• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1264-1270
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• 2004

In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.816-824
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• 2004

In this paper, the framework for accelerating the development of personal robots is presented, which includes the technology such as modularization with its own processing and standardization open to the other developers. Its basic elements are Module-D(Module of DRP I) characterized functionally and VM-D(Virtual Machine of DRP I) arbitrating Module-Ds. They can suggest the effective ways for integrating various robotic components and interfacing among them. Based on this framework, we developed a fully modularized personal robot called DRP I(Dynamically Reconfigurable Personal robot). Its hardware components are easily attached to and detached from the whole system. In addition, each software of the components is functionally distributed. For the materialization of the proposed idea, we mainly focus on the dynamically reconfigurable feature of DRP I.

• 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.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.151-154
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• 2003

In this paper, we described a method to guarantee a real-time communication in the hetegeneous network for the personal robot. The hetegeneous network is composed of many kinds of network like IEEE1394, Ethernet, CAN, Bluetooth, Wireless Lan and so on. real-time data is transfered via those kinds of network. Those network have different characteristics as speed, bandwidth, Priority. we used IEEE1394, Ethernet, CAN to study in this paper. To guarantee a real-time communication, a worst case response time must be scalable. In this environment to guarantee a real-time communication, we get a worst case response time of each network and a end-to-end worst case response time.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2465-2467
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• 2004

In this paper we present the guideline to evaluate the easiness of using personal robots and their learning abilities based on the analysis of their built-in commands, user interfaces, and intelligences. Recently, we are breathing with robots that can be able to do lots of roles. cleaning, security, pets and education in real life. They can be classified as home robots, guide robots, service robots, robot pets, and so on. There are, however, no standards to evaluate their ability, so it is not easy to select an appropriate robot when a user wants to buy it. Thus, we present, as a guideline that can be a standard for the evaluation of the personal robots, the standards by means of analyzing existing personal robots and results of the recent research works. We will, also, describe how to apply the evaluation method th the personal robot.

• Proceedings of the KIEE Conference
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• 2006.04a
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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.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.297-299
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• 2006

Many distributed applications is developed in various environment such as operating system, software platform. So, they exhibit different types of system behavior, status, during the course of their operation. Each such behavior may have different functional and non-functional requirements. Therefore, many distributed application need to fault-tolerance solution. Personal robot provide various service or application. Because personal robot has many application or service, it need to fault-tolerance architecture. A flexible architecture is required to provide dependability. In this paper, it is suggested a fault-tolerant architecture for module-based personal robot with module fault-tolerance, service fault-tolerance.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2410-2414
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• 2002

In this paper, a software framework is proposed for the personal robot located on home network. The proposed software framework is divided into four layers-a transparency layer, a behavior layer, a distributed task layer, and a mission scenario layer. The transparency layer consists of a virtual machine for platform transparency, and a communication broker for communication transparency among behavior modules. The communication architecture includes both server/client communication and publisher/subscriber communication. A mission scenario is assumed to be a composition of sequentially planned distributed tasks. In addition to the software framework, a new concept, personal robot design center platform as proposed in this paper with its implementation mechanisms. The personal robot design center is defined as a developing and a managing environment for high-level behavior modules, distributed tasks, and mission scenarios.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2365-2367
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• 2003

In this paper, we propose the RDC(Robot Design Center) for a network-based personal robot system. The RDC is developed under the new software framework for personal robots. The configuration for each modules in robot and functions of the RDC are described. The concept of standardized and modular program is presented and finally, developing procedures are proposed.