• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1675-1678
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A brief review about the principle of multi-axis force sensors and a method that can reduce the effect of noise signal to sensor performance is presented. A web based monitoring system is implemented by porting Linux at embedded systems which include Xscale processors. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for web browser is also developed. The experiments are performed to investigate the effectiveness of proposed methods. The experimental results show that the values of force sensors can be monitored by remote PCs.

• Proceedings of the Korean Information Science Society Conference
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• 2005.07a
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• pp.604-606
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• 2005

셋탑 박스 (Settop Box)는 다양한 가전 간의 통신을 통해 디지털 멀티미디어 서비스를 구현하는데 있어 중요한 홈 네트워킹 기술 요소 중 하나이다. 셋탑 박스의 구현을 위하여 다양한 플렛폼에서 개발이 진행되는 가운데 본 논문에서는 SDMP(Software Defined Media Platform)에 기반하여 멀티미디어를 제작하고 스트리밍 서비스를 할 수 있는 홈 네트워킹 용 셋탑 박스를 구현하였다. 본 논문에서는 다양한 인터페이스를 갖는 가전 기기를 지원할 수 있는 엑스스케일 보드 (Xscale board)를 제작하고 임베디드 리눅스 (Embedded Linux)를 포팀하여 실시간으로 인코딩된 멀티미디어를 스트리밍할 수 있는 서비스 구현의 예를 제시하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2003.11a
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• pp.369-372
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• 2003

"디지털 가전용 Post-PC"라는 새로운 유형의 정보 단말기를 Post-PC 요소기술(CPU, OS, Middleware)들을 바탕으로 구현하고 그에 대해 설명한다. 개발된 플랫폼은 XScale 기반의 하드웨어에 운영체제는 임베디드 리눅스를 사용하고 윈도우 시스템은 임베디드 QT를 사용하여 설계되었다. 기존에 나와있는 다양한 Post-PC 제품들과 비교하여 차이점 및 장 단점에 대해 논하고 차기 개발될 플랫폼이 경쟁력을 갖출 수 있도록 새로운 방향을 제시한다. Post-PC 표준 개발 플랫폼으로의 활용과 임베디드 응용 소프트웨어의 개발 플랫폼으로의 활용, 기타 응용 제품 개발에 활용될 것으로 기대된다.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.3072-3074
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• 2005

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A web based monitoring system is implemented by porting Linux at embedded systems which include a Xscale processor. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for the Labview is also developed.

• Proceedings of the Korea Information Processing Society Conference
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• 2007.05a
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• pp.633-636
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• 2007

다양한 휴대용 정보 기기의 사용이 보편화됨에 따라 배터리 기반의 임베디드 시스템에서는 저전력 요구가 크게 대두되고 있다. 이에 본 논문은 Xscale PXA255 기반 Embedded Linux 환경에서 전력 소비를 줄이기 위해 DPM(Dynamic Power Management) 미들웨어를 설계 및 구현하고 이에 따른 디바이스 드라이버를 제작하여 임베디드 타겟보드의 전력을 감소시키는 방법을 보인다.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1840-1845
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• 2005

The SoC and digital technology development recently enabled the emergence of information devices and control devices because the SoC present many advantages such as lower power consumption, greater reliability, and lower cost. It is required to use an embedded operating system for building control systems. So far, the Real-Time operating system is widely used to implement a Real-Time system since it meets developer's requirements. However, Real-Time operating systems reveal a lack of standards, expensive development, and license costs. Embedded Linux is able to overcome these disadvantages. In this paper, the implementation of control system platform using Real-Time Embedded Linux is described. As a control system platform, we use XScale of a Soc and build Real-Time control platform using RTAI and Real-Time device driver. Finally, we address the feasibility study of the Real-Time Embedded Linux as a Real-Time operating system for mobile robots.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.413-416
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• 2007

Use ot Intelligent devices that work on the ANSI/EIA 709.1 protocol is increasing. In this study an ANSI/EIA 709.1 protocol analyzer that can monitor and analyze the packets on LonWorks network is designed and developed. The device is based on TMS320LF2407A processor for decoding data packets, and uses XScale processor for sending data to the application program on PC. The application program has various analysis features as well as basic monitoring function. The developed device can be used for debugging purposes in development of any kind of LonWorks devices, and also it is useful in maintenance of LonWorks network or Lon Works devices.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.263-272
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• 2008

We implemented a real-time servo system for a manipulator based on Laser Range Finder (LRF). and established algorithms for grasping a moving cylinder. We devised a manipulator mechanism and driving hardware based on a system board equipped with Xscale Processor with real-time operating system RTAI on Linux. The manipulator motor driver is connected to the system board via CAN communication link, and LRF is connected via RS-232C. We implemented real-time software including CAN device driver, RS-232C device driver, manipulator trajectory generator, and LRF control software. A typical application experiment for grasping a cylinder with circle motion demonstrated our system's real-time performance.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10a
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• pp.189-192
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• 2006

본 논문은 그래픽 가속기를 포함한 모바일 시스템에서 멀티미디어 응용을 위한 통합전력관리 기법을 제안한다. 가속기가 포함된 시스템이 멀티미디어 프로세스를 실행할 때 QoS를 유지하면서 에너지 절약을 하기 위해서는 가속기의 특징을 고려한 DVS 알고리즘이 필요하다. 그러나 기존 DVS 알고리즘은 CPU 위주로 연구된 알고리즘이여서 가속기가 포함된 시스템에 적용하는 것은 문제가 있기 때문에 CPU와 가속기의 특징을 고려한 통합전력관리 DVS 방법이 필요하다. 제안된 DVS 스케줄링은 리눅스 운영체제 상에 구현하였으며 Intel 2700G 그래픽 가속기가 포함된 Xscale 장치에서 실험을 하였다. 따라서 제안된 DVS 기법이 범용적인 프로세스의 QoS를 보장하면서 에너지 소비를 CPU위주로 연구된 알고리즘보다 평균 12.5% 줄일 수 있음을 밝혔다.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.252-254
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• 2004

This paper proposes a common platform for an internet-based mobile robot and its operator terminal. The common platform can reduce the cost and time to develop an internet-based robot and its operator terminal. The robot performs the role of a server and its terminal a client. One operator can use this terminal to make a command and this command can be sent to the robot through a wireless network. According to given commands, the robot moves a point and sends an image by using a camera or desired information by using other sensors. The information sent from the robot can help an operator to control the robot. The mobile robot consists of two modules, main module and motion module. Main module can exchange information with the operator terminal, process information, and send a command to motion module. Each application program for one internet-based mobile robot and its operator terminal will be developed to show that the same platform can be used for them. Also, it will be shown that the robot can be controlled easily by using its operator terminal.