• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1713-1718
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• 2013

In this paper we implement collision avoidance using an artificial potential field and remote control of a mobile robot through ROS(Robot Operating System) among the robot's middleware. We also apply dynamic reconfigure to a node of collision avoidance. The main purposes of ROS are sharing and cooperation. In order to make to fit the purpose of ROS, the hardware that frequently is used in the robot such as LRF and joystick, were reused as node that provide in the ROS.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Journal of the Semiconductor & Display Technology
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• v.21 no.4
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• pp.121-125
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• 2022

This paper deals with the development of a deep-learning-based robot that recognizes various types of stairs and performs a mission to go up to the target floor. The overall motion sequence of the robot is performed based on the ROS robot operating system, and it is possible to detect the shape of the stairs required to implement the motion sequence through rapid object recognition through YOLOv4 and Cuda acceleration calculations. Using the ROS operating system installed in Jetson Nano, a system was built to support communication between Arduino DUE and OpenCM 9.04 with heterogeneous hardware and to control the movement of the robot by aligning the received sensors and data. In addition, the web server for robot control was manufactured as ROS web server, and flow chart and basic ROS communication were designed to enable control through computer and smartphone through message passing.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.34 no.4
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• pp.681-691
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• 2024

In recent decades, research and development in the field of industrial robotics, such as an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV), has been significant progress. In these advancements, it is important to use middleware, which facilitates communication and data management between different applications, and various industrial communication middleware protocols have been released. The robot operating system (ROS) is the most widely adopted as the main platform for robot system development among the communication middleware protocols. However, the ROS is known to be vulnerable to various cyber attacks, such as eavesdropping on communications and injecting malicious messages, because it was initially designed without security considerations. In response, numerous studies have proposed countermeasures to ROS vulnerabilities. In particular, some work has been proposed on generating ROS datasets for intrusion detection systems (IDS), but there is a lack of research in this area. In this paper, in order to contribute to improving the performance of ROS IDSs, we propose a new type of attack scenario that can occur in the ROS and build ROS attack datasets collected from a real robot system and make it available as an open dataset.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.32 no.6
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• pp.1091-1102
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• 2022

Robotic systems have developed very rapidly over the past decade. Robot Operating System is an open source-based software framework for the efficient development of robot operating systems and applications, and is widely used in various research and industrial fields. ROS applications may contain various vulnerabilities. Various studies have been conducted to monitor the excution of these ROS applications at runtime. In this study, we propose a real-time attack detection system using event-based runtime monitoring in ROS 2. Our attack detection system extends tracetools of ros2_tracing to instrument events into core libraries of ROS 2 middleware layer and monitors the events during runtime to detect attacks on the application layer through out-of-order execution of the APIs.

• Journal of IKEEE
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• v.27 no.4
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• pp.610-616
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• 2023

In this paper, we implement an unmanned delivery robot system with Robot Operating System(ROS)-based mobile manipulator, and introduce the technologies employed for the system implementation. The robot consists of a mobile robot capable of autonomous navigation inside the building using an elevator and a Selective Compliance Assembly Robot Arm(SCARA)-Type manipulator equipped with a vacuum pump. The robot can determines the position and orientation for picking up a package through image segmentation and corner detection using the camera on the manipulator. The proposed system has a user interface implemented to check the delivery status and determine the real-time location of the robot through a web server linked to the application and ROS, and recognizes the shipment and address at the delivery station through You Only Look Once(YOLO) and Optical Character Recognition(OCR). The effectiveness of the system is validated through delivery experiments conducted within a 4-story building.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.5
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• pp.211-218
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• 2017

Recent robot software platform research focuses on providing intelligent service via abstraction of robot devices. Context-aware techniques are necessary for intelligent robot services, which are based on the perception of environmental information obtained from heterogeneous sensors in IoT environment. Robot Operating System (ROS) provides protocols to operate robot devices. ROS includes functions for abstracting heterogeneous sensors themselves in order to control the robot, however, it lacks the ability to provide context information that the robot can perceive based on environmental information through consistent collection methods. In this paper, we propose a relay system for ROS to provide context-aware robot service. The proposed system makes it possible for ROS to control and provide context-aware robot services with relay of an external context-aware system and ROS. In experiments, we demonstrate procedures that robot services abstracted from ROS and an external context-aware system works together based on the proposed system.

• Tunnel and Underground Space
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• v.32 no.3
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• pp.231-242
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• 2022

In this study, we developed a robot operating system (ROS)-based autonomous driving robot that estimates the robot's position in underground mines and drives and returns through multiple waypoints. Autonomous driving robots utilize SLAM (Simultaneous Localization And Mapping) technology to generate global maps of driving routes in advance. Thereafter, the shape of the wall measured through the LiDAR sensor and the global map are matched, and the data are fused through the AMCL (Adaptive Monte Carlo Localization) technique to correct the robot's position. In addition, it recognizes and avoids obstacles ahead through the LiDAR sensor. Using the developed autonomous driving robot, experiments were conducted on indoor experimental sites that simulated the underground mine site. As a result, it was confirmed that the autonomous driving robot sequentially drives through the multiple waypoints, avoids obstacles, and returns stably.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.6
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• pp.406-415
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• 2023

In this study, we focused on developing and verifying ship collision avoidance algorithms using Unity simulator and ROS(Robot Operating System). ROS is used to establish an environment where communication between different operating systems is possible, and a dynamic model of a ship is constructed within Unity simulator. The Lidar data collected in Unity environment is passed to the system based on python through ROS. In the system based on python, control command values were created through the logic of the collision avoidance algorithm using data, and the values were transferred back to Unity to control the movement of the virtual ship. Through the developed simulation system, the reliability of the collision avoidance algorithm of ships with two different forms in an environment similar to the actual physical world was confirmed. As a result, it was confirmed on the simulator that it could be avoided without collision even in an environment with various types of obstacles, and that the avoidance characteristics according to the dynamics of the ship could be analyzed.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.303-310
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• 2017

Underwater robots operating in constrained underwater environment have requirements for software systems. Firstly, it is necessary to provide reusable common software components for hardware interface of sensors and actuators that are frequently used in underwater robots. Secondly, it is required to support distributed execution environment on multiple embedded controllers. Thirdly, it is need to implement a monitoring system capable of high-speed and large-data transmission for underwater robots operating in an environment where it is difficult to check the robot status. For these requirements, we have designed the layered architecture pattern and applied several design patterns to enhance the reusability and the maintainability of software components, In addition, we overlaid the broker architecture pattern to support distributed execution environments. Finally, we implemented the underwater robot software system using ROS framework based on the software architecture design. In order to evaluate the performance of the implemented software system, we performed an experiment to measure the response time between components and the transmission rate of the monitoring data, and obtained the results satisfying the required performance.