• ETRI Journal
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• v.32 no.5
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• pp.646-656
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• 2010

A component is a reusable and replaceable software module accessed through its interface. Component-based development is expected to shorten the development period, reduce maintenance costs, and improve program reusability and the interoperability of components. This paper proposes a new robot software component platform in order to support the entire process of robot software development. It consists of specifications of a component model, component authoring tool, component composer, and component execution engine. To show its feasibility, this paper presents the analysis results of the component's communication overhead, a comparison with other robotic software platforms, and applications in commercial robots.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1074-1081
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• 2011

As robotics systems are becoming more complex there is the need to promote component based robot development, where systems can be constructed as the composition and integration of reusable building block. One of the most important challenges facing component based robot development is safeguarding against software component failures and malfunctions. The health monitoring of the robot software is most fundamental factors not only to manage system at runtime but also to analysis information of software component in design phase of the robot application. And also as a lot of monitoring events are occurred during the execution of the robot software components, a simple data treatment and efficient memory management method is required. In this paper, we propose an efficient events monitoring and data management method by modeling robot software component and monitoring factors based on robot software framework. The monitoring factors, such as component execution runtime exception, Input/Output data, execution time, checkpoint-rollback are deduced and the detail monitoring events are defined. Furthermore, we define event record and monitor record pool suitable for robot software components and propose a efficient data management method. To verify the effectiveness and usefulness of the proposed approach, a monitoring module and user interface has been implemented using OPRoS robot software framework. The proposed monitoring module can be used as monitoring tool to analysis the software components in robot design phase and plugged into self-healing system to monitor the system health status at runtime in robot systems.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.699-708
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• 2015

In the testing of a software component-based robot system, generating test cases for the system is a time-consuming and difficult task that requires the combining of test data. This paper proposes an adaptive combinatorial testing method which is based on the input/output relationship among components and which automatically generates the test cases for the system. The proposed algorithm first generates an input/output relationship graph in order to analyze the input/output relationship of the system. It then generates the reduced set of test cases according to the analyzed type of input/output relationship. To validate the proposed algorithm some comparisons are given in terms of the time complexity and the number of test cases.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1196-1204
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• 2001

In this paper, a new architecture of operating software associated with the component-based method is proposed. The proposed architecture comprises 문 execution module and a decision-making module. In order to make effective development and maintenance, the execution module is divided into three components. The components are referred to as Symbol, Gateway, and Control, respectively: The symbol component is for the GUI environments and the standard interfaces; the gateway component is for the network communication and the structure of asynchronous processes; the control component is for the asynchronous processing and machine setting or operations. In order to verify the proposed architecture, and off-line version of operating software is made, and its steps are as follows; I) Make virtual execution modules for the manufacturing devices such as dual-arm robot, handling robot, CNC, and sensor; ii) Make decision-making module; iii) Integrate the modules and GUI using a well-known development tools such as Microsofts Visual Basic; iv) Execute the overall operating software to validate the proposed architecture. The proposed software architecture in this paper has the advantages such as independent development of each module, easy development of network communication, and distributed processing of resources, and so on.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.215-218
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• 2016

The robot performs with combined various functional equipments organically. OPRoS (Open Platform for Robotic Services) is a framework to provide integrated development environment to develop an equipment in the form of the component parts to various institutions and developers and to combine them. To ensure the reliable operation of the robot, the developer should test the component can be coupled reliably with other components developed by other developers. First of all, that the search to find components to be coupled with the component meaningfully is necessary. In this paper, we propose the interoperability evaluation system which can find components to be meaningfully coupled with the component to be evaluated.

• Journal of Dental Rehabilitation and Applied Science
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• v.26 no.3
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• pp.285-296
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• 2010

Robot-assisted illuminating equipment based on image-processing technology was developed and then its accuracy was measured. The current system was designed to detect facial appearance using a camera and to illuminate it using a robot-assisted system. It was composed of a motion control component, a light control component and an image-processing component. Images were captured with a camera and following their acquisition the images that showed motion change were extracted in accordance with the Adaboost algorithm. Following the detection experiment for the oral cavity of patients based on image-processing technology, a higher degree of the facial recognition was obtained from the frontal view and the light robot arm was stably controlled.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2039-2044
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• 2003

The advanced infrastructure for accelerating the development of personal robots is presented. Based on this structure, effective ways for integrating the various commercial components and interfacing among them are studied. The infrastructure includes the technology such as modularization based on independent processing and standardization open to other developers. The infrastructure supports not only that each hardware component of a personal robot can be easily attached to and detached from the whole system mechanically but also that each software of the components can be functionally distributed. As a result, we developed the fully modularized personal robots mechanically, and a virtual machine for the control of these robots. In this paper the proposed infrastructure and its implementations are described.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.4
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• pp.517-524
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• 2007

This paper presents a global localization method using circular correlation of an omni-directional image. The localization of a mobile robot, especially in indoor conditions, is a key component in the development of useful service robots. Though stereo vision is widely used for localization, its performance is limited due to computational complexity and its narrow view angle. To compensate for these shortcomings, we utilize a single omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Nodes around a robot are extracted by the correlation coefficients of CHL (Circular Horizontal Line) between the landmark and the current captured image. After finding possible near nodes, the robot moves to the nearest node based on the correlation values and the positions of these nodes. To accelerate computation, correlation values are calculated based on Fast Fourier Transforms. Experimental results and performance in a real home environment have shown the feasibility of the method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.742-745
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• 2004

If a personal robot is popularized like a personal computer in the future, many kinds of robots will appear and the number of manufacturers will increase as a matter of course. In such circumstances, it can be inefficient, in case each manufacturer makes a whole platform individually. The solutions for this problem are to modularize a robot component (hardware and software) functionally and to standardize each module. Each module is developed and sold by each special maker and a consumer purchases desired modules and integrates them. The standardization of a module includes the unification of electrical and mechanical interface. In this paper, the standard interfaces of modules are proposed and CMR(Component Modularized Robot)-P2 made with the modules(brain, sensor, mobile, arm) is introduced. In order to simplify and to make the modules light, a frame is used for supporting a robot and communication/power lines. The name of a method and the way to use that are defined dependently on the standard interfaces in order to use a module in other modules. Each module consists of a distributed object and that can be implemented in the random language and platform. The sensor, mobile and arm modules are developed on Pentium or ARM CPU and embedded Linux OS using the C programming language. The brain module is developed on Pentium CPU and Windows OS using the C, C++ and RPL(Robot Programming Language). Also tasks like pass planning, localization, moving, object perception and face perception are developed. In our test, modules got into gear and CMR-P2 executed various scenarios like guidance, errand and guarding completely.