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Korea Information Processing Society (한국정보처리학회)
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Design and Implementation of Multi-HILS based Robot Testbed to Support Software Validation of Biomimetic Robots

생체모방로봇 소프트웨어 검증 지원 다중 HILS 기반 로봇 테스트베드 설계 및 구현

  • Hanjin Kim ;
  • Kwanhyeok Kim ;
  • Beomsu Ha ;
  • Joo Young Kim ;
  • Sung Jun Shim ;
  • Jee Hoon Koo ;
  • Won-Tae Kim
  • 김한진 (한국기술교육대학교 컴퓨터공학과) ;
  • 김관혁 (한국기술교육대학교 컴퓨터공학과) ;
  • 하범수 (한국기술교육대학교 컴퓨터공학과) ;
  • 김주영 (LIG넥스원무인체계연구소) ;
  • 심성준 (LIG넥스원 무인체계연구소) ;
  • 구지훈 (LIG넥스원 무인체계연구소) ;
  • 김원태 (한국기술교육대학교 컴퓨터공학부)
  • Received : 2024.04.03
  • Accepted : 2024.05.14
  • Published : 2024.06.30
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Abstract

Biomimetic robots, which emulate characteristics of biological entities such as birds or insects, have the potential to offer a tactical advantage in surveillance and reconnaissance in future battlefields. To effectively utilize these robots, it is essential to develop technologies that emulate the wing flapping of birds or the movements of cockroaches. However, this effort is complicated by the challenges associated with securing the necessary hardware and the complexities involved in software development and validation processes. In this paper, we presents the design and implementation of a multi-HILS based biomimic robot software validation testbed using modeling and simulation (M&S). By employing this testbed, developers can overcome the absence of hardware, simulate future battlefield scenarios, and conduct software development and testing. However, the multi-HILS based testbed may experience inter-device communication delays as the number of test robots increases, significantly affecting the reliability of simulation results. To address this issue, we propose the data distribution service priority (DDSP), a priority-based middleware. DDSP demonstrates an average delay reduction of 1.95 ms compared to the existing DDS, ensuring the required data transmission quality for the testbed.

생체모방로봇은 조류나 곤충과 같은 생체의 특성을 모방하여 미래 전장에서 은밀한 감시와 정찰 작업에 큰 역할을 할 것으로 기대된다. 이 로봇들의 효과적인 활용을 위해서는 새의 날갯짓이나 바퀴벌레의 움직임 등을 모방하는 기술이 중요하지만, 이를 지원하는 하드웨어 확보와 소프트웨어 개발 및 검증 과정의 복잡성으로 인해 어려움이 따른다. 본 논문에서는 모델링 및 시뮬레이션(M&S) 기술을 적용한 다중 HILS 기반 생체모방로봇 소프트웨어 검증 테스트베드를 설계하고 구현한 결과를 소개한다. 테스트베드를 사용함으로써 개발자들은 하드웨어 부재 문제를 극복하고, 미래 전장 시나리오를 시뮬레이션하며 소프트웨어 개발과 테스트를 수행할 수 있다. 그러나, 다중 HILS 기반 테스트베드는 테스트 대상 로봇 수의 증가에 따른 장치 간 연동 지연 문제를 경험할 수 있으며, 이는 시뮬레이션 결과의 신뢰도에 크게 영향을 미칠 수 있다. 이를 해결하기 위해, 우리는 우선순위 기반 미들웨어인 data distribution service prority (DDSP)를 추가로 제안한다. DDSP는 기존 DDS 대비 1.95 ms의 평균 지연 감소 효과를 보이며, 테스트베드에서 요구되는 데이터 전송 품질을 보장할 수 있음을 입증하였다.

Keywords

Acknowledgement

이 논문은 국방신속획득기술연구원(방위산업기술지원센터)의 지원(사업명: 초소형 생체모방로봇용SW프레임워크 기술개발, 계약번호: UC2000010D)의 지원하에 수행되었음.

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