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실시간 내장형 S / W의 성능분석을 위한 Control Flow Graph 추출
황요섭(Yoseop Hwang),안성용(Seongyong Ahn),이정아(Jeonga Lee),심재홍(Jaehong Shim) 한국정보과학회 2003 한국정보과학회 학술발표논문집 Vol.30 No.1A
최근 반도체 설계 및 생상 공정의 급속한 발달로 내장형 시스템이 대중화되는 추세이고 비용이나 제품출시 기간에 있어서 내장형 소프트웨어는 중요한 하나의 요소로 대두되고 있다. 내장형 시스템은 일반 PC와는 다르게 메모리 크기, 전력 소비, 신뢰성, 사이즈, 비용 등과 같은 제약사항들을 내포하기 때문에 제한된 자원의 효율적인 이용과 소프트웨어의 최적화를 위해 소프트웨어의 성능을 분석하기 위한 필요성이 대두된다. 본 논문에서는 소프트웨어 성능분석 도구인 'Cinderella'를 확장하기 위하여 현재 가장 널리 사용되고 있는 이진 실행 파일인 ELF파일에서 성능을 측정하기 위한 기본 요소로서 Control flow graph를 추출하기 위한 알고리즘을 제안한다. 본 논문에서 제안한 알고리즘은 향후 ARM기반의 머신에서 ELF파일의 내장형 소프트웨어의 시간분석에 필요한 요소이다.
Robust 2D map building with motion-free ICP algorithm for mobile robot navigation
Hwang, YoSeop,Lee, JangMyung Cambridge University Press 2017 Robotica Vol.35 No.9
<B>SUMMARY</B><P>A new motion-free iterative closest point (ICP) algorithm is proposed for building a two-dimensional (2D) map for mobile robot navigation. A laser range finder (LRF) sensor is installed on a mobile robot to scan and measure the depth data of the environment to form a 2D map during mobile robot navigation. Because the scanning and navigation motions are performed independently, the scanned data contain distortions from the motions of the mobile robot. To compensate for the distortions, the proposed motion-free ICP algorithm estimates the effects of the dynamic motions of the robot on the scanning process. That is, the motion-free algorithm compensates for the distance measurement errors related to the dynamic changes in the mobile robot's velocity. Experiments were performed with actual velocity changes of a mobile robot to demonstrate and verify the effective performance of the proposed algorithm.</P>
드론을 활용한 IoT기반의 소형센서 관측시스템 개발 가능성에 대한 소고
안요섭 ( Yoseop Ahn ),문종섭 ( Jongsub Moon ),김백조 ( Baek-jo Kim ),이우균 ( Woo-kyun Lee ),차성은 ( Sungeun Cha ) 한국환경과학회 2018 한국환경과학회지 Vol.27 No.11
We developed a small sensor observation system (SSOS) at a relatively low cost to observe the atmospheric boundary layer. The accuracy of the SSOS sensor was compared with that of the automatic weather system (AWS) and meteorological tower at the Korea Meteorological Administration (KMA). Comparisons between SSOS sensors and KMA sensors were carried out by dividing into ground and lower atmosphere. As a result of comparing the raw data of the SSOS sensor with the raw data of AWS and the observation tower by applying the root-mean-square-error to the error, the corresponding values were within the error tolerance range (KMA meteorological reference point: humidity ± 5%, atmospheric pressure ± 0.5 hPa, temperature ± 0.5℃. In the case of humidity, even if the altitude changed, it tends to be underestimated. In the case of temperature, when the altitude rose to 40 m above the ground, the value changed from underestimation to overestimation. However, it can be confirmed that the errors are within the KMA’s permissible range after correction.
Surface Estimation ICP Algorithm for Building a 3D Map by a Scanning LRF
Hwang, Yoseop,Lee, Jangmyung WORLD SCIENTIFIC PUBLISHING 2017 INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS Vol.14 No.3
<P>A new three-dimensional (3D) map building method based on Laser Range Finder (LRF) has been proposed in this research, performing a surface estimation with the Iterative Closest Point (ICP) algorithm. While a mobile robot is navigating in an unknown environment, the entire environment cannot be scanned by LRF since kinematic features of the mobile robot and surface conditions are dynamically changing. To resolve this difficulty in building a 3D map while the mobile robot is navigating, a surface estimation ICP algorithm is proposed, which is based on the continuity of the environment around mobile robot. That is, this new algorithm recovers the un-scanned area by estimating feature points in the neighboring two regions based on the continuous environment information. The effectiveness of proposed algorithm has been demonstrated through real experiments of the mobile robot navigation.</P>
3D 맵 빌딩을 위한 하이브리드 미디언 필터를 이용한 LRF의 임펄스 잡음 제거
황요섭(Yoseop Hwang),김현우(Hyun-Woo Kim),김태준(Taejun Kim),이장명(Jang-Myung Lee) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.10
In this paper, a single LRF has been used to produce a 3D map for the mobile robot navigation. The 2D laser scanners are used for mobile robots navigation, where the laser scanner is applied to detect a certain level of area by the straight beam. Therefore it is limited to the usages of 2D obstacle detection and avoidance. In this research, it is designed to complement a mobile robot system to move up and down a single LRF along the yaw axis. During the up and down motion, the 2D data are stacked and manipulated to build a 3D map. Often a single LRF data are mixed with Gaussian and impulse noises. The impulse noises are removed out by the hybrid median filter designed in this research. The 2D data which are improved by deleting the impulse noises are layered to build the 3D map. Removing impulse noises while preserving the boundary is a main advantages of the hybrid median filter which has been used widely to improve the quality of images. The effectiveness of this hybrid median filter for rejecting the impulse noises has been verified through the real experiments. The performance of the hybrid median filter is evaluated in terms of PSNR (Peak Signal to Noise Ratio) and the processing time.
고속 고장 진단을 위해 고장 후보 정렬과 테스트 패턴 정렬을 이용한 고장 탈락 방법
이주환(Joohwan Lee),임요섭(Yoseop Lim),김홍식(Hongsik Kim),강성호(Sungho Kang) 대한전자공학회 2009 電子工學會論文誌-SD (Semiconductor and devices) Vol.46 No.3
한 제품을 만들어 시장에 내놓는 데 걸리는 시간이 짧아짐에 따라 고속 고장 진단의 필요성이 커지고 있다. 본 논문에서는 고속고장 진단을 위하여 정렬된 고장 후보 목록과 정렬된 테스트 패턴을 사용하여 고장 점수를 기준으로 고장 탈락을 시키는 방법을 제안한다. 제안하는 고장 탈락 방법은 고장 시뮬레이션과 매칭 알고리듬을 기반으로 하는 모든 고장 진단에 적용할 수 있다. 완전 주사 ISCAS 89 벤치마크 회로를 이용한 실험 결과는 정렬된 고장 후보 목록 및 정렬된 테스트 패턴을 적용한 고장 탈락 방법의 효율성을 보여준다. In order to reduce time-to-market, the demand for fast fault diagnosis has been increased. In this paper, a fault dropping technique with fault candidate ordering and test pattern ordering for fast fault diagnosis is proposed. Experimental results using the full-scanned ISCAS 89 benchmark circuits show the efficiency of the fault dropping technique with fault candidate ordering and test pattern ordering.