• KIPS Transactions on Software and Data Engineering
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• v.5 no.2
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• pp.107-116
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• 2016

Industrial robots have been usually controlled using text-based programming languages provided by each manufacturer with its button-based TP(Teaching Pendent) terminal. Unfortunately, when we consider that people who manipulate TPs in manufacturing sites are mostly unskilled with no background knowledge about computer programming, these text-based programming languages using button-based interaction on manufacturing sites are too difficult for them to learn and use. In order to overcome the weaknesses of the text-based programming language, we propose a visual programming language that can be easily used on gesture-enabled devices. Especially, in our visual programming environment, each command is represented as a block and robots are controlled by stacking those blocks using drag-and-drop gestures, which is easily learnable even by beginners. In this paper, we utilize a widely-spread device, Tablet PC as the gesture-enabled TP. Considering that Tablet PC has limited display space in contrast to PC environments, we designed different kinds of sets of command blocks and conducted user tests. Based on the experiment results, we propose an effective set of command blocks for Tablet PC environment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.256-259
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• 2016

The growth of mobile devices in Internet of Things (IoT) leads to a number of intelligent buildings related IoT applications. For instance, home automation controlling system uses client system such web apps on smartphone or web service to access the home server by sending control commands. The home server receives the command, then controls for instance the light system. The gateway based RESTful technology responsible for handling clients' requests attests an internet latency in case a large number of clients' requests submit toward the gateway increases. In this paper, we propose the design tasks of the IoT gateway for handling concurrency events. In the procedure of designing tasks, concurrency is best understood by employing multiple levels of abstraction. The way that is eminently to accomplish concurrency is to build an object-oriented environment with support for messages passing between concurrent objects. We also investigate the performance of event-driven architecture for building IoT gateway using node.js on one side and communication protocol based message-oriented middleware known as XMPP to handle communications of intelligent building control devices connected to the gateway through a centralized hub. The Node.JS is 40% faster than the traditional web server side features thread-based approach. The use of Node.js server-side handles a large number of clients' requests, then therefore, reduces delay in performing predefined actions automatically in intelligent building IoT environment.

• The Journal of Korean Association of Computer Education
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• v.20 no.1
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• pp.49-62
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• 2017

This paper aims to deeply investigate the interactive patterns between a robot teacher and a participating gifted student who assembled GoGo Bumper car and controlled it with GoGo Monitor commands. Two days of classroom activities for the GoGo Bumper car project were videotaped between July 29 and 30 in 2013. Extra video-based recall interviews were also conducted three times between Nov 2013 and Jan 2014. The qualitative analysis of video data, GoGo Monitor codes and interview data revealed several unfolding patterns of computational thinking. The participating student while interacting with a robot teacher often contemplated and coded on his own ways as he worked with GoGo board testing and assembling a GoGo Bumper car. The overall process of coding and testing his own ideas by finding out relevant commands and arranging them attuned to his computational strategies seems to be cyclic.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.37 no.11
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• pp.74-84
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• 2000

This paper deals with procedures for design and implementation of a DSP, which is compatible with TMS320C30 DSP. CBS(Cycle Based Simulator) is developed to study the architecture of the target DSP. The simulator gives us detailed information such as function block operation, control signal values, register condition, bus and memory values when a instruction is being carried out. RTL design is carried out by VHDL. Logic simulation and hardware emulation are employed to verify proper operation of the design. The DSP is fabricated with 0.6${\mu}m$ CMOS technology. The Chip has 450,000 gates complexity, $9{\times}9mm^2$ area, 20 MIPS operation speed. It is confirmed by running 109 instructions out of 114 instructions and 13 kinds of algorithm that the developed DSP has compatibility with TMS320C30.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.1
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• pp.29-42
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• 1990

In this paper, We use the APL as IDL when simulation a 16-bit SIP. It was possible for IDL to represent and describe a structure of a H/W which other HDL have not. Because We partitioned whole system to various modules when desingning processor, We adpoted a direct decoding method. A designed each modules are executed according to 12-bit control word was inputed through experimental framework, Which were composed to symbolized instructions. In here, By setting instruction codes of the SIP using binary code, We composed instruction format and assembler instruction, and verified the SIP behaviour that try to implement by entering a presented instruction set through experimental framework. In a presented SIP, Because inputing program are a symbolized language, Designer and user will easily understand behaviour of system. Especially, Because we can immediatly specify a unit function within SIP, We will use variously and easily the library cell.

• Journal of Korea Game Society
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• v.16 no.6
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• pp.131-142
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• 2016

Recently, a variety of methodologies based on the use of educational coding robots have been proposed and experimented in newly emerging korean educational coding markets. Due to imprecise movement accuracy of the existing coding robots, however, such robots are mainly used as a toy. Inspired by these observations, we developed a simple adjustment method during robot movements, which is based on the observation results of 6 line-tracking sensors: 3 sensors in the center of a robot and other 3 sensors at the front. These sensors help to determine whether the robot is in the right location and whether it rotates as expected. Through the well-designed experiments, we report the effectiveness of our proposed solution: the average distance error of 1.57cm and the average degree error of 2.38 degree before and after complex movements. In near future, we hope our method to be popularly used in various educational coding robot platforms.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.3
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• pp.201-210
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• 2019

This paper proposes the AMCS(Agricultural Machine Control System that distinguishes farms using satellite photos or drone photos of farms and controls the self-driving and operation of farm drones and tractors. The AMCS consists of the LSM(Local Server Module) which separates farm boundaries from sensor data and video image of drones and tractors, reads remote control commands from the main server, and then delivers remote control commands within the management area through the link with drones and tractor sprinklers and the PSM that sets a path for drones and tractors to move from the farm to the farm and to handle work at low cost and high efficiency inside the farm. As a result of AMCS performance analysis proposed in this paper, the PSM showed a performance improvement of about 100% over Dijkstra algorithm when setting the path from external starting point to the farm and a higher working efficiency about 13% than the existing path when setting the path inside the farm. Therefore, the PSM can control tractors and drones more efficiently than conventional methods.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.85-92
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• 2024

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.699-707
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• 2016

This paper proposes a low-complexity central processing unit (CPU) that is suitable for deeply embedded systems, including Internet of things (IoT) applications. The core features a 16-bit instruction set architecture (ISA) that leads to high code density, as well as a multicycle architecture with a counter-based control unit and adder sharing that lead to a small hardware area. A co-processor, instruction cache, AMBA bus, internal SRAM, external memory, on-chip debugger (OCD), and peripheral I/Os are placed around the core to make a system-on-a-chip (SoC) platform. This platform is based on a modified Harvard architecture to facilitate memory access by reducing the number of access clock cycles. The SoC platform and CPU were simulated and verified at the C and the assembly levels, and FPGA prototyping with integrated logic analysis was carried out. The CPU was synthesized at the ASIC front-end gate netlist level using a $0.18{\mu}m$ digital CMOS technology with 1.8V supply, resulting in a gate count of merely 7700 at a 50MHz clock speed. The SoC platform was embedded in an FPGA on a miniature board and applied to deeply embedded IoT applications.

• Journal of the Korea Society of Computer and Information
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• v.15 no.1
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• pp.1-12
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• 2010

Recently, processor performance has been improved dramatically. Unfortunately, as the process technology scales down, energy consumption in a processor increases significantly whereas the processor performance continues to improve. Moreover, peak temperature in the processor increases dramatically due to the increased power density, resulting in serious thermal problem. For this reason, performance, energy consumption and thermal problem should be considered together when designing up-to-date processors. This paper proposes three modified filter cache schemes to alleviate the thermal problem in the filter cache, which is one of the most energy-efficient design techniques in the hierarchical memory systems : Bypass Filter Cache (BFC), Duplicated Filter Cache (DFC) and Partitioned Filter Cache (PFC). BFC scheme enables the direct access to the L1 cache when the temperature on the filter cache exceeds the threshold, leading to reduced temperature on the filter cache. DFC scheme lowers temperature on the filter cache by appending an additional filter cache to the existing filter cache. The filter cache for PFC scheme is composed of two half-size filter caches to lower the temperature on the filter cache by reducing the access frequency. According to our simulations using Wattch and Hotspot, the proposed partitioned filter cache shows the lowest peak temperature on the filter cache, leading to higher reliability in the processor.