• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.5
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• pp.249-257
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• 2023

This paper discusses the increasing need for autonomous delivery robots due to the current growth in the delivery market, rising delivery fees, high costs of hiring delivery personnel, and the need for contactless services. Additionally, the cost of hardware and complex software systems required to build and operate autonomous delivery robots is high. To provide a low-cost alternative to this, this paper proposes a autonomous delivery robot platform using a low-cost sensor combination of 2D LIDAR, depth camera and tracking camera to replace the existing expensive 3D LIDAR. The proposed robot was developed using the RTAB-Map SLAM open source package for 2D mapping and overcomes the limitations of low-cost sensors by using the convex hull algorithm. The paper details the hardware and software configuration of the robot and presents the results of driving experiments. The proposed platform has significant potential for various industries, including the delivery and other industries.

• International Journal of Safety
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• v.8 no.2
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• pp.31-36
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• 2009

In accordance with the development of recent computer technology, railway signaling software became more complex for the intellectualization. Therefore the importance and dependency of railway signaling system on the computer software is getting more increased further, and the testing for the safety and reliability of railway signaling system software became more important. It is started to become influential as very important issue for the reliability and safety of vital embedded software like railway signaling system. The software coding which can have an effect on the safety at the coding level of software shall not be included preferentially, for the safety of software, and must be checked. This thesis suggested an automated testing tool for coding rules on this railway signaling system software, and presented its applied result for railway signaling system software. The testing items in the implemented tool had referred to the international standards in relation to the software for railway system and MISRA-C standards. This automated testing tool for railway signaling system can be utilized at the assessment stage for railway signaling system software also, and it is anticipated that it can be utilized usefully at the software development stage also.

• Journal of KIISE:Computing Practices and Letters
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• v.15 no.2
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• pp.89-97
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• 2009

Embedded systems widely used in ubiquitous environments usually employ an event-driven programming model instead of thread-based programming model in order to create a more robust system that uses less memory. However, as the software for embedded systems becomes more complex, it becomes hard to program as a single event handler using the event-driven programming model. This paper discusses the implementation of non-preemptive real-time scheduling theory for the design of embedded systems. To this end, we present an efficient schedulability test method for a given non-preemptive task set using a sufficient condition. This paper also shows that the notion of sub-tasks in embedded systems can overcome the problem of low utilization that is a main drawback of non-preemptive scheduling.

• Annual Conference of KIPS
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• 2007.11a
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• pp.779-781
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• 2007

Nowadays, as the increasing functionality and scales of embedded systems, system design grows more complex than before. So verification and simulation of systems become an important facet in hardware-software co-design issues. But it is almost impossible to simulate an embedded system without real hardware implementation or environment communication, especially for control-dominated reactive systems. Therefore, in this paper, we will introduce a GUI environment module generator for integrated Esterel\C++ simulation. By generating the GUI modeling environment, we can simulate and verify the whole embedded system conveniently.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.655-660
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• 2010

As increasing the number of Electronic Control Units in a vehicle, the proportion for reliability and stability of the software is going increasingly. Accordingly, the traditional CAN network has occurred the situation that the requirement of developing vehicle software is not sufficient. To solve these problems, the FlexRay network which is ensured the high bandwidth and real-time is generated. However it is difficult to implement FlexRay based application software because of complex protocol than traditional CAN network. Accordingly the system for analysis and verification of network state is needed. Also vehicle vendor develops application software using Matlab/Simulink in order to increase productivity. But this development method is hard to solve the network problem of node to node. Therefore this paper implements Matlab/Simulink based FlexRay network system and verifies it through comparing with existing embedded system.

• Journal of the Korean Society of Systems Engineering
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• v.8 no.2
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• pp.19-25
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• 2012

As modern weapon systems have evolved into embedded software systems, the capability to develop, install, and maintain high-quality software products is becoming increasingly valuable in today's competitive aerospace and defense industry. It is desirable, especially for government-contracted projects whose end-users are military personnel, that specific types of software quality elements are assured early during product development; namely, functionality and usability. Motivated by this need to approach improving software quality from a user's perspective, this paper presents a case study that analyzes system-level software integration testing results for a weapon system indigenously developed in the Republic of Korea. Quantitative data, such as software defect ratios and configuration change rates, are computed to observe meaningful trends with respect to functionality - represented by tests designed to verify the system's electrical signal interfaces - and usability, which is evaluated in terms of how often the initial human-computer interface had to be re-designed. Insights gained from these exercises are subsequently presented as a set of "lessons learned" to take into account when developing new software items for complex weapon systems.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.8
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• pp.1490-1494
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• 2006

Most network equipment is an embedded system designed to execute specific function. An embedded system is an electronic control system mixing hardware and software to execute only fixed function for the purpose of system, not confuter, performing diverse function for a wide use. Early embedded system executed only simple function, combining specific function with optimization, a micro size, and low power, but it has developed to meet complex and diverse system. The purpose of this study is to realize DHCP server based on embedded system. To achieve this, embedded Linux was ported in ez Bord-M01 mounted with Intel Strong ARM SA1110 processor, and ethernet-based network was constructed for network function. In this way, this study suggests embedded DHCP server where Window and Linux client hosts are dynamically configurated as network information by dynamically assigning network information in embedded board.

• The KIPS Transactions:PartD
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• v.12D no.7 s.103
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• pp.1065-1070
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• 2005

According to the development of embedded systems, they are used in various fields. However, the productivity and the quality of embedded systems are not acceptable because of the hardware environment-oriented development. Several works has proposed new techniques using a formal specification method or complex template, but due to high complexity and low flexibility of the method, it is difficult to be used. Accordingly, this paper presents a new approach to develop embedded device drivers which are kinds of embedded system software. In our approach, we define a light device driver template for ensuring high flexibility and productivity and generate the device driver by incorporating with embedded system information represented by XML. By using XML we consider the design phase in device driver development process for the quality of the driver. Our approach, improves the reusability of embedded device driver and finally, it will improve productivity and quality of embedded system.

• Journal of Software Engineering Society
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• v.25 no.1
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• pp.1-9
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• 2012

RFID systems have been widely used in various fields such as logistics, distribution, food, security, traffic and others. A RFID middleware, one of the key components of the RFID system, perform an important role in many functions such as filtering, grouping, reporting tag data according to given user specifications and so on. However, manual test data generation is very hard because the inputs of the RFID middleware are generated according to the RFID middleware standards and complex encoding rules. To solve this problem, in this paper, we propose a black box test technique based on RFID middleware standards. Firstly, we define ten types of input conversion rules to generate new test data from existing test data based on the standard specifications. And then, using these input conversion rules, we generate various additional test data automatically. To validate the effectiveness of generated test data, we measure coverage of generated test data on actual RFID middleware. The results show that our test data achieve 78% statement coverage and 58% branch coverage in the classes of filtering and grouping, 79% statement coverage and 64% branch coverage in the classes of reporting.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.3
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• pp.181-189
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• 2001

The software components of embedded control systems get extremely complex as they are designed into distributed systems get extremely complex as they are designed into distributed systems consisting of a large number of inexpensive microcontrollers interconnected by low-bandwidth real-time networks such as the controller area network (CAN). While recently emerging middleware technologies such as CORBA and DCOM address the complexity of distributed programming, they cannot be directly applied to distributed control system design due to their excessive resource demand and inadequate communication models. In this paper, we propose a CORBA-based middleware design for CAN-based distributed embedded control systems. Our design goal is to minimize its resource need and make it support group communication without losing the IDL (interface definition language) level compliance to the OMG standards. To achieve this, we develop a transport protocol on the CAN and a group communication scheme based on the well-known publisher/subscriber model. The protocol effectively realizes subject-based addressing and supports anonymous publisher/subscriber communication. We also customize the method invocation and message passing protocol, referred to as the general inter-ORB protocol (GIOP), of CORBA so that CORBA method invocations are efficiently serviced on a low-bandwidth network such as the CAN. This customization includes packed data encoding and variable-length integer encoding for compact representation of IDL data types. We have implemented our CORBA-based middleware on the mArx real-time operating system we have developed at Seoul National University. Our experiments clearly demonstrate that it is feasible to use CORBA in developing distributed embedded control systems possessing severe resource limitations. Our design clearly demonstrates that it is feasible to use a CORBA-based middleware in developing distributed embedded systems on real-time networks possessing severe resource limitations.