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Windows NT상에서의 OPRoS 컴포넌트 스케줄러의 실시간성 분석 및 개선
이동수(Dong-Su Lee),안희준(Heejune Ahn) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.1
The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10㎳.
An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM
Salov, Andrey D.,Park, Hong Seong,Han, Soohee,Lee, Dooam The Korean Institute of Electrical Engineers 2014 Journal of Electrical Engineering & Technology Vol.9 No.2
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.
상태감시컴포넌트를 사용한 OPRoS 프레임워크의 고장감내 기법
안희준(Heejune Ahn),안상철(Sang Chul Ahn) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.8
The OPRoS (Open Platform for Robotic Services) framework is proposed as an application runtime environment for service robot systems. For the successful deployment of the OPRoS framework, fault tolerance support is crucial on top of its basic functionalities of lifecycle, thread and connection management. In the previous work [1] on OPRoS fault tolerance supports, we presented a framework-based fault tolerance architecture. In this paper, we extend the architecture with component-based fault tolerance techniques, which can provide more simplicity and efficiency than the pure framework-based approach. This argument is especially true for fault detection, since most faults and failure can be defined when the system cannot meet the requirement of the application functions. Specifically, the paper applies two widely-used fault detection techniques to the OPRoS framework: ‘bridge component’ and ‘process model’ component techniques for fault detection. The application details and performance of the proposed techniques are demonstrated by the same application scenario in [1]. The combination of component-based techniques with the framework-based architecture would improve the reliability of robot systems using the OPRoS framework.
An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM
Andrey D. Salov,Hong Seong Park,Soohee Han,Dooam Lee 대한전기학회 2014 Journal of Electrical Engineering & Technology Vol.9 No.2
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.
OPRoS 플랫폼을 이용한 무인자율주행 시스템의 행동선택기반 주행제어 방법
노명찬(Myungchan Roh),변재민(Jaemin Byun),김성훈(Sunghoon Kimg),유원필(Wonpil Yu) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
This paper presents a way to control for autonomous vehicle based behavior selection mechanism with guaranteeing safe and real-time. A our autonomous vehicle system consists of environmental perception module, task manager module, abstract sensor module, virtual robot to recognize itself the surrounding environment and reach the final destination. In this paper, we introduce a novel way to design a system architecture of the autonomous vehicle to integrate and operate cooperatively with main components based on OPRoS(Open Platform for Robotic Services) platform, and practically implement a behavior selection mechanism according to various situations.
서비스로봇의 신뢰성 향상을 위한 OPRoS 기반 Fault-tolerance 기법
안희준(Heejune Ahn),이동수(Dongsu Lee),안상철(Sang Chul Ahn) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.6
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.