• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.889-891
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• 2009

The utilization of robot application is growing up in recent years, but there is a constraint to execute various application on the robot because of difference of robot resource. This paper presents the framework in order to solve the resource constraint by sharing resources with other devices near by robot. The framework defines common factors that are needed to collaboration work. Furthermore, We show the working flow of framework with an example consisted of robot and some devices in same network.

• International Journal of Internet, Broadcasting and Communication
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• v.15 no.4
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• pp.134-141
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• 2023

As robotic technology expands into various fields, robots need to execute some complicated tasks in diverse environments. However, the previous robotic software solutions were limited to independent systems. We can not adapt to diverse functionalities and environments. This makes it hard to provide rapid and effective services and leads to costs and losses in the development process. To overcome these problems, we propose a robot software framework with behavior trees based on ROS2. This framework simplifies complex robot behaviors through behavior trees and makes it easy to modify, extend, and reuse robot behaviors. Furthermore, ROS2 standardizes connections between software modules, enhances the robot's flexibility, and enables independent development and testing of software. Our framework aims to provide a foundation for high-quality robot service provision by supporting the modularity, reusability, independent development, and testing required by intelligent robots that need to provide services in various environments.

• The KIPS Transactions:PartA
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• v.17A no.5
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• pp.249-258
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• 2010

The utilization of robot application is growing up in recent years, but there is a constraint to execute various application on the robot because of difference of robot resource. This paper presents the framework in order to solve the resource constraint by sharing resources with other devices near by robot. The framework defines common factors that are needed to collaboration work and provides APIs in order to implement robot application easily. Furthermore, We show the working flow of framework with physical training application using robot by example. The application shows how to collaborated work between robot and other devices through network.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.2
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• pp.121-127
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• 2015

In this paper, we propose S/W framework for health care robot based on OSGI middleware. Most healthcare robot developed independently. Therefore most module duplicately developed. However It's not efficient. In this paper we propose S/W framework for healthcare robot that can provide common module for health care robot and can apply heterogeneous robot. By using this S/W framework, we can enhance reusability of s/w module and can provide flexible and efficient development environment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2013.05a
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• pp.292-294
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• 2013

When the number of skyscrapers are increased in the domestic, it has increased the need of the outer wall cleaning robot. However, it does not exist the construction specification of the outer wall cleaning robot in the domestic. it is difficult to apply in the domestic that the outer wall cleaning robot. For this reason, it raised the need of the construction specification. And it is urgent that the construction specification of the outer wall cleaning robot is needed to develop in the domestic. Therefore, this study aims to propose the construction specification framework of the outer wall cleaning robot. In the future, this study will be based on the development of the construction specification on the outer wall cleaning robot.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.2-117
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• 2002

In this paper, a software framework is proposed for the personal robot located on home network. The proposed software framework is divided into four layers-a transparency layer, a behavior layer, a distributed task layer, and a mission scenario layer. The transparency layer consists of a virtual machine for platform transparency, and a communication broker for communication transparency among behavior modules. The communication architecture includes both server/client communication and publisher/subscriber communication. A mission scenario is assumed to be a composition of sequentially planned distributed tasks. In addition to the software framework, a new concept, personal robot design cent...

• Journal of Digital Convergence
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• v.10 no.2
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• pp.217-223
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• 2012

By using the network, the robot can provide the anytime and anywhere various services. There is the advantage that it can provide the real time service by using the network description but the network robot has the network security vulnerability. Therefore, in the network robot environment, the authentication framework which can be satisfied the security function has to be established. In this paper, the security vulnerability which it can be generated in the network robot environment is analyze and the plan for reaction is prepared. And the authentication framework controlling the network robot safely was proposed.

• Proceedings of the Korea Society of Design Studies Conference
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• 2005.10a
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• pp.68-69
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• 2005

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2771-2773
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• 2005

In network human-robot interaction, human can access services of a robot system through the network The communication is done by interacting with the distributed sensors via voice, gestures or by using user network access device such as computer, PDA. The service organization and exploration is very important for this distributed system. In this paper we propose a new agent-based framework to integrate partners of this distributed system together and help users to explore the service effectively without complicated configuration. Our system consists of several robots. users and distributed sensors. These partners are connected in a decentralized but centralized control system using agent-based technology. Several experiments are conducted successfully using our framework The experiments show that this framework is good in term of increasing the availability of the system, reducing the time users and robots needs to connect to the network at the same time. The framework also provides some coordination methods for the human robot interaction system.