Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Middleware Structure for Module-based Personal Robot

모듈기반 퍼스널 로봇을 위한 미들웨어 구조

  • 윤건 (강원대학교 전기전자정보통신공학부) ;
  • 김형육 (강원대학교 전기전자정보통신공학부) ;
  • 김홍석 (한국생산기술연구원 허브로봇센터) ;
  • 박홍성 (강원대학교 전기전자정보통신공학부)
  • Published : 2004.05.01
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Abstract

This paper proposes a middleware structure for the module-based personal robot, which can run on heterogeneous network interfaces and provides users easy interface-method regardless of underlying heterogeneous interfaces and convenient exchange of modules. The proposed middleware is divided into three layers of a streaming layer (SL), a network adaptation layer (NAL) and a network interface layer (NIL). The streaming layer manages application transactions using middleware services and provides user a uniform interfaces to the proposed middleware. The network adaptation layer manages a message-routing and provides naming service and it is a core of the proposed middleware. And the network interfaces layer manages dependent parts of heterogeneous network interfaces such as IEEE1394, USB, Ethernet, and CAN (Control Area Network). This paper implements the proposed middleware structure, where 3 types of interfaces of IEEE 1394, USB and Ethernet are used, and measures response times among those interfaces.

Keywords

References

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