), it is essential to secure the conversion interface between SDL communication protocol and CORBA communication protocol. In this paper, IDL is adopted for the communication interface and the conversion of the communication protocol between the two systems, and the IDL compiler automatically generates the interface for protocol interoperability. The proposed model adopts middleware on the subpart of the SDL based legacy system, and hence, supports the service on the distributed system, regardless of the environment and location of the server system.

• Proceedings of the IEEK Conference
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• 2000.07a
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• pp.249-252
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• 2000

An experimental multimodal system combining natural input modes such as speech, lip movement, and gaze is proposed in this paper. It benefits from novel human-compute. interaction (HCI) modalities and from multimodal integration for tackling the problem of the HCI bottleneck. This system allows the user to select menu items on the screen by employing speech recognition, lip reading, and gaze tracking components in parallel. Face tracking is a supplementary component to gaze tracking and lip movement analysis. These key components are reviewed and preliminary results are shown with multimodal integration and user testing on the prototype system. It is noteworthy that the system equipped with gaze tracking and lip reading is very effective in noisy environment, where the speech recognition rate is low, moreover, not stable. Our long term interest is to build a user interface embedded in a commercial car navigation system (CNS).

• Advances in nano research
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• v.9 no.3
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• pp.133-145
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• 2020

In this study, nonlinear vibrations and dynamic instabilities of a smart embedded micro shell conveying varied fluid flow and subjected to the combined electro-thermo-mechanical loadings are investigated. With the aim of designing new hydraulic sensors and actuators, the piezoelectric materials are employed for the body and the effects of applying electric field on the stability of the system as well as the induced voltage due to the dynamic behavior of the system are studied. The nonlocal piezoelasticity theory and the nonlinear cylindrical shell model in conjunction with the energy approach are utilized to mathematically modeling of the structure. The fluid flow is assumed to be isentropic, incompressible and fully develop, and for more generality of the problem both steady and time dependent flow regimes are considered. The mathematical modeling of fluid flow is also carried out based on a scalar potential function, time mean Navier-Stokes equations and the theory of slip boundary condition. Employing the modified Lagrange equations for open systems, the nonlinear coupled governing equations of motion are achieved and solved via the state space problem; forth order numerical integration and Bolotin's method. In the numerical results, a comprehensive discussion is made on the dynamical instabilities of the system (such as divergence, flutter and parametric resonance). We found that applying positive electric potential field will improve the stability of the system as an actuator or vibration amplitude controller in the micro electro mechanical systems.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.5
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• pp.261-268
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• 2018

Phase Change Memory(PCM) with low power consumption and high integration attracts attention as a next generation nonvolatile memory replacing DRAM. However, there is a problem that PCM has long latency and high energy consumption due to the writing operation. The PCM & DRAM hybrid memory structure is a fruitful structure that can overcome the disadvantages of such PCM. However, the page replacement algorithm is important, because these structures use two memory of different characteristics. The purpose of this document is to effectively manage pages that can be referenced in memory, taking into account the characteristics of DRAM and PCM. In order to manage these pages, this paper proposes an page replacement algorithm based on frequently accessed and recently paged. According to our simulation, the proposed algorithm for the DRAM&PCM hybrid can reduce the energy-delay product by around 10%, compared with Clock-DWF and CLOCK-HM.

• Electronics and Telecommunications Trends
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• v.34 no.2
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• pp.10-18
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• 2019

Since the introduction of CRT(Cathode Ray Tube) in the 1950s, display technologies have been developed continuously. Flat panel displays such as PDP(Plasma Display Panel) and LCD(Liquid Crystal Display) were commercialized in the late 1990s, and OLED(Organic Light Emitting Diodes) and Micro-LED(Micro-Light Emitting Diodes) are now being developed and are becoming widespread. In the future, we expect to develop ultra-realistic, flexible, embedded sensor displays. Ultra-realistic display can be applied to AR/VR(Augmented Reality/Virtual Reality) devices and spatial light modulators for holography. The sensor-embedded display can be applied to robots; electronic skin; and security devices, including iris recognition sensors, fingerprint recognition sensors, and tactile sensors. AR/VR technology must be developed to meet technical requirements such as viewing angle, resolution, and refresh rate. Holography requires optical modulation technology that can significantly improve resolution, viewing angle, and modulation method to enable wide-view and high-quality hologram stereoscopic images. For electronic skin, stable mass production technology, large-area arrays, and system integration technologies should be developed.

• Journal of KIISE:Software and Applications
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• v.33 no.11
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• pp.915-922
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• 2006

Recently, the requirements of the embedded software are getting diverse as the diversity of embedded software application fields increases. The systematic development methods are issued to deal with the dependency between hardware and software. However, the existing development methods have not considered the software's close connection to hardware and the high-level reusability for common requirements of several similar domains. In this paper, we propose a design method of development process model of product lines to support an efficient development method for embedded software. For this, we firstly suggest a domain scoping method and an IDEF0(Integration DEFinition)-based business model for extracting the efficient requirements. Next, we present a component deriving method based on the service architecture and an architecture design method after considering the hardware dependency. And we explain the artifacts of MSDFS(Multi Sensor Data Fusion System) at each design step in order to show how the proposed model can be applied to the embedded software development.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.388-396
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• 2011

Mission Equipment Package(MEP) system is a collection of avionic components that are integrated to perform the mission of the Korean Utility Helicopter(KUH). MEP system development is classified mission-critical embedded system but KUH MEP system developed including flight-critical data implementation. It is important to establish the good development and verification process for the successful system development. This paper describe the development and verification process in each phase for the KUH MEP system. MEP system design is verified through the qualification test, system failure test and compatibility test in System Integration Laboratory(SIL).

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.43 no.7 s.349
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• pp.38-49
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• 2006

In this paper, a novel concept based on embedded processor and reconfigurable logic is proposed for efficient manufacturing test and design verification. Unlike traditional gap between design verification and manufacturing test, proposed concept is to combine both design verification and manufacturing test. The semiconductor chip which is using the proposed concept is named "SwToC" and SwToC stands for System with Test On a Chip. SwToC has two main features. First, it has functional verification function on a chip and this function could be made by using embedded processor, reconfigurable logic and memory. Second, it has internal ATE on a chip and this feature also could be made by the same architecture. To evaluate the proposed SwToC, we have implemented SwToC using commercial FPGA device with embedded processor. Experimental results showed that the proposed chip is possible for real application and could have faster verification time than traditional simulation method. Moreover, test could be done using low cost ATE.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1706-1711
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• 2008

This paper proposes a new Web based-control concept & design method and implementation of LonWorks network system for a large scale renewable energy energy control and monitoring system in building. The Experimental LonWorks network system using LonWorks/Ethernet(Web) server is designed and fabricated. This article addresses issues in architecture of LonWorks/Ethernet sever, embedded processors architecture for converting LonTalks protocol to Modbus protocol and software, and Internet technologies. It is also verified that the multi-induction motor control and monitoring system using LonWorks/Ethernet server have available, interoperable, reliable performance characteristics from the experimental results, Especially, The seamless integration of TCP/IP networks with control networks allows access to any control point from anywhere. Thus, the results provide a available technical data for remote distributed control system of industrial and buildings field.