• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.35-41
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• 2014

This paper describes the obstacle avoidance architecture to walk safely around in factory and home environment, and presents methods for path planning and obstacle avoidance for the humanoid robot. Solving the problem of obstacle avoidance for a humanoid robot in an unstructured environment is a big challenge, because the robot can easily lose its stability or fall down if it hits or steps on an obstacle. We briefly overview the general software architecture composed of perception, short and long term memory, behavior control, and motion control, and emphasize on our methods for obstacle detection by plane extraction, occupancy grid mapping, and path planning. A main technological target is to autonomously explore and wander around in home environments as well as to communicate with humans.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.2 s.308
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• pp.20-27
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• 2006

This paper proposes to use the UPnP as a middleware for robots. It describes the advantages of the UPnP by comparing it with the TAO CORBA that was used in a few robot development projects. We select a sample robot architecture, and examine the possible use of the UPnP as a robot middleware. This paper shows how the UPnP architecture can be applied to building a robot in the view of software architecture, message mapping, realtime, priority, network selection, performance, memory footprint, and deployment issues.

• Journal of the Korea Society of Computer and Information
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• v.17 no.7
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• pp.13-22
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• 2012

In this paper, we design and implement the architecture of the ubiquitous software robot platform (Sobot platform) based on Web 2.0. In order to provide a user with the personalized emotional service by transferring to any device without any time or geographical limitations, the software robot must be developed as a form of a platform based on the standardized data and structures. To verify the effectiveness and the feasibility of the proposed Sobot platform consisting of the terminal platform, the server platform, and the contents composer, we compose user-created emotional Sobot contents messages on heterogeneous platforms such as PC, a mobile phone, a PDA, and a web portal site and experiment a variety of Sobot transfer implementation between them.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.154-160
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• 2006

Instantaneous reaction and intelligence are required for autonomous mobile robots to achieve multiple goals in the unpredictable and dynamic environments. Design of the appropriate control architecture and clear definitions of systems are needed to construct and control these robots. This research proposes the hybrid deliberative/reactive control architecture which consists of three layers and uses the method of software structure design. The highest layer, Deliberative Layer makes the overall run-time schedule for navigation and/or manipulation, and the middle layer, Task Execution Layer carries out various missions. The lowest layer, Reactive Layer enables a robot to react rapidly in the dynamic environment and controls the mechanical devices concurrently. This paper proposes independent system supervisors called Manager to reuse the modules so that the Manager supports common use of the system and multi-processing tasks. It is shown that the mobile robot based on the proposed control scheme can perform the basic navigation and cope with the dynamic obstacles reasonably well.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.720-725
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• 2008

This paper proposes a system architecture for USN with a service robot to provide more active assisted living services for elderly persons by monitoring their mental and physical well-being with USN environments at home, hospital, or silver town. Sensors embedded in USN are used to detect preventive measures for chronic disease. Logged data are transferred to main controller of a service robot via wireless channel in which the analysis of data is performed. For the purpose of handling emergency situations, it needs real-time processing on gathering variety sensor data, routing algorithms for sensor nodes to a moving sink node and processing of logged data. This paper realized multi-hop sensor network to detect user movements with biometric data transmission and performed algorithms on Xenomai, a real-time embedded Linux. To leverage active sensing, a mobile robot is used of which task was implemented with a priority to process urgent data came from the sink-node. This software architecture is anticipated to integrate sensing, communication and computing with real-time manner. In order to verify the usefulness of a proposed system, the performance of data transferring and processing on a real-time OS with non real-time OS is also evaluated.

• Journal of KIISE:Software and Applications
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• v.35 no.5
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• pp.297-305
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• 2008

We present a cleaning robot algorithm that can be implemented on low-cost robot architecture while the cleaning performance far exceeds the conventional random style cleaning through human-robot interaction. We clarify the advantages and disadvantages of the two notable cleaning robot styles: the random and the mapping styles, and show the possibility how we can achieve the performance of the complicated mapping style under the random style-like robot architecture using the idea of human-aided cleaning algorithm. Experimental results are presented to show the performance.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.270-274
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• 2002

This paper presents a teleoperation system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision over the Internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a web browser and a computer connected to the communication network and so they can command the robot in a remote location through the home page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the client part for the user interface and robot control as well as the server part for communication between users and robot. The server and client systems are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore. this system offers an image compression method using JPEG concept which reduces large time delay that occurs in network during image transmission.

• Communications of the Korean Institute of Information Scientists and Engineers
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• v.24 no.3 s.202
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• pp.59-65
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• 2006

• The KIPS Transactions:PartD
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• v.11D no.2
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• pp.461-470
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• 2004

As the semiconductor industrials change 200㎜-sized semiconductor wafer production process to 300㎜-sized one, it requires to develop the software for monitoring and simulating the robot which transfers a 300㎜-sized semiconductor wafer. Because such a software don't run at standalone but communicate MCS(Material Control System) and Its subsystem a robot, its architecture is very complex. Therefore, in order to develop such a software systematically, we must utilize an object-oriented development methodology. UML. This paper presents an UML process application developing the software for monitoring and simulating the robot which transfers a semiconductor wafer on the production process.

• Journal of Industrial Technology
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• v.22 no.B
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• pp.251-260
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• 2002

In this thesis, a three degrees of freedom robot, which is able to provide sufficient precision for various robot researches, has been developed. The cable mechanism is used as a basic transmission of robot joints. Based on an optimal design strategy, link and joint parameters are determined and then overall geometry of the robot is designed. As an architecture of robot control, real time control system using real time linux and RtiC-Lab(Real Time Controls Laboratory) is developed. This system, written in C and based on Linux O/S, includes text editor, compiler, downloader, and real time plotter running in host computer for developing control purpose. Using these hardware and software, simple PD position control is implemented, the results shows the effectiveness of the system.