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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Design of a Robot-in-the-Loop Simulation Based on OPRoS

OPRoS 기반 로봇시스템의 Robot-in-the-Loop Simulation 구조

  • 김성훈 (강원대학교 전자통신공학과) ;
  • 박홍성 (강원대학교 전자통신공학과)
  • Received : 2012.09.11
  • Accepted : 2013.01.04
  • Published : 2013.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes the architecture of the RILS (Robot-in-the-Loop-Simulation) consisting of the robot, the virtual robot, and the avatar robot which is the type of virtual robots operating according to the robot status and behavior. And the synchronization algorithm for mobilization part of the avatar robot is suggested, which reduces the difference between behaviors of the robot and those of the avatar robot. This difference occurs due to the environmental and mechanical mismatches between the robot and avatar robot. In order to reduce this difference in robots behaviors, the synchronization algorithm controls the avatar robot based on the data observed from the robot's behavior. The proposed architecture and the synchronization algorithm are validated from some simulation results.

Keywords

References

  1. M. S. Kim, S. H. Han, and H. S. Park, "An automatic robot software design tool: An open platform for robotics services," Emerging Technologies and Factory Automation (ETFA), Bilbao, Spain, pp. 1-4, Sep. 2010.
  2. D. Fennibay, A. Yurdakul, and A. Sen, "Introducing hardwarein- the-loop concept to the hardware/software co-design of realtime embedded system," Computer and Information Technology (CIT), Bradford, UK, pp. 1902-1909, Jun. 2010.
  3. M. Hillenbrand, M. Heinz, and K. D. Muller-Glaser, "Rapid specification of hardware-in-the-loop test systems in the automotive domain based on the electric / electronic architecture description of vehicles," Rapid System Prototyping (RSP), Fairfax, CA, USA, pp. 1-6, Jun. 2010.
  4. Q. Wu, L. Lei, J. Chen, and W. Wang, "Research on hardwarein- the-loop simulation for advanced front-lighting system," Computational Intelligence and Industrial Application, Wuhan, China, pp. 671-675, Dec. 2008.
  5. D. Michalek, C. Gehsat, R. Trapp, and T. Bertram, "Hardwarein- the-loop-simulation of a vehicle climate controller with a combined HVAC and passenger compartment model," Advanced Intelligent Mechatronics, Monterey, CA, USA, pp. 1065-1070, Jul. 2005.
  6. W. J. Hwang and C. G. Kang, "HILS of the braking system of high speed train," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 7, no. 1, pp. 432-438, May 2001.
  7. S. K. Hong and S. H. Back, "A study on flight trajectory generations and guidance/control laws: validation through HILS," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 14, no. 12, pp. 1238-1243, Dec. 2008. https://doi.org/10.5302/J.ICROS.2008.14.12.1238
  8. M. Linjama, T. Virvalo, J. Gustafsson, J. Lintula, V. Aaltonen, and M. Kivikoski, "Hardware-in-the-loop environment for servo system controller design, tuning, and testing," Microprocessors and Microsystems, vol. 24, no. 1, pp. 13-21, Mar. 2000. https://doi.org/10.1016/S0141-9331(00)00062-4
  9. S. Oncu, S. Karaman, L. Guvenc, S. S. Ersolmaz, E. S. Ozturk, E. Cetin, and M. Sinai, "Robust yaw stability controller design for a light commercial vehicle using a hardware in the loop steering test rig," Intelligent Vehicles Symposium, Istanbul, Turkey, pp. 852-859, Jun. 2007.
  10. I. G. Jang, I. k. Seo, J. W. Jeon, and S. H. Hwang, "Development of hardware-in-the-loop simulator for testing embedded system of automatic transmission," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 14, no. 3, pp. 301-306, Mar. 2008. https://doi.org/10.5302/J.ICROS.2008.14.3.301
  11. A. Martin and M. R. Emami, "Analysis of robotic hardware-inthe- loop simulation architecture," Intelligent Robot and Systems, San Diego, CA, USA, pp. 46-51, Oct. 2007.
  12. X. Hu, "Applying robot-in-the-loop-simulation to mobile robot systems," International Conference on Advanced Robotics, Atlanta, GA, USA, pp. 506-513, Jul. 2005.
  13. http://www.dnj.co.kr/_data/2_dcgm/pnig_spec_ig32p01.htm.
  14. http://ropros.org/display/documentation/OPRoS+Manual.
  15. http://www.youtube.com/watch?v=mfnVWzfIcmo&feature=plcp.
  16. S. Kim, S. Cho, S. Cho, and C. Park, "Development of operation network system and processor in the loop simulation for swarm flight of small UAVs," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 5, pp. 433-438, May 2012. https://doi.org/10.5302/J.ICROS.2012.18.5.433
  17. C. Hong and H. S. Park, "Design and implementation of webbased software engineering tool for robot," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 9, pp. 908-915, Sep. 2011. https://doi.org/10.5302/J.ICROS.2011.17.9.908

Cited by

  1. Event Port Extension of OPRoS Framework for Inter-connecting with ROS Topic vol.20, pp.12, 2014, https://doi.org/10.5302/J.ICROS.2014.14.8024
  2. A Cloud-based Integrated Development Environment for Robot Software Development vol.21, pp.2, 2015, https://doi.org/10.5302/J.ICROS.2015.14.0059
  3. Input/Output Relationship Based Adaptive Combinatorial Testing for a Software Component-based Robot System vol.21, pp.7, 2015, https://doi.org/10.5302/J.ICROS.2015.15.0007