• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.83-85
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• 2004

Personal Robot System being developed is designed to module-based system architecture for supporting internal devices have variable system platforms, environments, networks. For supporting development environment, integrating remote services, managing the interoperation among internal modules on this system design, a well-designed object oriented middleware is needed significantly. There are already some middlwares like DCOM, CORBA, UPnP, JINI, OSGi, etc. But they have some limitations to applying to Personal Robot in variable side view. We are researching for a suitable design scheme to require low system resources, to guarantee realtime services as possible, and to implement easily. In this paper, we suggest a middleware architecture have goals that are simple, light, and object oriented, so that can be used at diversity devices in Personal Robot System.

• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.464-474
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• 2004

This paper proposes a middleware structure for the module-based personal robot, which can run on heterogeneous network interfaces and provides users easy interface-method regardless of underlying heterogeneous interfaces and convenient exchange of modules. The proposed middleware is divided into three layers of a streaming layer (SL), a network adaptation layer (NAL) and a network interface layer (NIL). The streaming layer manages application transactions using middleware services and provides user a uniform interfaces to the proposed middleware. The network adaptation layer manages a message-routing and provides naming service and it is a core of the proposed middleware. And the network interfaces layer manages dependent parts of heterogeneous network interfaces such as IEEE1394, USB, Ethernet, and CAN (Control Area Network). This paper implements the proposed middleware structure, where 3 types of interfaces of IEEE 1394, USB and Ethernet are used, and measures response times among those interfaces.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.756-760
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• 2005

By development of a robot technology, personal robot is being developed very actively. Various infra-technologies are accumulated in hardware and software how by internal a lot of research and development efforts, and it is circumstance that actual commodity is announced. But, personal robot is applied to be acting near human, and takes charge of safety and connected directly a lot of works of home security, gas-leakage, fire-warning facilities, or/and etc. So personal robot must do safe and stable action even if any unexpected accidents are happened, important functions are always operated. In this paper, we are wished to show design structures for supporting fault-tolerant operation from our real-time robot middleware viewpoint. Personal robot, in being developed, was designed by module structure to do to interconnect and to interoperate among each module that is mutually implemented by each research facilities or company. Also, each modules can use appreciate network system that is fit for handling and communicating its data. To guarantee this, we have being developed a real-time network middleware, for especially personal robot. Recent our working is to add and to adjust some functions like connection management, distributed routing mechanism, remote object management, and making platform independent robot application execution environment with self-moving of robot application, for fault-tolerant personal robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.175-177
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• 2006

This paper deals with implementation of middleware using CAN(Controller Area Network) network and TCP/IP for real-time distributed control system of a humanoid robot. Existent system using CAN network is available. But, there is problems in extensibility and flexibility. In this raper, the new system using TCP/IP for solution and improvement of problems is proposed. The new system is applied to ISHURO-II, real-humanoid robot. The performance is verified through experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.80-82
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• 2004

Personal robot consist of various modules that have independent functions. Because personal robot has requirement that support various construction for user's tendency. Therefore, Middleware mechanism at support not only personal robot's main functional element but also embedded modules functional elements is required. Each module have various heterogeneous network interfaces and variable services and variables. Therefore, Middleware must support these various network interfaces. This paper, pointed in Controller Area Network(CAN) inreface that usually used in embedded system for control. For connect various heterogeneous network interfaces (Ethernet, RS232 etc..), it is necessary to modify bagic CAN frame format. And also make some kind of BUS topology for CAN network.

• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.399-405
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• 2008

Recently, robot technology is actively going on progress to the field of various services such as home care, medical care, entertainment, and etc. Because these service robots are in use nearby person, they need to be operated safely even though hardware and software faults occur. This paper proposes a Fault-Tolerant middleware for a robot system, which has following two characteristics: supporting of heterogeneous network interface and processing of software components and network faults. The Fault-Tolerant middleware consists of a Service Layer(SL), a Network Adaptation Layer(NAL), a Network Interface Layer(NIL), a Operating System ion Layer(OSAL), and a Fault-Tolerant Manager(FTM). Especially, the Fault-Tolerant Manager consists of 4 components: Monitor, Fault Detector, Fault Notifier, and Fault Recover to detect and recover the faults effectively. This paper implements and tests the proposed middleware. Some experiment results show that the proposed Fault-Tolerant middleware is working well.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.300-302
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• 2006

Middleware offers function that user application program can transmit data independently of network device. Connection management about network connection of module is important for normal service of module base personal robot. Unpredictable network disconnection is influenced to whole robot performance in module base personal robot. For this, Middleware must be offer two important function. The first is function of error detection and reporting about abnormal network disconnection. Therefore, middleware need method for network error detection and module management to consider special quality that each network device has. The second is the function recovering that makes the regular service possible. When the module closed from connection reconnects, as this service reports connection state of the corresponding module, the personal robot resumes the existing service. In this paper proposed method of network connection management for to support fault tolerant about network error of network module based personal robot.

• 한국전자통신학회논문지
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• 제5권2호
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• pp.214-220
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• 2010

본 연구에서는 로봇 미들웨어 기술 중 국제표준으로 채택된 RTC를 이용하여 이동 로봇 시스템의 구성요소에 대한 컴포넌트를 개발하였다. 또한 미들웨어 네트워크를 기반으로 이동 로봇 구성요소를 서로 연결하여 하나의 시스템을 구현하였으며 실제 이동 로봇인 NRLAB 02를 이용하여 구현한 이동 로봇 시스템의 성능 시험을 수행하였다.

• 로봇학회논문지
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• 제4권1호
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• pp.68-73
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• 2009

The UPnP is middleware architecture that supports dynamic distributed computing environment. It has many good features for possible use as middleware in robot system integration. There is a need for bulky binary data transmission between distributed robot S/W components. Since the UPnP utilizes SOAP protocol for message transmission, however, it is not efficient to send bulky binary data. In order to overcome this weak point, this paper proposes UPnP-MTOM, MTOM (Message Transmission Optimization Mechanism) implementation over UPnP, as an efficient way for bulky binary data transmission with UPnP messages. This paper presents our implementation method and experimental results of the UPnP-MTOM implementation.

• 한국전자통신학회논문지
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• 제6권1호
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• pp.142-147
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• 2011

본 연구에서는 로봇 미들웨어 기술 중 국제표준으로 채택된 RTM을 이용하여 7자유도 매니퓰레이터 협업로봇의 구성 요소를 RT 컴포넌트로 만들었다. 또한 미들웨어 네트워크를 기반으로 로봇 구성 요소의 RT 컴포넌트를 서로 연결하여 하나의 로봇 시스템을 구현하였으며, 실제 제작된 7자유도 매니퓰레이터를 이용하여 구현 시스템의 동작을 테스트하였다.