• Smart Structures and Systems
• /
• 제11권2호
• /
• pp.135-161
• /
• 2013

This work presents a test platform for the assessment and benchmarking of modern actuators which have been specifically developed for the new field and service robotics applications. This versatile platform has been designed for the comparative analysis of actuators of dissimilar technology and operating conditions. It combines a modular design to adapt to linear and rotational actuators of different sizes, shapes and functions, as well as those with different load capacities, power and displacement. This test platform emulates the kinematics of robotic joints while an adaptive antagonist-load actuator allows reproducing the variable dynamic loads that actuators used in real robotics applications will be subjected to. A data acquisition system is used for monitoring and analyzing test actuator performance. The test platform combines hardware and software in the loop to allow actuator performance characterization. The use of the proposed test platform is demonstrated through the characterization and benchmarking of three controllable impedance actuators recently being incorporated into modern robotics.

• 대한기계학회논문집
• /
• 제19권1호
• /
• pp.150-160
• /
• 1995

The practical design and construction of a Stewart Platform-based unilateral universal hand-controller is presented. It is also presented that such a design concept could be implemented by developing a technical method of determining the forward kinematics of a Stewart Platform in real time. In this work, the forward kinematics of a Stewart Platform has been determined in real time using three additional displacement sensors which eliminate the computational burden of solving the forward kinematics described in nonlinear simultaneous equations. The workspace of the Stewart Platform via inverse kinematics has been analyzed numerically and used as a design guide for the determination of the mechanism dimensions such as the sizes of the upper and base platforms and the minimum and maximum lengths of the legs. The hardware of the hand-controller has been constructed and tested to demonstrate the feasibility of the design concept.

• Journal of Information Processing Systems
• /
• 제17권6호
• /
• pp.1035-1043
• /
• 2021

An Internet of Things (IOT) sensor network is an effective solution for monitoring environmental conditions. However, IOT sensor networks generate massive data such that the abilities of massive data storage, processing, and query become technical challenges. To solve the problem, a Hadoop cloud platform is proposed. Using the time and workload genetic algorithm (TWLGA), the data processing platform enables the work of one node to be shared with other nodes, which not only raises efficiency of one single node but also provides the compatibility support to reduce the possible risk of software and hardware. In this experiment, a Hadoop cluster platform with TWLGA scheduling algorithm is developed, and the performance of the platform is tested. The results show that the Hadoop cloud platform is suitable for big data processing requirements of IOT sensor networks.

• 한국컴퓨터정보학회지
• /
• 제14권2호
• /
• pp.153-158
• /
• 2006

임베디드 소프트웨어(embedded software)에서 디바이스 드라이버(device driver)는 하드웨어와 운영체제 및 응용 프로그램 사이의 연결고리 역할을 하는 핵심 구성 요소로서, 응용 프로그램이 하드웨어에서 제공하는 기능을 사용할 수 있도록 제어 및 상호동작을 위한 일관된 인터페이스를 제공하는 소프트웨어이다. 이러한 디바이스 드라이버는 하드웨어와 소프트웨어의 양쪽 측면에 모두 관련이 있어서 개발이 어렵기 때문에 하드웨어 플랫폼이 바뀔 때마다 새로 작성하는 것은 굉장한 손실이다. 따라서 본 논문에서는 이기종의 하드웨어에서도 쉽게 이식 가능한 디바이스 드라이버 개발방법에 대해 살펴보고 효율적인 디바이스 드라이버 모델 개발방법에 대해 제안한다.

• 센서학회지
• /
• 제24권5호
• /
• pp.299-305
• /
• 2015

Since the natural disasters such as floods, droughts, heat wave and cold wave are increasing, the need for risk management is necessary to minimize the damage with utilizing IT technology. Also, the monitoring services of disaster response type have been developed and applied. Recently, the open source hardware based on the signal of the sensor, or the monitoring studies have been carried. In this paper, by analyzing a low-cost open source hardware platform such as Beagle board, we examine the utilization of the hardware-based module for sensor monitoring.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2009년도 추계학술발표대회
• /
• pp.67-68
• /
• 2009

Increasing use of embedded systems has made many improvements on hardware development for specific purpose. Hardware changes are more expensive and harder to implement rather than software changes. Developers need tools to do design and testing of new hardware. Many simulation tools have been made to mimic the hardware and allow developer to test programs on top of new hardware. Virtual Development Environment for Embedded Software (VDEES) is one of the alternatives available. It provides an open source based platform and an Integrated Development Environment (IDE) that can be used to build and testing newly made component, faster and at low-cost.

• Journal of Platform Technology
• /
• 제6권3호
• /
• pp.47-54
• /
• 2018

하드웨어 산업에서의 예측 분석은 생산설비의 고장을 방지하기 위해 적절한 시점에 유지보수를 수행할 수 있고 관리비용을 절감할 수 있다. 이는 고장원인분석의 자동화를 통해 보다 효율적이고 과학적인 유지보수를 수행할 수 있도록 도와준다. 그중에서도 예측 관리는 정보 기술을 활용하여 설비 상태의 수집, 분석, 과학적 데이터 관리를 통해 예측 모델을 구성하며, 이를 바탕으로 이상상태를 파악하고 개선함으로써 이상상태가 발생하는 것을 사전에 예방하는 것을 목적으로 한다. 본 연구에서는 Relex 도구를 통해 결함트리(Fault Tree)를 만들고 하드웨어들의 에러코드를 분석하여 안전성을 연구했다.

• 디지털산업정보학회논문지
• /
• 제15권4호
• /
• pp.85-92
• /
• 2019

This paper presents a SDR-based Long Term Evolution Advanced (LTE-A) Physical Downlink Shared Channel (PDSCH) decoder using a multicore Digital Signal Processor (DSP). For decoder implementation, multicore DSP TMS320C6670 is used, which provides various hardware accelerators such as turbo decoder, fast Fourier transformer and Bit Rate Coprocessors. The TMS320C6670 is a DSP specialized in implementing base station platforms and is not an optimized platform for implementing mobile terminal platform. Accordingly, in this paper, the hardware accelerator was changed to the terminal implementation to implement the LTE-A PDSCH decoder supporting the multi-antenna and the functions not provided by the hardware accelerator were implemented through core programming. Also pipeline using multicore was implemented to meet the transmission time interval. To confirm the feasibility of the proposed implementation, we verified the real-time decoding capability of the PDSCH decoder implemented using the LTE-A Reference Measurement Channel (RMC) waveform about transmission mode 2 and 3.

• Journal of Computing Science and Engineering
• /
• 제3권3호
• /
• pp.181-194
• /
• 2009

Flash memory is increasingly being used in a wide range of storage applications because of its low power consumption, low access latency, small form factor, and high shock resistance. However, the current platforms for flash memory software development do not meet the ever-increasing requirements of flash memory applications. This paper presents three different hardware platforms for flash memory/NVRAM (non-volatile RAM) software development that overcome the limitations of the current platforms. The three platforms target different types of host system and provide various features that facilitate the development and verification of flash memory/NVRAM software. In this paper, we also demonstrate the usefulness of the three platforms by implementing three different types of storage system (one for each platform) based on them.

• 반도체디스플레이기술학회지
• /
• 제22권4호
• /
• pp.172-178
• /
• 2023

With the expansion of metaverse content and hardware platforms, various interactions in the virtual world have been built, raising expectations for an increase in immersion which is a major element of the metaverse. However, among hardware platforms that increase virtual immersion elements, the typical HMD platform can be a barrier to new user inflows due to its high cost. Thus, this paper focused on improving virtual-to-real interactions by extracting motion data using relatively inexpensive webcam equipment in PC environments, utilizing Unity game engines, Photon unity network, multi-platform implementations, and Barracuda neural network inference libraries.