Browse > Article
http://dx.doi.org/10.3745/KIPSTA.2009.16A.6.489

Dynamic Management of Service Execution Contexts in Network-based Robots  

Park, Jeong-Min (한국과학기술연구원 인지로봇연구단)
Lee, Jung-Jae (한국과학기술연구원 인지로봇연구단)
Yu, Beom-Jae (한국과학기술연구원 인지로봇연구단)
Publication Information
The KIPS Transactions:PartA / v.16A, no.6, 2009 , pp. 489-500 More about this Journal
Abstract
Robots have limited computing resources and robot services have different requirement such as sensors, actuators, computational capabilities and timeliness. In this paper, we propose a dynamic management method of service execution contexts to perform various services efficiently and to meet the time constraint of service in network-based robots. The proposed method is tested in the real network-based robot system. The results show that the real-time requirement for services is satisfied and the resource utilization is improved. The proposed method provides the extendability and flexibility of sensors and services by aptly modifying service execution contexts and increases the reusability of service.
Keywords
Network-based Robot; Service; Service Execution Contexts; Dynamic Management;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Bum-Jae You, Young-Jin Choi, Mun-Ho Jeong, Doik Kim, Yong Hwan Oh, ChangHwan Kim, JungSan Cho, Minchul Park and Sang-Rok Oh, “Network-based Humanoids 'MAHRU' and 'AHRA',” Intl. Conf. on Ubiquitous Robots and Ambient Intelligence, pp.376-379, Nov., 2005
2 D.T. Nguyen, Bum-Jae You, Sang-Rok Oh, Do-ik Kim, “Intelligent environment and Network-based Humanoids,” Proc. of the 2006 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp. 4798-4803, Oct., 2006
3 Web Services, www.w3.org/2002/ws
4 Sang Chul Ahn, Jin Hak Kim, Kiwoong Lim, Heedong Ko, Yong-Moo Kwon and and Hyoung-Gon Kim, “UPnP Approach for Robot Middleware,” Proc. of the 2005 IEEE Intl. Conf. on Robotics and Automation, pp.1959-1963, Apr., 2005
5 Sang Chul Ahn, Jung-Woo Lee, Ki-Woong Lim, Heedong Ko, Yong-Mu Kwon, Hyong-Gon Kim, “Requirements to UPnP for Robot Middleware,” Proc. on Intl. Conf. on Intelligent Robots and Systems, pp.4716-4721, Oct., 2006
6 http://www.ifr.org
7 S. Lohmeier, K. Loffler, M. Gienger, H. Ulbrich and F. Pfeiffer, “Computer System and control of biped 'Johnnie',” Proc. of IEEE Intl. Conf. on Robotics and Automation, Vol.4, pp.4222-4227, 2004
8 W3C Recommendation, “Extensible Markup Language (XML) 1.0(Third Edition),” 2004, http://www.w3.org/TR/2004/REC-xml-20040204
9 B. Graf, M. Hans and R. D. Schraft, “Care-O-bot II - Development of a Next Generation Robotic Home Assistant,” Autonomous Robots 16, pp.193-205, 2004   DOI   ScienceOn
10 B. Graf, M. Hans and R.D.Schraft, “Mobile Robot Assistants - Issues for Dependable Operation in Direct Cooperation With Humans,” IEEE Robotics and Automation Magazine, Vol.11, No.2, pp.67-77. 2004   DOI   ScienceOn
11 Ill-Woo Park, Jung-Yup Kim, Jungho Lee, and Jun-Ho Oh, “Mechanical Design of the Humanoid Robot Platform, HUBO,” Advanced Robotics, Vol.21, No.11, 2007   DOI
12 http://humanoid.kist.re.kr
13 http://asimo.honda.com
14 http://www.willowgarage.com
15 Y. Sakagami, R. Watanabe, C. Aoyama, “The Intelligent ASIMO: System overview and integration,” Intl. Conf. on Intelligent Robots and Systems, Oct., 2002
16 K. Kaneko, K. harada, F. Kanehiro, G. Miyamori, and K. Akachi, “Humanoid Robot HRP-3,” Proc. of IEEE Intl. Conf. on Intelligent Robots and Systems, pp.2471-2478, 2008