• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.931-932
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• 2006

This paper proposes a task modeling architecture -.uFlow-.for home service robots that facilitates the developmental process and let developers implement their services with ease and efficiency.

• 로봇학회논문지
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• 제5권3호
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• pp.240-250
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• 2010

A URC, which is a Ubiquitous Robot Companion, provides services to users in ubiquitous computing environments and has advantage of simplifying robot's hardware and software by distributing the complicated functionality of robots to other system. In this paper, we propose SOWL, which is a software architecture for URC robots and a mixed word of SOMAR and CAWL. SOWL keeps the advantages of URC and it also has the loosely-coupled characteristics. Moreover it makes it easy to develop of URC robot software. The proposed architecture is composed of 4 layers: device software, robot software, robot application, and end user layer. Developers of the each layer is able to build software suitable for their requirements by combining software modules in the lower layer. SOWL consists of SOMAR and CAWL engine. SOMAR, which is a middleware for the execution of device software and robot software, is based on service-oriented architecture(SOA) for robot software. CAWL engine is a system to process CAWL which is a context-aware workflow language. SOWL is able to provide a layered architecture for the execution of a robot software. It also makes it possible for developers of the each layer to build module-based robot software.

• 제어로봇시스템학회논문지
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• 제10권12호
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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.

• 대한임베디드공학회논문지
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• 제12권5호
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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.

• Journal of Computational Design and Engineering
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• 제1권4호
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• pp.243-255
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• 2014

The present study describes the development of control hardware and software for a mobile welding robot. This robot is able to move and perform welding tasks in a double hull structure. The control hardware consists of a main controller and a welding machine controller. Control software consists of four layers. Each layer consists of modules. Suitable combinations of modules enable the control software to perform the required tasks. Control software is developed using C programming under QNX operating system. For the modularizing architecture of control software, we designed control software with four layers: Task Manager, Task Planner, Actions for Task, and Task Executer. The embedded controller and control software was applied to the mobile welding robot for successful execution of the required tasks. For evaluate this imbedded controller and control software, the field tests are conducted, it is confirmed that the developed imbedded controller of mobile welding robot for shipyard is well designed and implemented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.472-475
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• 2005

This paper present a robot controller developed for shipbuilding yard. Since shipbuilding process handles large work pieces and has dusty and noisy environment, the developed controller has separated architecture into main control part and servo control part. Main control part is located in control room while servo control part is located near robot with work pieces. Commutation between two parts is done through SynqNet and RS485. Air purging system is adapted to servo control part for better reliability. We aimed open architecture in both hardware and software architecture. For open hardware architecture, we employed Compact PCI (cPCI) because it is widely used bus system and very reliable. Since lots of commercial boards are available with cPCI interface, upgrade and reconfiguration is easy. For open software architecture, Windows XP�� Embedded is selected as operating system (OS), because it is very popular OS and most hardware vender supports device driver for the windows XP.

• 로봇학회논문지
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• 제6권4호
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• pp.353-364
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• 2011

In ubiquitous computing environments, users want to receive the robot services regardless of various physical status or devices such as time, place, various sensors, and high-performance servers. Thus, the ubiquitous service robots have to provide users with automated services according to situational information that they properly recognize. Beyond these problems, robot software has to establish a foundation to support the functions with the network infrastructure that are not able to be solved by a single independent resource. On the basis of a robot middleware that is capable of minimizing dependencies among hierarchy structures, the robot software also has to provide execution environment to control the flow of robot application services. In this paper, we propose a layered architecture to provide users with automated services through ubiquitous robots. The proposed architecture is based on CAWL (Context-Aware Workflow Language) and RSEL (Robot Services Execution Language). CAWL easily represents the flow of robot services from user application service levels, and RSEL is able to support the composition and reusability of robot services through abstraction of robot device services. In our experiments, we applied the proposed architecture to an example of "booth guide robot service".

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2285-2289
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• 2005

Robot is composed of various devices but, those are incompatible with each other and hardly developing reusable control software. This study suggests standard abstract interface for robot software component to make portable device and reusable control software of robot, based on familiar techniques to abstract device in operating systems. This assures uniform abstracted interface to the device driver software like sensor and actuator and, control program can be transparent operation over device. This study can separately and independently develop devices and control software with this idea. This makes it possible to replace existing devices with new devices which have an improved performance.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2003년도 추계종합학술대회 논문집
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• pp.447-453
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• 2003

Emotion을 이용한 컴퓨터 인공 지능, 그래픽, 로봇, 상호 작용 등 다양한 분야에 나타나고 있다. 이에 각 분야에 적용되어진 이론적 배경과, 적용의 특징, 기술 등을 본 글에서 다루고자 한다. 먼저 이론적 접근방식에 있어서는 심리학적 접근과, 사람의 감정 연구, Behavior-Bas설 접근, 생물 행동적 접근, 등이 있으며 이를 구현하기 위한 기술로는 학습 알고리즘, Neural Network 의 Self-Organizing Maps, Fuzzy Cognition Maps등이 있다. 적용 분야로는 Software Agent, Agent Robot과 Entrainment Robot 등이 있다. 본 글에서는 이들의 적용 사례들을 살펴보고 Emotion Architecture에 대해서 분석하고자 한다.

• 한국정보과학회논문지:소프트웨어및응용
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• 제37권2호
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• pp.95-103
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• 2010

소프트웨어 제품의 시장 경쟁력을 향상시키기 위해서는 이해관계자의 요구사항에 부합하는 품질을 제공하는 동시에 개발 예산 내에 개발 가능한 아키텍처를 획득할 수 있는 방안이 요구된다. 하지만 아키텍처의 품질 검토 및 선정을 위해 사용되는 기존 아키텍처 평가 기법은 아키텍처 설계를 통해 획득 가능한 품질속성에만 초점을 맞추고 있어 아키텍처가 개발 비용에 미치는 영향을 체계적으로 고려하지 않는다. 본 논문에서는 소프트웨어 비용 추정 모델인 COCOMO II를 적용한 아키텍처 비용 추정 기법을 제안하여 기존 아키텍처 평가와 병행 가능한 비용 분석을 통해 기존 아키텍처 평가 기법을 보완하며 품질과 비용이 함께 고려된 아키텍처 선정을 지원한다. 제안 기법의 정확성 검증을 위해 본 논문의 기법을 RPS (Robot Patrol System)의 아키텍처 후보 목록에 적용한 뒤 비용 추정 결과를 각 아키텍처 후보의 실측 공수와 비교하였다.