안드로이드 스마트폰과 이동 로봇의 자세 동기화를 위한 제어 시스템

김민지,배설봉,신동협,주문갑 대한임베디드공학회 2014 대한임베디드공학회논문지 Vol.9 No.5

In this paper, we propose a control system for synchronizing attitude between an Android smartphone and a mobile robot. The control system is comprised of a smartphone and a mobile robot. The smartphone transports its attitude to the mobile robot and receives the attitude of mobile robot through bluetooth communication. Further, the smartphone displays the mobile robot on the screen by using embedded camera, which can be used as a pseudo augmented reality. Comparing the received attitude data from smartphone, the mobile robot measures its attitude by an AHRS(attitude heading reference system) and controls its attitude. Experiments show that the synchronization performance of the proposed system is maintained in the error range of 1'.

비전 센서 및 딥러닝 기반 선박 접안을 위한 어라운드뷰 모니터링 시스템

김한근,김동훈,박별터,이승목,Kim, Hanguen,Kim, Donghoon,Park, Byeolteo,Lee, Seung-Mok 대한임베디드공학회 2020 대한임베디드공학회논문지 Vol.15 No.2

This paper proposes vision sensors and deep learning-based around view monitoring system for ship berthing. Ship berthing to the port requires precise relative position and relative speed information between the mooring facility and the ship. For ships of Handysize or higher, the vesselships must be docked with the help of pilots and tugboats. In the case of ships handling dangerous cargo, tug boats push the ship and dock it in the port, using the distance and velocity information receiving from the berthing aid system (BAS). However, the existing BAS is very expensive and there is a limit on the size of the vessel that can be measured. Also, there is a limitation that it is difficult to measure distance and speed when there are obstacles near the port. This paper proposes a relative distance and speed estimation system that can be used as a ship berthing assist system. The proposed system is verified by comparing the performance with the existing laser-based distance and speed measurement system through the field tests at the actual port.

딥 러닝 기반의 초해상도 이미지 복원 기법 성능 분석

이현재,신현광,최규상,진성일,Lee, Hyunjae,Shin, Hyunkwang,Choi, Gyu Sang,Jin, Seong-Il 대한임베디드공학회 2020 대한임베디드공학회논문지 Vol.15 No.2

Convolutional Neural Networks (CNN) have been used extensively in recent times to solve image classification and segmentation problems. However, the use of CNNs in image super-resolution problems remains largely unexploited. Filter interpolation and prediction model methods are the most commonly used algorithms in super-resolution algorithm implementations. The major limitation in the above named methods is that images become totally blurred and a lot of the edge information are lost. In this paper, we analyze super resolution based on CNN and the wavelet transform super resolution method. We compare and analyze the performance according to the number of layers and the training data of the CNN.

BMS의 위험우선순위 분석과 기능안전을 고려한 설계

김운동,이순구,강대근 대한임베디드공학회 2021 대한임베디드공학회논문지 Vol.16 No.2

In recent years, as ESS has become very popular, BMS related electric fires have occurring frequently. In this research we performed analysis of risk priority number (RPN) using Failure Mode and Effects Analysis (FMEA) technique to analyze the safety of BMS, which accounts for the most part in ESS electric fires. And the functional safety concept was used to eliminate or reduce failure modes that may cause overvoltage, overcurrent, and overheating for higher risk priorities of the analyzed BMS. The BMS hardware was redesigned so that the safety mechanism works for the high-priority risk modes, and the main firmware procedures were designed to control the battery against potential malfunctions. And we implemented the improved BMS hardware and experimentally verified that the safety mechanism works as designed. The test results have confirmed that the safety mechanism works normally and the battery can be controlled even if overvoltage, overcurrent and overheating occurs in the BMS, or major firmware procedures malfunction. Therefore we are confident that electric fires related to ESS can be prevented in advance by analyzing the safety of BMS in the way we used in this research to find high-priority risk factors and applying the concept of safety functions to the hardware and software design of BMS.

머신러닝 자동화를 위한 개발 환경에 관한 연구

김동길,박용순,박래정,정태윤,Kim, Dong Gil,Park, Yong-Soon,Park, Lae-Jeong,Chung, Tae-Yun 대한임베디드공학회 2020 대한임베디드공학회논문지 Vol.15 No.6

Machine learning model data is highly affected by performance. preprocessing is needed to enable analysis of various types of data, such as letters, numbers, and special characters. This paper proposes a development environment that aims to process categorical and continuous data according to the type of missing values in stage 1, implementing the function of selecting the best performing algorithm in stage 2 and automating the process of checking model performance in stage 3. Using this model, machine learning models can be created without prior knowledge of data preprocessing.

리눅스 기반 ARINC 653 헬스 모니터

윤영일,조현우,김형신 대한임베디드공학회 2014 대한임베디드공학회논문지 Vol.9 No.3

The software running on avionic system is required to be highly reliable and productive. The air transport industry has developed ARINC Specification 653(ARINC653) as a standardized software requirement of avionics computers. The document specifies the interface boundary between avionics application software and the core executive software. Dependability in ARINC 653 is provided by spatial and temporal partitioning whilst fault-tolerance is provided by health monitoring mechanism. Legacy real-time operating systems are used to support ARINC653 health monitor on integrated modular avionics(IMA). However, legacy real-time operating systems are costly and difficult to modify the kernel. In this paper, we suggest a Linux-based ARINC653 health monitor. Functionalities to support ARINC653 health monitor are implemented as a Linux kernel module and its performance is evaluated.

시각장애인을 위한 얼굴 인식 및 알림 시스템

진용식,이민호,Jin, Yongsik,Lee, Minho 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.1

We propose a face recognition and notification system that can transform visual face information into tactile signals in order to help visually impaired people. The proposed system consists of a glasses type camera, a mobile computer and an electronic cane. The glasses type camera captures the frontal view of the user, and sends this image to mobile computer. The mobile computer starts to search for human's face in the image when obstacles are detected by ultrasonic sensors. In a case that human's face is detected, the mobile computer identifies detected face. At this time, Adaboost and compressive sensing are used as a detector and a classifier, respectively. After the identification procedures of the detected face, the identified face information is sent to controller attached to a cane using a Bluetooth communication. The controller generates motor control signals using Pulse Width Modulation (PWM) according to the recognized face labels. The vibration motor generates vibration patterns to inform the visually impaired person of the face recognition result. The experimental results of face recognition and notification system show that proposed system is helpful for visually impaired people by providing person identification results in front of him/her.

TMS320F28377D 기반 아날로그-디지털 신호 처리 시스템

최준영,김형우,남기곤 대한임베디드공학회 2019 대한임베디드공학회논문지 Vol.14 No.1

We propose an embedded solution to design a high-speed and high-accuracy 16bit analog-digital signal processing interface for the control systems using various external analog signals. Choosing TMS320F28377D micro controller unit (MCU) featuring high-performance processing in the 32-bit floating point operation, low power consumption, and various I/O device supports, we design and build the proposed system that supports both 16-bit analog-digital converter (ADC) interface and high precision digital-analog converter (DAC) interface. The ADC receives voltage-level differential signals from fully differential amplifiers, and the DAC communicates with MCU through 50 MHz bandwidth high-fast serial peripheral interface (SPI). We port the boot loader and device drivers to the implemented board, and construct the firmware development environment for the application programming. The performance of the entire implemented system is demonstrated by analog-digital signal processing tests, and is verified by comparing the test results with those of existing similar systems.

개방형 하드웨어 플랫폼 기반의 확장 용이한 스마트 홈 IoT 시스템

이진해,박광일,신종하,유성은,Lee, Jin-hae,Park, Gwang-il,Shin, Jong-ha,Yoo, Seong-eun 대한임베디드공학회 2016 대한임베디드공학회논문지 Vol.11 No.6

Recently, many changes have been made to people's life patterns as the technological advances in the ICT industry. The fusion of smart phones and various IT technologies has brought people convenience and welfare. A typical example of such fusion is the smart home. However, the existing smart home systems are difficult to be changed or extended. So we design a new smart home system with extensibility that can easily adopt legacy appliances and be scaled up. Among a variety of smart home features, this paper deals with IoT Devices that are responsible for controlling power or transmitting and receiving sensing values, IoT Gateway that connects users and consumer electronics via Internet, and Smart Home Manager that monitors and controls these components in the proposed smart home system.

광원 방향에 대한 제한조건을 이용한 Photometric Stereo Calibration

정성철,원상철,Jeong, Seong-Cheol,Nguyen, Viet Hung,Won, Sang-Chul 대한임베디드공학회 2013 대한임베디드공학회논문지 Vol.8 No.2

This paper proposes one method on photometric stereo calibration using the constraint on light source directions in which the light sources have the unknown tilt and slant angles but the slant angles are the same. First, the constraint is analyzed based on the equation of linear ambiguity which leads to the conclusion that another constraint should be added to solve the calibration completely. Later, the combination of constraint on light source directions and the constraint that there exists at least six surface patches having known albedos is exploited to resolve the linear ambiguity up to an accurate and close-form solution. The effective performance of the proposed method is demonstrated through experiment results.