• Industrial Engineering and Management Systems
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• v.8 no.3
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• pp.181-193
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• 2009

This paper presents a framework for controlling mobile multiple robots connected by communication networks. This framework provides novel methods to control coordinated systems using mobile agents. The combination of the mobile agent and mobile multiple robots opens a new horizon of efficient use of mobile robot resources. Instead of physical movement of multiple robots, mobile software agents can migrate from one robot to another so that they can minimize energy consumption in aggregation. The imaginary application is making "carts," such as found in large airports, intelligent. Travelers pick up carts at designated points but leave them arbitrary places. It is a considerable task to re-collect them. It is, therefore, desirable that intelligent carts (intelligent robots) draw themselves together automatically. Simple implementation may be making each cart has a designated assembly point, and when they are free, automatically return to those points. It is easy to implement, but some carts have to travel very long way back to their own assembly point, even though it is located close to some other assembly points. It consumes too much unnecessary energy so that the carts have to have expensive batteries. In order to ameliorate the situation, we employ mobile software agents to locate robots scattered in a field, e.g. an airport, and make them autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO). ACO is the swarm intelligence-based methods, and a multi-agent system that exploit artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. In this paper, we focus on the implementation of the controlling mechanism of the multi-robots using the mobile agents.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2365-2367
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• 2003

In this paper, we propose the RDC(Robot Design Center) for a network-based personal robot system. The RDC is developed under the new software framework for personal robots. The configuration for each modules in robot and functions of the RDC are described. The concept of standardized and modular program is presented and finally, developing procedures are proposed.

• Journal of Korea Multimedia Society
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• v.12 no.2
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• pp.231-243
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• 2009

Currently interests of embedded software in various areas such as automotive field, ship field, robot field is increasing according to expand market of embedded systems. Various researches such as embedded operating systems, embedded software modeling technique, embedded software testing, and so on are going in progress. However systematic engineering approach in embedded system development is poor because embedded areas focus on hardware parts until now. Furthermore, framework-based de sign technique considering reusability is not reflected in embedded system development. Those development results in many of dead codes scattered in system, and results in poor reusability of system. This paper suggests a framework of embedded system for reusability and a static meta-model for reuse framework. Proposed meta-model expresses not only the structure of reuse framework, but also allows a designer to extend and design easily models of embedded system based on reuse framework according to various embedded system types.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.356-363
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• 2014

This paper covers improvement of the humanoid robot platform HUBO2, known as the HUBO2+. As a necessity of the growth of the humanoid platform, a robust, reliable and user friendly platform is needed. From this standpoint, HUBO2+ is the most improved humanoid robot platform in the HUBO series. The mechanical design has been changed to increase the movable range and to stop joint compulsion. Additionally, all of the electrical parts are re-designed to be un-breakable in an unexpected situation. A smart power controller with robot status check panel is attached on the back. Additionally, a diagnosis tool, the HUBO-i, has been developed. Moreover, each joint motor controller of HUBO2+ has a Protection Function and a PODO system is provided for handling the robot easily.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.3-117
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• 2002

In this paper a new framework is presented for developing the personal robot being used in home environments. We mainly focus on the system engineering technology such as the modularization and standardization. Effective ways for interfacing among modules are addressed regarding compatibility in hardware and software, and as a result a personal robot platform named DHR I is built. The robot is composed of five modules such as brain, mobile, sensor, vision, and user interface modules. Each module can be easily plugged in the system in a mechanical as well as electrical sense by sharing the communication protocol with IEEE1394 FireWire. &n...

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.11
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• pp.1126-1130
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• 2010

Research on intelligent robot is in active progress as the next generation IT education area. Since intelligent robots are closely related to the real human world, they should provide human behaviors or judging ability as their functions. For this reason, research is recently done not only on diverse hardware of robot education but also on service component architecture which includes various functions. In this paper we propose a study on learning to creative solve problems using RDS(Robotics Developer Studio). RDS is a software tool to control or program intelligence robot as a software module. Using service component framework which considers standardization of the integrated development of intelligent robot, we expect to provide 3-dimensional visual simulation environment, and save time and costs in education the environment for the intelligence robot experiment.

• Journal of Advanced Navigation Technology
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• v.13 no.6
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• pp.894-900
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• 2009

In this paper, we propose the structure of system integration on the global ethernet networks using OpenRTM which was developed in Japan among the integration software framework based on middleware. In order to verify for propose model, we implement of environment monitoring system of mobile robot applied OpenRTM structure and we also verify that proposed validity of the structure of integration through experiment in the implemented system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.10
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• pp.2129-2136
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• 2012

With the increased demand of ubiquitous home services, intelligent robots have wide attentions. This kind of robots offer various services through middleware components which can connect with remote servers. In this paper we present an UPnP(Universal Plug and Play) based open-source software framework which makes control the robots remotely. This UPnP architecture for home networking can provide various communication methodologies like command control, eventing, presentation with web services and so on. This paper shows successful implementation results on two real platforms.

• 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.35-42
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• 2006

본 논문에서는 내장형 소프트웨어 시스템, 특히 로봇 소프트웨어를 위한 self-managed 소프트웨어 개발 프레임워크로서 SHAGE 프레임워크를 제안하였다. SHAGE 프레임워크는 소프트웨어를 실행시간에 동적으로 변경시킬 수 있도록 지원하는 여러 모듈로 구성되어 있다. Observer가 외부 상황을 관찰하고 관찰된 상황이 Architecture Broker로 전달되면 후보 아키텍처 재구성 전략을 검색하고 Component Broker가 구체화 컴포넌트들을 검색한 후 상황에 적절한 아키텍처 재구성 전략과 컴포넌트 구성을 Decision Maker가 선택한다. Reconfigurator가 선택된 전략과 컴포넌트 구성을 기초로 로봇의 아키텍처를 재구성한다. 적응행위를 Evaluator가 평가하고 그 결과를 Learner가 축적하여 나중에 Decision Maker가 사용할 수 있게 한다. 프레임워크의 효용성을 확인하기 위해서 실제 로봇을 이용한 사례연구를 수행하였고, 이 실험을 통해 적응 과정을 확인하였다. 로봇은 상황과 사용자의 피드백에 적응하였다.