• Journal of Welding and Joining
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• v.29 no.4
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• pp.61-66
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• 2011

The purpose of this study is to develop improved boom structures with reliable fatigue strength of weldment and lower production cost. For that purpose, multi-body dynamic analysis was performed to evaluate forces acting on arm & boom cylinders and joints of boom structure during operation of an excavator for three working postures, then stress analysis was made to investigate stress distribution around diaphragms at the bottom plate of boom structures which was known to be susceptible to fatigue failures of welded joints, and finally boom structures with optimum arrangement of diaphragms was proposed. This work mainly consists of the following two parts: part 1 focuses on multi-body dynamic analysis of excavators during operation and part 2 includes evaluations of fatigue strength of welded joints for modified boom structures.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.961-962
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• 2006

The AMBA(Advanced Microcontroller Bus Architecture) system is one of the most important elements having an influence upon system performance in ARM-based SoC environments. The system guarantees easy connection and good performance as a 32-bit bus system for ARM processors. In this paper, we analyze arbitration algorithms for the AHB bus of the AMBA system and propose an efficient algorithm to improve the performance of the bus system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.368-371
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• 2003

A new accurate and reliable human-in-the-loop control by artificial neural network (ANN) for human assistance robot was proposed in this paper. The principle of human-in-the-loop control by ANN was explained including the system architecture of human assistance robot control the design of the controller the control process as well as the switching of the different control patterns. Based on the proposed method, the control of meal assistance robot was implemented. In the controller of meal assistance robote a feedforward ANN controller was designed for the accurate position control. For safety a feedback ANN forcefree control was installed in the meal assistance robot. Both controllers have taken fully into account the influence of human arm upon the meal assistance robote and they can be switched smoothly based on the external force induced by the challenged person arm. By the experimental and simulation work of this method for an actual meal assistance robote the effectiveness of the proposed method was verified.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.41 no.6
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• pp.59-70
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• 2004

SMT(Simultaneous Multi Threading) architecture uses TLP(Thread Level Parallelism) and increases processor throughput, such that issue slots can be filled with instructions from multiple independent threads. Having multiple ready threads reduces the probability that a functional unit is left idle, which increases processor efficiency. To utilize those advantages for the SMT processors, the issue unit must control the flow of instructions from different threads and not create conflicts among those instructions, which make the SMT issue logic extremely complex. Therefore, our SMT architecture, which is modeled in this paper, uses an in-order-issue and completion scheme, and therefore, can use a simple issue mechanism with a scoreboard already instead of using register renaming or a reorder buffer. However, an SMT scoreboarding mechanism is still more complex and costlier than that of a single threaded conventional processor. This paper proposes an optimal implementation of a scoreboarding mechanism for an ARM-based SMT architecture.

• Journal of IKEEE
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• v.21 no.4
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• pp.358-367
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• 2017

Advanced Driver Assistance Systems(ADAS), such as Front Collision Warning System (FCWS) are currently being developed. FCWS require high processing speed because it must operate in real time while driving. In addition, a low-power system is required to operate in an automobile embedded system. In this paper, FCWS is implemented in CPU-FPGA architecture in embedded system to enable real-time processing. The lane detection enabled the use of the Inverse Transform Perspective (IPM) and sliding window methods to operate at fast speed. To detect the vehicle, a Convolutional Neural Network (CNN) with high recognition rate and accelerated by parallel processing in FPGA is used. The proposed architecture was verified using Intel FPGA Cyclone V SoC(System on Chip) with ARM-Core A9 which operates in low power and on-board FPGA. The performance of FCWS in HD resolution is 44FPS, which is real time, and energy efficiency is about 3.33 times higher than that of high performance PC enviroment.

• Journal of IKEEE
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• v.20 no.1
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• pp.89-93
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• 2016

In this paper, we proposed SIMT based Image Signal Processor which can apply various image preprocessing algorithms and allow parallel processing of application programs such as image recognition. Conventional ISP has the hard-wired image enhancement algorithm of which the processing speed is fast, but there was difficult to optimize performance depending on various image processing algorithms. The proposed ISP improved the processing time applying SIMT architecture and processed a variety of image processing algorithms as an instruction based processor. We used Xilinx Virtex-7 board and the processing time compared to cell multicore processor, ARM Cortex-A9, ARM Cortex-A15 was reduced by about 71 percent, 63 percent and 33 percent, respectively.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.3
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• pp.626-637
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• 2014

On ship, especially on large ship, the flexure deformation between Master (M)/Slave (S) Inertial Navigation System (INS) is a key factor which determines the accuracy of the integrated system of M/S INS. In engineering this flexure deformation will be increased with the added ship size. In the M/S INS integrated system, the attitude error between MINS and SINS cannot really reflect the misalignment angle change of SINS due to the flexure deformation. At the same time, the flexure deformation will bring the change of the lever arm size, which further induces the uncertainty of lever arm velocity, resulting in the velocity matching error. To solve this problem, a $H_{\infty}$ algorithm is proposed, in which the attitude and velocity matching error caused by deformation is considered as measurement noise with limited energy, and measurement noise will be restrained by the robustness of $H_{\infty}$ filter. Based on the classical "attitude plus velocity" matching method, the progress of M/S INS information fusion is simulated and compared by using three kinds of schemes, which are known and unknown flexure deformation with standard Kalman filter, and unknown flexure deformation with $H_{\infty}$ filter, respectively. Simulation results indicate that $H_{\infty}$ filter can effectively improve the accuracy of information fusion when flexure deformation is unknown but non-ignorable.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.44 no.4
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• pp.63-72
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• 2007

In this paper, we propose a novel reconfigurable coprocessor for multimedia mobile terminals. Because most of multimedia operations require fast operations of large amount of data in the limited clock frequency, it is necessary to enhance the performance of the embedded processor that is widely used in current multimedia mobile terminals. Therefore, we proposed and have designed the coprocessor which had the ability of fast operations of multimedia data. The proposed coprocessor was not only reconfigurable, but also flexible and expandable. The proposed coprocessor has been designed by using VHDL and compared with previous reconfigurable coprocessors and a commercial embedded processor in architecture and speed. As a result of the architectural comparison, the proposed coprocessor had better structure in terms of hardware size and flexibility. Also, the simulation results of DCT application showed that the proposed coprocessor was 26 times faster than a commercial ARM processor and 11 times faster than the ARM processor with fast DCT core.

• Journal of the Korean Institute of Rural Architecture
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• v.4 no.1
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• pp.45-60
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• 2002

This research is the second attempt to illustrate the phases of ancient Korean architecture through a comparative study of historical materials such as historical ruins, relics, stone remains and art products. Among these the stone stupa (budo), contains many architectural aspects of old times, which give clues to trace the characteristics of the antient Korean structures. The study brings about following results: 1. The pillar employs an entasis technique, and the bracket system (gongpo) consists of cross beams (changbang) and small supporting blocks (soro) thereupon. A type of the bracket arm (chomcha) is also found on top of the pillar. 2. Windows and doors are assumed from the carved features on the stone stupa to be pair-doors which could be folded twice sideways and upwards. 3. There are two types of eaves; the single eaves and the double eaves consisting of a rafter and a flying rafter. 4. The roof has furrows formed by the concave tiles and the convex ones and also the tiles at the edge of eaves. And there are evidences that a variety of small images of animal and human figures were decorated along on top of the eaves.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.6
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• pp.532-539
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• 2001

In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.