• Journal of Advanced Navigation Technology
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• v.13 no.6
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• pp.894-900
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• 2009

In this paper, we propose the structure of system integration on the global ethernet networks using OpenRTM which was developed in Japan among the integration software framework based on middleware. In order to verify for propose model, we implement of environment monitoring system of mobile robot applied OpenRTM structure and we also verify that proposed validity of the structure of integration through experiment in the implemented system.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.425-431
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• 2012

In the case of outdoor moving of robot, it is differ to indoor moving case due to it cannot prepare map early for entire outdoor environments, there is nearly no research based on map because most outdoor robots use GPS. In this paper, we implement outdoor robot localization that using precision GPS and then GPS data applying MCL algorithm in outdoor environments of plane of 2 dimensional without incline section. We also perform a simple mission scenario by using applied robot localization in outdoor robot. We applying OpenRTM based on middleware, we can be controlled and grasped situation of the outdoor robot by remote through server by manager.

• 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.

• Bulletin of the Korean Chemical Society
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• v.15 no.9
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• pp.786-791
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• 1994

A simple and rapid sample pretreatment process necessary for determination of metal oxides in water was proposed. Samples were injected into the continuous-flow tube installed inside the microwave oven and the treated samples were cooled before entered to the Ion Chromatography (IC) or Inductively Coupled Plasma (ICP). By coupling this microwave digestion system with IC or ICP, a fully automatic analytical procedures may be easily established. In this study, two different types of digestion methods were considered; the open tubing method (OTM) and the restraint tubing method (RTM). The RTM was proved to be 3 times faster in digestion period and 10 times higher in detection range than the OTM. Validation of proposed sample digestion system was carried out by using an ICP. The results showed that both of continuous-flow methods, the OTM and the RTM were comparable in accuracies with the conventional batch-type vessel digestion method.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.169-176
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• 2010

Robotic software has been dramatically complicated as performing intelligent service tasks. These types of robots demand a very powerful software framework to make them easy. Robotic software framework means an integrated software environment that simplifies jobs of robotic software engineer by providing tools, reusable components, and runtime environments. Finally it reduces the project cost. There are lots of works related with them. Among them we focus on five frameworks that are MSRDS, ERSP, OROCOS, OpenRTM, and OPRoS. In terms of intelligent service robot, the study on robotic software frameworks is very important. And outlook on them is also very important in the sense of that the robotic software frameworks should be used to initiate service robot market.

• Information and Communications Magazine
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• v.33 no.8
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• pp.28-35
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• 2016

본 고에서는 로봇 모듈화에 대해 살펴보고, 특히 소프트웨어 모듈과 로봇 소프트웨어 플랫폼들의 특징을 설명한다. 또한 현재 활용되고 있는 로봇 소프트웨어 플랫폼들인 OPRoS, ROS, openRTM에 대해 간략히 제시하고 3종의 플랫폼에 대해 비교함으로써 플랫폼이 가져야 하는 특성을 살펴본다. 특히 소프트웨어 플랫폼은 실행코드 관점에서 소프트웨어 모듈의 재사용성을 보장하도록 만들어져야 상용화로 갈 수 있다. 현재 진행중인 ISO의 로봇 모듈화 관련 원칙을 제시한다.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.2
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• pp.214-220
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• 2010

In this paper, we developed component for constituent of mobile robot system using RTC which is adapted as an international standardization among the robot middleware technology. We implemented one system by connecting the f elements of mobile robot constituent to each other and performed performance test on mobile robot system using real mobile robot NRLAB 02 that were implemented.