• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.17-17
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• 1996

An experimental research is a useful approach for realizing autonomous mobile robots to work in real environment. We are developing an autonomous mobile robot platform named "Yamabico" as a tool for experimental real world robotics research. The architecture of Yamabico is based on the concept of centralized decision making and functionally modularization. Yamabico robot has two level structure with behavior and function levels, and its hardware and software are functionally distributed for providing incremental development and good maintenancibility. We are using many Yamabico robots in our laboratory to realize the robust navigation technology for autonomous robots. The methodology for experimental and task-oriented approach of mobile robotics will be presented. And some experimental results of real world navigation in indoor and outdoor environment will be shown. be shown.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.816-824
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• 2004

In this paper, the framework for accelerating the development of personal robots is presented, which includes the technology such as modularization with its own processing and standardization open to the other developers. Its basic elements are Module-D(Module of DRP I) characterized functionally and VM-D(Virtual Machine of DRP I) arbitrating Module-Ds. They can suggest the effective ways for integrating various robotic components and interfacing among them. Based on this framework, we developed a fully modularized personal robot called DRP I(Dynamically Reconfigurable Personal robot). Its hardware components are easily attached to and detached from the whole system. In addition, each software of the components is functionally distributed. For the materialization of the proposed idea, we mainly focus on the dynamically reconfigurable feature of DRP I.

• Aerospace Engineering and Technology
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• v.3 no.2
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• pp.11-19
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• 2004

A software-controlled unregulated bus system in which the main bus is directly connected to a battery and the duty-ratio for PWM switch is controlled by the on-board satellite software, is usually used for LEO satellites. This paper proposes a new power-stage circuit that can be available for modularization of a power regulator which is used at the software-controlled unregulated bus system satellite. And we analyze the proposed power-stage operation according to its operating modes and verify it by performing software simulation and hardware experiment using prototype. We construct a parallel-module converter which is composed of the proposed power-stage and perform experiment to verify modular characteristics of the proposed power-stage. Finally, we verify the usefulness of the proposed power-stage by comparing above results with those of a parallel-module converter made of conventional power-stage.

• Journal of Satellite, Information and Communications
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• v.8 no.1
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• pp.54-60
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• 2013

The need for high performance of on-board computer (OBC) is essential due to the growing requirements and diversified missions, and so OBC has been developed on the basis of the standard design and reconfigurable modularization in order to improve the utilization of OBC for different missions. The processor in OBC of next generation satellite which is currently developed by KARI is adopted the LEON2-FT/AT697F processor based SPARC v8 as main processor and controls various devices such as SpaceWire, MIL-STD-1553B and CAN through PCI on the standardized communication chips. This paper presents the architecture and design of system software for LEON2-FT processor based on PCI, and development of PCI software component. Also it describes the porting of VxWorks 6.5 for LEON2-FT and the test under the simulation environment for LEON2-FT and PCI with communication chips.

• Journal of Korea Society of Industrial Information Systems
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• v.8 no.2
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• pp.84-91
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• 2003

KOMPSAT series use software-controlled unregulated bus system in which the main bus is directly connected to a battery and the duty-ratio for PWM switch is controlled by the on-board satellite software. This paper proposes a new power-stage circuit that can be available for modularization of the power regulator which is used at the software-controlled unregulated bus system satellite. And we analyze the proposed power-stage operation according to its operating modes and verify it by performing software simulation and hardware experiment using prototype. We construct a parallel-module converter which is composed of proposed power-stages and perform experiment to verify modular characteristics of the proposed power-stage. Finally, we verify the usefulness of the proposed power-stage by comparing above results with those of a parallel-module converter made of conventional power-stages.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2243-2247
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• 2005

If a personal robot is popularized like a personal computer in the future, many kinds of robots will appear and the number of manufacturers will increase as a matter of course. In such circumstances, it can be inefficient, in case each manufacturer makes a whole platform individually. The solutions for this problem are to modularize a robot component (hardware and software) functionally and to standardize each module. Each module is developed and sold by each special maker and an end-product company purchases desired modules and integrates them. The standardization of a module includes the unification of the electrical, mechanical and software interface. In this paper, a few prototypes developed based on the concept of this study are introduced and possibility which can be standard platform is verified. Each prototype has merits and demerits, and a new structure of the hardware platform considered them is proposed Also the software architecture to develop the standardized and modularized platform is introduced and its detailed structure is described. The name of a method and the way to use that are defined dependently on the standard interfaces in order to use a module in other modules. Each module consists of a distributed object and that can be implemented in the random programming language and platform. It is necessary to study on the standardization of a personal robot after this steadily.

• The KIPS Transactions:PartD
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• v.15D no.4
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• pp.495-504
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• 2008

Aspect Oriented Programming(AOP) is a relatively new programming paradigm and has properties that other programming paradigms don't have. This new programming paradigm provides new modularization of software systems by cross-cutting concerns. In this paper, we propose a regression test method for program evolution by AOP. By using JoinPoint, we can catch a pointcut-name which makes it possible to test the incorrect pointcut strength fault and the incorrect aspect precedence fault. Through extending proof rules to aspect, we can recognize failures to establish expected postconditions faults. We can also trace variables using set() and get() pointcut and test failures to preserve state invariant fault. Using control flow graph, we can test incorrect changes in control dependencies faults. In order to show the correctness of our proposed method, channel management system is implemented and tested by using proposed methods.

• Journal of Software Assessment and Valuation
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• v.17 no.1
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• pp.51-58
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• 2021

Microservices are not only developed independently, but can also be run and deployed independently, ensuring more flexible scaling and efficient collaboration in a cloud computing environment. This impact has led to a surge in migrating to microservices-oriented application environments in recent years. In order to introduce microservices, the problem of identifying microservice units in a single application built with a single architecture must first be solved. In this paper, we propose an algorithm-based approach to identify microservices from legacy systems. A graph is generated using the meta-information of the legacy code, and a microservice candidate is extracted by applying a clustering algorithm. Modularization quality is evaluated using metrics for the extracted microservice candidates. In addition, in order to validate the proposed method, candidate services are derived using codes of open software that are widely used for benchmarking, and the level of modularity is evaluated using metrics. It can be identified as a smaller unit of microservice, and as a result, the module quality has improved.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.317-326
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• 2007

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.

• The KIPS Transactions:PartB
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• v.9B no.5
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• pp.689-700
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• 2002

In this paper, we developed Korean Morphological Analyzer for an automatic indexing that is essential for Information Retrieval. Since it is important to index large-scaled document set efficiently, we concentrated on maximizing the speed of word analysis, modularization and structuralization of the system without new concepts or ideas. In this respect, our system is characterized in terms of software engineering aspect to be used in real world rather than theoretical issues. First, a dictionary of words was structured. Then modules that analyze substantive words and inflected words were introduced. Furthermore numeral analyzer was developed. And we introduced an unknown word analyzer using the patterns of morpheme. This whole system was integrated into K-2000, an information retrieval system.