• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.47-48
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• 2011

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.415-425
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• 2000

An open architecture manufacturing strategy intends to integrate manufacturing components on a single platform so that a particular component can be easily added and/or replaced. Therefore, the control scheme based upon the open architecture concept is hardware-independent. In this paper, a modular and object oriented approach for a PC-based open robot control system is investigated. A standard reference model for robot systems, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then, a PC-based Open Robot Controller(PC-ORC), which can reconfigure robot control systems in various production environments, is developed. The PC-ORC is built upon the object-oriented method, and allows an easy implementation and modification of various modules. The PC-ORC consists of basic softwares, application objects, and additional hardware device on the PC Platform. The application objects are: sequencer, computation unit, servo control, ancillary equipment, external sensor control, and so on. In order to demonstrate the applicability of the PC-ORC, the proposed PC-ORC configuration is applied to an industrial SCARA robot system.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.5
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• pp.249-257
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• 2023

This paper discusses the increasing need for autonomous delivery robots due to the current growth in the delivery market, rising delivery fees, high costs of hiring delivery personnel, and the need for contactless services. Additionally, the cost of hardware and complex software systems required to build and operate autonomous delivery robots is high. To provide a low-cost alternative to this, this paper proposes a autonomous delivery robot platform using a low-cost sensor combination of 2D LIDAR, depth camera and tracking camera to replace the existing expensive 3D LIDAR. The proposed robot was developed using the RTAB-Map SLAM open source package for 2D mapping and overcomes the limitations of low-cost sensors by using the convex hull algorithm. The paper details the hardware and software configuration of the robot and presents the results of driving experiments. The proposed platform has significant potential for various industries, including the delivery and other industries.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.759-760
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.872-875
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• 1995

The strategy of open architecture control system intends to integrate manufacturing components on a single platform, so that a particular component can be easily added and/or replaced. Therefore, the control scheme is neither hardware dependent nor software dependent. In this paper a modular and object oriented approach for the open architecture structure of control systems is invesigated. A standard reference model for genetic manufacturer system, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then a standard reference model for open architecture robot control system is suggested.

• The Journal of the Korea Contents Association
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• v.10 no.6
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• pp.144-155
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• 2010

In recent years, there has been a rapid and wide spread of robot system in our lives and with the ever increasing the requirement of user for robot functionality, the software component is increasingly sophisticated and complicated. Accordingly it is inevitable to employ a standardized software platform. The OPRoS is open standard software platform based on component for robot system. When the software components were developed, it has got to validate the conformity of robot software components which comply with the OPRoS standard specification. In this paper, we deal with the design and implementation of the structural conformance test suite to verify and validate the conformance of components to be developed by user. As the results of some experiments, we could verify it from this test suite whether the components satisfied standard requirement or not.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.6
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• pp.601-607
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• 2010

For commercial success of emerging service robots, the fault tolerant technology for system reliability and human safety is crucial. Traditionally fault tolerance methods have been implemented in application level. However, from our studies on the common design patterns in fault tolerance, we argue that a framework-based approach provides many benefits in providing reliability for system development. To demonstrate the benefits, we build a framework-based fault tolerant engine for OPRoS (Open Platform for Robotic Services) standards. The fault manager in framework provides a set of fault tolerant measures of detection, isolation, and recovery. The system integrators choose the appropriate fault handling tools by declaring XML configuration descriptors, considering the constraints of components and operating environment. By building a fault tolerant navigation application from the non-faulttolerant components, we demonstrate the usability and benefits of the proposed framework-based approach.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.1
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• pp.1-10
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• 2017

Recently, with the ever-increasing complexity of industrial robot systems, it has been greatly attention to adopt a multi-core based motion controller with high cost-performance ratio. In this paper, we propose a software architecture that aims to utilize the computing power of multi-core processors. The key concept of our architecture is to use shared memory for the interplay between threads running on separate processor cores. And then, we have integrated our proposed architecture with an industrial standard compliant IDE for automatic code generation of motion runtime. For the performance evaluation, we constructed a test-bed consisting of a motion controller with Preempt-RT Linux based dual-core industrial PC and a 3-axis industrial robot platform. The experimental results show that the actuation time difference between axes is 10 ns in average and bounded up to 689 ns under $1000{\mu}s$ control period, which can come up with real-time performance for industrial robot.

• ETRI Journal
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• v.37 no.5
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• pp.1032-1043
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• 2015

ETRI's Co-Pilot project is aimed at the development of an automated vehicle that cooperates with a driver and interacts with other vehicles on the road while obeying traffic rules without collisions. This paper presents a core block within the Co-Pilot system; the block is named "Co-Pilot agent" and consists of several main modules, such as road map generation, decision-making, and trajectory generation. The road map generation builds road map data to provide enhanced and detailed map data. The decision-making, designed to serve situation assessment and behavior planning, evaluates a collision risk of traffic situations and determines maneuvers to follow a global path as well as to avoid collisions. The trajectory generation generates a trajectory to achieve the given maneuver by the decision-making module. The system is implemented in an open-source robot operating system to provide a reusable, hardware-independent software platform; it is then tested on a closed road with other vehicles in several scenarios similar to real road environments to verify that it works properly for cooperative driving with a driver and automated driving.