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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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State-Monitoring Component-based Fault-tolerance Techniques for OPRoS Framework

상태감시컴포넌트를 사용한 OPRoS 프레임워크의 고장감내 기법

  • 안희준 (서울산업대학교 제어계측공학과) ;
  • 안상철 (한국과학기술연구원 영상미디어센터)
  • Received : 2010.04.16
  • Accepted : 2010.06.10
  • Published : 2010.08.01
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Abstract

The OPRoS (Open Platform for Robotic Services) framework is proposed as an application runtime environment for service robot systems. For the successful deployment of the OPRoS framework, fault tolerance support is crucial on top of its basic functionalities of lifecycle, thread and connection management. In the previous work [1] on OPRoS fault tolerance supports, we presented a framework-based fault tolerance architecture. In this paper, we extend the architecture with component-based fault tolerance techniques, which can provide more simplicity and efficiency than the pure framework-based approach. This argument is especially true for fault detection, since most faults and failure can be defined when the system cannot meet the requirement of the application functions. Specifically, the paper applies two widely-used fault detection techniques to the OPRoS framework: 'bridge component' and 'process model' component techniques for fault detection. The application details and performance of the proposed techniques are demonstrated by the same application scenario in [1]. The combination of component-based techniques with the framework-based architecture would improve the reliability of robot systems using the OPRoS framework.

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References

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