Browse > Article

UPnP based Robot Middleware  

Ahn Sang-Chul (Imaging Media Research Center, KIST)
Lee Jung-Woo (IMRC, KIST, Depr. of Electronics and Computer Engineering, Hanyang University)
Kim Hyoung-Gon (Imaging Media Research Center, KIST)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.43, no.2, 2006 , pp. 20-27 More about this Journal
Abstract
This paper proposes to use the UPnP as a middleware for robots. It describes the advantages of the UPnP by comparing it with the TAO CORBA that was used in a few robot development projects. We select a sample robot architecture, and examine the possible use of the UPnP as a robot middleware. This paper shows how the UPnP architecture can be applied to building a robot in the view of software architecture, message mapping, realtime, priority, network selection, performance, memory footprint, and deployment issues.
Keywords
Robot middleware; UPnP; CORBA; TAO; RTAI;
Citations & Related Records
연도 인용수 순위
  • Reference
1 RTAl, Realtime Application Interface, www.aero.polimi.it/~rtai
2 S. Ilango Kumaran, Jini Technology: An Overview, Prentice Hall, p.307, 2002
3 ACE, www.cs.wustl.edu/~schmidt/ACE.html
4 DLNA, www.dlna.org
5 Jini, www.jini.org
6 .net, www.microsoft.com/net
7 UPnP, www.upnp.org
8 E.Li, D. Chen, H. I. Christensen and A. Oreback, 'An Architecture for Indoor Navigation,' Int'l conf. on Robotics and Automation, vol. 2, pp. 1783-1788, April, 2004   DOI
9 H. Utz, S. Sablatnog, S. Enderle and G. Kraetzschmar, 'Miro Middleware for Mobile Robot Applications,' IEEE Tr. on. Robotics and Automation, vol. 18, no. 4, pp. 493-497. August, 2002   DOI   ScienceOn
10 TAO, www.cs.wustl.edu/~schmidt/TAO.html
11 CORBA, www.omg.org
12 H. Hirukawa, F. Kanehiro and S. Kajita, 'OpenHRP: Open Architecture Humanoid Robotics Platform,' Int'l Symp. Robotics Research, 2001