• Title/Summary/Keyword: OPRoS (Open Platform for Robotic Service)

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Real-Time Characteristics Analysis and Improvement for OPRoS Component Scheduler on Windows NT Operating System (Windows NT상에서의 OPRoS 컴포넌트 스케줄러의 실시간성 분석 및 개선)

  • Lee, Dong-Su;Ahn, Hee-June
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.1
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    • pp.38-46
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    • 2011
  • The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10ms.

OPRoS based Fault Tolerance Support for Reliability of Service Robots (서비스로봇의 신뢰성 향상을 위한 OPRoS 기반 Fault-tolerance 기법)

  • Ahn, Hee-June;Lee, Dong-Su;Ahn, Sang-Chul
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.6
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    • pp.601-607
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    • 2010
  • For commercial success of emerging service robots, the fault tolerant technology for system reliability and human safety is crucial. Traditionally fault tolerance methods have been implemented in application level. However, from our studies on the common design patterns in fault tolerance, we argue that a framework-based approach provides many benefits in providing reliability for system development. To demonstrate the benefits, we build a framework-based fault tolerant engine for OPRoS (Open Platform for Robotic Services) standards. The fault manager in framework provides a set of fault tolerant measures of detection, isolation, and recovery. The system integrators choose the appropriate fault handling tools by declaring XML configuration descriptors, considering the constraints of components and operating environment. By building a fault tolerant navigation application from the non-faulttolerant components, we demonstrate the usability and benefits of the proposed framework-based approach.

State-Monitoring Component-based Fault-tolerance Techniques for OPRoS Framework (상태감시컴포넌트를 사용한 OPRoS 프레임워크의 고장감내 기법)

  • Ahn, Hee-June;Ahn, Sang-Chul
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.8
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    • pp.780-785
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    • 2010
  • 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.

An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM

  • Salov, Andrey D.;Park, Hong Seong;Han, Soohee;Lee, Dooam
    • Journal of Electrical Engineering and Technology
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    • v.9 no.2
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    • pp.755-761
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    • 2014
  • Heterogeneous components have different component models, which prevents such components from sharing the functionalities of other components based on the different models. As one of methods for linking heterogeneous components, this paper suggests a proxy component to construct a bridge between heterogeneous components of OPRoS (Open Platform for Robotic Service) and RTM (Robot Technology Middleware). The proxy component consists of two types of components called Adaptor and Interceptor, via which the heterogeneous components can exchange data and services easily. The proposed method enables adaptor and interceptor components to directly invoke the services of the latter and the former, respectively, in order to exchange data and services on a real-time basis. The proxy component can be implemented for OPRoS and RT (Robot Technology) component models to connect with RT and OPRoS ones, respectively. It is shown through a simple experiment that the proposed method works well for real-time control.

The research of a method to support real-time for OPRoS Execution Engine. (OPRoS 실행엔진에 실시간성 지원 방법에 대한 연구)

  • Ju, min-gyu;Lee, jin-wook;Lee, cheol-hoon
    • Proceedings of the Korea Contents Association Conference
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    • 2011.05a
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    • pp.15-16
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    • 2011
  • 로봇사업은 전 세계적으로 급속히 성장하고 있는 분야로 미국, 유럽 등 많은 국가들이 막대한 자본을 투자하고 있으며, 우리나라에서도 차세대 전략 산업으로 선정하여 집중적으로 지원하고 있다. 현재 로봇 시스템 및 서비스의 복잡도가 증가함에 따라 소프트웨어의 개발비용, 인력, 유지보수 등의 문제를 해결하기 위해 OPRoS(Open Platform For Robotic Service)라는 로봇 소프트웨어 플랫폼이 개발 되었다. 하지만 OPRoS 실행엔진은 범용 운영체제 위에서 동작되기 때문에 로봇서비스의 QoS(Quality of Service)를 위한 실시간성을 보장하지 못한다. 본 논문에서는 범용운영체제인 윈도우즈 상에서 동작하는 로봇 소프트웨어 플랫폼인 OPRoS의 실행엔진에 RTiK(Real-Time implanted Kernel)을 이용해 실시간성을 보장할 수 있는 방법에 대해 연구 하였다. 또한 RTiK이 이식된 OPRoS 실행엔진의 성능을 측정하였다.

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