Real-Time Sink Node Architecture for a Service Robot Based on Active Healthcare/Living-support USN

능동 건강/생활지원 USN 기반 서비스 로봇 시스템의 실시간 싱크 노드 구조

  • 신동관 (㈜로보스타 연구소) ;
  • 이수영 (서울산업대학교 전기공학과) ;
  • 최병욱 (서울산업대학교 전기공학과)
  • Published : 2008.07.01


This paper proposes a system architecture for USN with a service robot to provide more active assisted living services for elderly persons by monitoring their mental and physical well-being with USN environments at home, hospital, or silver town. Sensors embedded in USN are used to detect preventive measures for chronic disease. Logged data are transferred to main controller of a service robot via wireless channel in which the analysis of data is performed. For the purpose of handling emergency situations, it needs real-time processing on gathering variety sensor data, routing algorithms for sensor nodes to a moving sink node and processing of logged data. This paper realized multi-hop sensor network to detect user movements with biometric data transmission and performed algorithms on Xenomai, a real-time embedded Linux. To leverage active sensing, a mobile robot is used of which task was implemented with a priority to process urgent data came from the sink-node. This software architecture is anticipated to integrate sensing, communication and computing with real-time manner. In order to verify the usefulness of a proposed system, the performance of data transferring and processing on a real-time OS with non real-time OS is also evaluated.


  1. 남상엽, 송병훈, "MOTE-KIT를 이용한 무선 센서 네트워크 활용," 상학당, 2006
  2. Manley, Eric D, Deogun, Jitender S, "Location learning for smart homes," Proc. of IEEE International Conference on Advanced Information Networking and Application Workshops, pp. 787-792, 2007
  4. S. M. Diamond, M. G. Ceruti, "Application of wireless sensor network to military information integration," Proc. of IEEE International Conference on Industrial Informatics, pp. 317-322, 2007
  7. Q. Wang and W. Shin, "I-living: An open system architecture for assisted Living," Proc. of IEEE International Conference on Systems Man and Cybernetics (ICSMC '06), pp. 4268-4275, 2006
  8. M. A. Batalin and G. S. Sukhatme, "Mobile robot navigation using a sensor network," Proc. of IEEE International Conference on Robotics and Automation (ICRA '04), pp. 636-641, 2004
  9. Y. Kim and K. Lee, "Ubiquitous home security robot system based on sensor network," Proc. of IEEE/WIC/ACM International Conference on Intelligent Agent Technology, pp. 700-704, 2006
  10. 최형윤, 박진주, 문용선, "서비스 로봇을 위한 유비쿼터스 센서 네트워크 기반 위치 인식 시스템," 한국해양정보통신학회논문지, 제10권, 제10호, pp. 1920-1926, 2006
  12. A. Barbalace, A. Luchetta, G. Manduchi, M. Moro, A. Soppelsa and C. Taliercio, "Performance comparison of VxWorks, Linux, RTAI and xenomai in a hard real-time application," Proc. of IEEE-NPSS Real-Time Conference, pp. 1-5, 2007