• Journal of KIISE:Software and Applications
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• v.33 no.4
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• pp.388-401
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• 2006

A tool for analyzing and testing software in real-time is required for the efficient development of highly reliable real-time mobile embedded software This too] requires various technologies, such as source code based white-box test and real-time system monitoring and control. The tool also should be designed to improve reusability and portability by considering the interaction with other kinds of real-time system. This paper identifies and analyzes the functional requirements for the test tool on real-time mobile embedded software and suggests an adequate tool architecture based on the collected requirements. It also suggests the specific implementation technology and architecture design pattern to support the tool's expandability and portability.

• Journal of Internet Computing and Services
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• v.7 no.4
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• pp.11-22
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• 2006

Software product-lines methodology is the software development paradigm to build the target system by customizing the variable part of software assets according to requirements. To attain this, the commonalities and variabilities of the system family should be modeled explicitly at early stage. Although the researches on general software product-lines are active, the researches on component-based real-time embedded software product-lines are rather inactive. In this paper a code generation system to support the functional variabilities via feature model and generate the code for synchronization via state model is proposed to increase the productivity of the development of the real-time embedded software product-lines.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.1
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• pp.19-24
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• 2008

To reduce time-to-market, more and more embedded system developers and system-on-chip designers rely on microprocessor-based design methodology. ARM processor has been a major player in this industry over the last 10 years. However, there are many restrictions on developing embedded software using ARM processor in the early design stage. For those who are not familiar with embedded software development environment or who cannot afford to have an expensive embedded hardware equipment, testing their software on a real ARM hardware platform is a challenging job. To overcome such a problem, we have designed VMA (Virtual ARM Machine), which offers easier testing and debugging environment to ARM based embedded system developers. Major benefits that can be achieved by utilizing a virtual ARM platform are (1) reducing development cost, (2) lowering the entrance barrier for embedded system novices, and (3) making it easier to test and debug embedded software designs. Unlike many other purely software-oriented ARM simulators which are independent of real hardware platforms, VMA is specifically targeted on SYS-Lab 5000 ARM hardware platform, (designed by Libertron, Inc.), which means that VMA imitates behaviors of embedded software as if the software is running on the target embedded hardware as closely as possible. This paper will describe how VMA is designed and how VMA can be used to reduce design time and cost.

• JSTS:Journal of Semiconductor Technology and Science
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• v.5 no.4
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• pp.243-248
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• 2005

The UAV (Unmanned Aerial Vehicle) systems like unmanned autonomous helicopters are used in various missions of flight navigation and used to collect the environmental information of the surroundings. To realize the full functionalities of the UAV, the software part becomes a challenging problem. In this paper embedded real-time software architecture for unmanned autonomous helicopter is proposed that guarantee real-time performance of hard-real time tasks and re-configurability of soft-real time and non-real time tasks. The proposed software architecture has four layers: hardware, execution, service agent and remote user interface layer according to the reactiveness level for external events. In addition, the layered separation of concurrent tasks makes different kinds of mission reconfiguration possible in the system. An Unmanned autonomous helicopter system was implemented (Kyosho RC Helicopter) in our lab to test and evaluate the performance of the proposed system.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.384-389
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• 2008

In this paper, we propose a UML modeling of ATO on-board software. An automatic train operation (ATO) system is a real-time control system, which operates a train without a manual operation by a driver. For the safe and comfortable service, real-time embedded software for ATO on-board equipment should have both of high performance and reliability. UML-based object-oriented modeling technique is introduced and used widely to design software that satisfies this requirement. We used Rhapsody, which is a modeling tool for real-time embedded software, to model the construction and the behavior of ATO on-board equipment. As a result, ATO on-board software which performs the profile calculation and the real-time speed control is designed and implemented. The brief modeling result including behavioral characteristics and the simulation results are presented.

• Journal of Korea Multimedia Society
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• v.19 no.10
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• pp.1759-1766
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• 2016

We can implement the virtual touch recognition system by mounting the virtual touch algorithm into an embedded device connected to a depth camera. Since the computing performance is limited in embedded system, the real-time processing of recognizing the virtual touch is difficult when the resolution of the depth image is large. In order to resolve the problem, this paper improves the algorithms of binarization and labeling that occupy a lot of time in all processing of virtual touch recognition. It processes the binarization and labeling in only necessary regions rather than all of the picture. By appling the proposed algorithm, the system can recognize the virtual touch in real-time as about 31ms per a frame in the depth image that has 640×480 resolution.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.1
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• pp.17-24
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• 2012

Recently automotive software has been more complex and needs to be reduced its development time. Software testing of its functionalities and performance should be conducted in an early development phase to reduce time to market and the development cost. Software functional testing can be performed through simulating the hardware, but it is not guaranteed that evaluation of real-time performance using simulation has enough accuracy. Real-time performance can be precisely evaluated with hardware-in-the-loop simulation, but it costs time and effort to set up hardware for testing. In this paper, we suggest a testing system that can evaluate functional requirements and real time properties with a general-purpose development board in the early development phase. In addition, we improve reusability of the testing system through modularized and layered architecture. With the proposed testing system we can contribute to building reliable testing system at low cost without difficulty.

• Journal of Information Processing Systems
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• v.15 no.6
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• pp.1462-1471
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• 2019

Real-time embedded systems have become pervasive in general industry. They also began to be applied in such domains as avionics, automotive, aerospace, healthcare, and industrial Internet. However, the system failure of such domains could result in catastrophic consequences. Runtime software testing is required in such domains that demands very high accuracy. Traditional runtime software testing based on handwork is very inefficient and time consuming. Hence, test automation methodologies in runtime is demanding. In this paper, we introduce a software testing system that translates a real-time software into a monitorable real-time software. The monitorable real-time software means the software provides the monitoring information in runtime. The monitoring target are time constraints of the input real-time software. We anticipate that our system lessens the burden of runtime software testing.

• Proceedings of the Korea Multimedia Society Conference
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• 2003.11b
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• pp.1006-1009
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• 2003

In a motion estimation method for use in encoding a moving picture, a full-pixel motion vector is estimated by stochastically sampling a pixel to be processed in a predetermined-sized block of a previous frame or a next frame as a reference frame for each of a plurality of equal-sized blocks in a current frame. Then, a half-pixel motion vector is estimated based on the full-pixel motion vector. Accordingly, both the calculation amount and the calculation time required for the motion estimation are effectively reduced. Further, it can be prevented that the hardware becomes complicated. .