• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1252-1258
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• 2014

ROS is based on a graph architecture where processing takes place in nodes. Nodes communicate together by passing messages through topics based on the publish/subscribe model. On the other hand, OPRoS components know each other and are tightly-coupled via port connections, and different coupling schemes make the interoperation between two platforms difficult. This paper describes an extension of OPRoS framework to support the interoperation with the ROS topic.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.115-121
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• 2022

This paper proposes a distributed model predictive formation control algorithm for a group of unmanned ground vehicles (UGVs) with guaranteeing collision avoidance between UGVs. Generally, the model predictive control based formation control has a disadvantage in that it takes a long time to compute control inputs when considering collision avoidance between UGVs. In this paper, in order to overcome this problem, the formation control algorithm is implemented in a distributed manner so that it could be individually controlled. Also, a collision-avoidance method considering real-time is proposed. The proposed formation control algorithm is implemented based on robot operating system (ROS), open source-based middleware. Through the various simulation tests, it is confirmed that the formation control of five UGVs is successfully performed while avoiding collisions between UGVs.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.11a
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• pp.171-174
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• 2011

최근 로봇의 통합적인 개발과 관리 및 응용을 위한 로봇 미들웨어가 많이 연구되고 있다. 이러한 로봇 미들웨어의 로봇 서비스는 클라이언트 측에서의 로봇 서비스와 서버 측의 로봇 서비스로 구별될 수 있다. 제안하는 로봇 미들웨어 구조에서는 클라이언트 측의 로봇 서비스와 서버 측의 로봇 서비스를 구별한다. 특히 서버 측에서 클라이언트 측에서 만들어진 로봇 서비스를 응용하기 위해 로봇 서비스 실행 언어인 RSEL 을 사용하며 이를 통해 새로운 로봇 서비스를 조합하여 새로운 로봇 서비스를 만들어내고 제공한다. 제안하는 구성요소의 구현을 보이기 위해 시나리오를 이용한 시뮬레이션을 수행한다. 이 시뮬레이션을 통해 RSEL 의 문서의 작성과 그 사용을 봄으로써 제안하는 로봇 미들웨어 구조를 확인한다.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.80-92
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• 2007

For the pervasive computing in ubiquitous environment, it is very important to manage the context model to provide pertinent context knowledge to context-aware applications. The context model should be able to support efficiently the context knowledge reusing and sharing as well as reasoning. Previous works focus mainly on the context knowledge representation scheme for reasoning. This paper proposes a context knowledge modeling scheme especially for reusing and sharing. This scheme provides well-established principles and guides for 1) context knowledge modularization and hierarchization, and for 2) context knowledge identification and organization. Once the context models are built according to the scheme, the structure of the context model and the meanings of the context knowledge elements become clear and consistent, so that context-aware applications can share and reuse the context knowledge in easy and error-reduced manner. This paper also discusses the implementation of a context model and an application for Presentation Helper scenario running on a software middleware system (CAMUS) for ubiquitous service robots which is being developed by ETRI Korea.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.2
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• pp.1-8
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• 2011

An underwater robot S/W framework consists of various sub-modules such as sensory data processing module, thruster control module, cognition module and behavior control module. Performance of a robot is determined by not only the efficiency of algorithms used but also effectiveness of their implementations. One most important factor of the effective implementation is the efficiency of data sharing module, as it transmits signals and data between the sub-modules and thus is directly related to the cycles of sensing and control The ideal data sharing module enables immediate access to any data source irrespective of system configurations. In reality, however, there are lots of obstacles including limitation of processing capacity of source modules, delay over network, and scheduling latency of operating systems. The paper proposes a new data sharing architecture and programming models to effectively handle such obstacles in implementation of underwater S/W framework on a small scale distributed computing system.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.32 no.6
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• pp.1091-1102
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• 2022

Robotic systems have developed very rapidly over the past decade. Robot Operating System is an open source-based software framework for the efficient development of robot operating systems and applications, and is widely used in various research and industrial fields. ROS applications may contain various vulnerabilities. Various studies have been conducted to monitor the excution of these ROS applications at runtime. In this study, we propose a real-time attack detection system using event-based runtime monitoring in ROS 2. Our attack detection system extends tracetools of ros2_tracing to instrument events into core libraries of ROS 2 middleware layer and monitors the events during runtime to detect attacks on the application layer through out-of-order execution of the APIs.

• Proceedings of the KAIS Fall Conference
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• 2009.12a
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• pp.293-294
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• 2009

시스템 통합(System Integration) 패러다임의 변화와 MEMS, 네트워크 기술의 발달로 사람, 컴퓨터 그리고 사물이 유기적으로 연계되어 다양하고 편리한 서비스를 제공해 주는 컴퓨팅 기술에 대한 연구들이 진행 되고 있다. 이와 관련하여 지능형 로봇 시스템 환경은 중앙집중 환경에서 분산 환경과 웹이융합된 새로운 환경으로 변화하고 있다. 이를 적용하기 위해서 다양한 연구기관의 개발자 들은 이를 지원할 수 있는 미들웨어의 개발에 많은 노력을 기울이고 있다. 로봇 미들웨어는 다양한 통신 프로토콜, 하드웨어, 운영체제 그리고 프로그래밍 언어의 통합, 통신 오버헤드 그리고 소프트웨어 개발 방법론 등 많은 문제점을 가지고 있다. 본 논문에서는 통합성, 통신 오버헤드, 유연성을 기준으로 기존 미들웨어의 단점을 제시하고 해당 문제점을 해결하기 위한 지능형 로봇을 위한 효율적 미들웨어를 제안한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.11a
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• pp.1308-1310
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• 2011

실내용 IR-UWB 레이더를 기반한 침입 탐지, 추적 시스템을 지원하기 위한 미들웨어 설계를 제안한다. 이 미들웨어의 설계는 다수의 측정 구역으로부터 받은 연속적인 데이터의 관리에 초점이 있다. 효율적인 데이터 관리를 위해 레이더 소프트웨어 플랫폼을 기능적으로 구분하여 설계하고 연동하였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.34-38
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• 2007

There has been skeptical aspects for the robot to be effective in combat fields even though consensus of operational needs and some technological advancements. One of fundamental problems is difficulties in the autonomous technology applicable. This technology is not sufficient to be applied for heavy combat operation, therefore, developer first make open architecture, then, application is implemented on the condition that new functions or technologies will be developed later. It is also required to partition all the functions with common segments which are general to all platforms in order to operate together in the fields and to reduce the load of development to each platform respectively. In addition, common middleware based on the reference architecture is also developed to accommodate new technology evolution. This paper introduces the architecture and middleware applied in XAV(eXperimental Autonomous Vehicle) developed in ADD. In addition, the performance of autonomous navigation and system design characteristics are introduced briefly.

• Journal of KIISE:Software and Applications
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• v.37 no.9
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• pp.676-686
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• 2010

An URC (Ubiquitous Robot Companion) is aimed for providing the best service according to situational information that it recognizes. In order to offer human-friendly and intelligent services, a robot middleware requires the technique to automate and control URC service processes, which are based on context-awareness. In this paper, we propose a context-aware workflow system to provide web services based URC services according to situational information. The proposed system offers a platform-independent command object model to control heterogeneous URCs, and supports web services based context-aware URC services. Therefore, the proposed system can increase the reliability of URC services in ubiquitous network environment, on which the diverse URC robots and platforms exist. And it can enhance the flexibility and adaptability of the functional and structural changes of URC systems.