• 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.

• Proceedings of the KAIS Fall Conference
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• 2009.12a
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• pp.299-302
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• 2009

본 논문에서는 Home Robots을 위한 OSGi 프레임워크(framework) 기반의 홈네트워크(home network) 미들웨어(middleware)를 제안한다. 홈네트워크 서비스는 가정에서의 편안함과 즐거움을 주기 위한 기술로서, 국제 산업 표준 단체에 의해 상호운용성에 대한 표준화가 진행되어 가고 있다. 본 논문에서 제안하는 미들웨어는 Home Robots이 댁내의 네트워크에 동적으로 구성되며, 홈로봇을 통해 다양한 서비스를 이용할 수 있다.

• 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.

• 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 Korea Robotics Society
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• v.6 no.1
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• pp.69-77
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• 2011

In a large scale robot system, one of important problems is software integration, which involves three elements: modularity, reusability and stability. By these issues, the degree of convenience of system integration, its required time and the performance of the system stability can be determined. In addition, the convenience of system management can be determined by the degree of completion of service components. This paper explains the template based service component (TBSC) for the integration of service components in networked robot. The important characteristics of TBSC are automatical execution and recovery process by a PnP supporting robot framework, which helps a system operator to manage a robot system comfortably. For easy implementation and system stability, we provide a service component creator and a verification tool to developers.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.10
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• pp.2129-2136
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• 2012

With the increased demand of ubiquitous home services, intelligent robots have wide attentions. This kind of robots offer various services through middleware components which can connect with remote servers. In this paper we present an UPnP(Universal Plug and Play) based open-source software framework which makes control the robots remotely. This UPnP architecture for home networking can provide various communication methodologies like command control, eventing, presentation with web services and so on. This paper shows successful implementation results on two real platforms.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.49 no.2
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• pp.75-82
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• 2012

In order to enable network robots to effectively collaborate with smart environments, it is crucial that various types of heterogeneous device platforms can communicate each other in flexible and efficient manners. Most of existing software platforms for network robots adopted general-purpose middlewares such as CORBA, which are not suitable to the communication between robots and smart environments due to their heavy size and complexity. Moreover, they do not provide network robot-specific features. Therefore, we propose a new TCP-based Remote Method Invocation framework. We devide the middleware into two layers i. e. transport layers and rmi layers and provide key features to each layer so that network robots can effectively communicate with various devices in smart environments.

• 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.

• 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 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.