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GCC based Compiler Construction for Compact DSP32
( Myeongjin Cho ),( Hokyoon Lee ),( Giang Nguyen Thi Huong ),( Seon Wook Kim ),( Youngsun Han ),( Jungyoung Um ) 한국정보처리학회 2011 한국정보처리학회 학술대회논문집 Vol.18 No.1
Very Long Instruction Word (VLIW) executes multiple instructions in parallel. In order to exploit higher performance, i.e., higher parallelism, VLIW compiler groups as many instructions into one word as possible. In this paper, we show how to construct a VLIW C compiler based on GCC for CDSP32 (Compact Digital Signal Processor 32-bit) which is an embedded DSP processor to issue two instructions in one VLIW. Also, we evaluated the compiler on EEMBC benchmark; the experiment result showed that the total number of dynamic instructions of the VLIW compiler was reduced by 18% on average over without VLIW instruction scheduling.
Myeongjin Park,Ohmin Kwon,Juhyun Park,Sangmoon Lee 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper proposes new delay-dependent consensus criteria for multi-agent systems with time-varying delays and static interconnection topology. By constructing a suitable Lyapunov-Krasovskii’s functional and utilizing convexhull properties, new delay-dependent consensus criteria for the systems are established in terms of linear matrix inequalities (LMIs) which can be easily solved by various effective optimization algorithms. One numerical example is given to illustrate the effectiveness of the proposed methods.
Robust Design of a Rope Ascender Based on Geometric parameters of Traction Sheave
Myeongjin Choi,Hobyeong Chae,Kyungmin Kim,TaeWon Seo 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.5
In this study, an optimal-traction sheave is designed to prevent slip for a two-degrees-of-freedom facade-cleaning robot called Dual Ascender Robot (DAR). The DAR uses the length of the rope to estimate its position. Therefore, if a slip occurs, it becomes difficult to measure the length of the rope, thereby making it difficult to estimate position. Problems with position estimation may also cause difficulties in achieving control. The redesigned traction sheave was thoroughly evaluated by experiments. A well-known Taguchi method was used as the experimental procedure, and the optimal design parameters of the sheave were determined as hoop direction groove shape of 0.8, axial direction groove pitch of 6°, and axial direction groove depth of 2 mm. Verification experiments comparing the traction sheave with the optimal condition to that used in DAR showed improved performance. Therefore, it is expected that applying the optimal traction sheave to a DAR in further studies would help achieve better position estimation by preventing slips