• Journal of Electrical Engineering and Technology
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• v.9 no.2
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• pp.755-761
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• 2014

Heterogeneous components have different component models, which prevents such components from sharing the functionalities of other components based on the different models. As one of methods for linking heterogeneous components, this paper suggests a proxy component to construct a bridge between heterogeneous components of OPRoS (Open Platform for Robotic Service) and RTM (Robot Technology Middleware). The proxy component consists of two types of components called Adaptor and Interceptor, via which the heterogeneous components can exchange data and services easily. The proposed method enables adaptor and interceptor components to directly invoke the services of the latter and the former, respectively, in order to exchange data and services on a real-time basis. The proxy component can be implemented for OPRoS and RT (Robot Technology) component models to connect with RT and OPRoS ones, respectively. It is shown through a simple experiment that the proposed method works well for real-time control.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.165-175
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• 2008

For an advanced intelligent service, the need of HRI technology has recently been increasing and the technology has been also improved. However, HRI components have been evaluated under stable and controlled laboratory environments and there are no evaluation results of performance in real environments. Therefore, robot service providers and users have not been getting sufficient information on the level of current HRI technology. In this paper, we provide the evaluation results of the performance of the HRI components on the robot platforms providing actual services in pilot service sites. For the evaluation, we select face detection component, speaker gender classification component and sound localization component as representative HRI components closing to the commercialization. The goal of this paper is to provide valuable information and reference performance on appling the HRI components to real robot environments.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.565-570
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• 2008

Recently, the intelligent service robot is applied for the purpose of guiding the building or providing information to the visitors of the public institution. The intelligent robot which is on development has a sensor to recognize its location at the bottom of it. Four wheels which are arranged in the form of a lozenge support the weight of the components and structures of the robot. The operating environment of this robot is restricted at the uneven place because the driving part and internal structure is designed in one united body. The impact from the ground is transferred to the internal equipments and structures of the robot. This continuous impact can cause the unusual state of the precise components and weaken the connection between each structural part. In this paper, a suspension system which can be applied to the intelligent robot is designed. The dynamic model of the robot is created, and the driving characteristics of the actual robot and the robot with suspension are compared. The road condition which the robot can operate is expanded by the application of the suspension system. Additionally, the suspension system is optimized to reduce the impact to the robot components.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1074-1081
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• 2011

As robotics systems are becoming more complex there is the need to promote component based robot development, where systems can be constructed as the composition and integration of reusable building block. One of the most important challenges facing component based robot development is safeguarding against software component failures and malfunctions. The health monitoring of the robot software is most fundamental factors not only to manage system at runtime but also to analysis information of software component in design phase of the robot application. And also as a lot of monitoring events are occurred during the execution of the robot software components, a simple data treatment and efficient memory management method is required. In this paper, we propose an efficient events monitoring and data management method by modeling robot software component and monitoring factors based on robot software framework. The monitoring factors, such as component execution runtime exception, Input/Output data, execution time, checkpoint-rollback are deduced and the detail monitoring events are defined. Furthermore, we define event record and monitor record pool suitable for robot software components and propose a efficient data management method. To verify the effectiveness and usefulness of the proposed approach, a monitoring module and user interface has been implemented using OPRoS robot software framework. The proposed monitoring module can be used as monitoring tool to analysis the software components in robot design phase and plugged into self-healing system to monitor the system health status at runtime in robot systems.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.69-77
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• 2011

In a large scale robot system, one of important problems is software integration, which involves three elements: modularity, reusability and stability. By these issues, the degree of convenience of system integration, its required time and the performance of the system stability can be determined. In addition, the convenience of system management can be determined by the degree of completion of service components. This paper explains the template based service component (TBSC) for the integration of service components in networked robot. The important characteristics of TBSC are automatical execution and recovery process by a PnP supporting robot framework, which helps a system operator to manage a robot system comfortably. For easy implementation and system stability, we provide a service component creator and a verification tool to developers.

• Composites Research
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• v.28 no.2
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• pp.52-57
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• 2015

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.

• 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.11
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• The Journal of the Korea Contents Association
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• v.9 no.2
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• pp.76-87
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• 2009

The growth of CPU and communication technologies have made an important contribution to the development of the network-based intelligent service robots. Robot software must guarantee the correct execution and safety of the user. To achieve this, it is highly required to research how to guarantee the QoS of the components which organize a robot software. The QoS of robot components aims to execute the component stably by processing the data stream in a correct way. By guaranteeing QoS, we can achieve the intelligence and stability of robots. In this paper, we design and implement the QoS framework to guarantee the QoS of robot components on robot platforms with limited resources. We also measure the response times of QoS requests and present the performance analysis results about it.

• The KIPS Transactions:PartD
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• v.14D no.6
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• pp.657-664
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• 2007

URC robot offers necessary service anytime and anywhere by using a network to the robot, expanding the applicable service, keeping all the functions in itself, it undertakes functions for the causing problems through the network. URC software components are composed of HRI(Human Robot Interaction), robot action technology and others. We analyze the quality models based on ISO/IEC 9126, define URC components evaluation specification consists of 4 parts such as generic rule, instance rule, evaluation value and test method. And we define the quality process and test case design for URC, and show a testing and evaluation process for URC components.