서비스로봇의 신뢰성 향상을 위한 OPRoS 기반 Fault-tolerance 기법

다국어 초록 (Multilingual Abstract)

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.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. OPRoS 컴포넌트 모델의 소개
• Ⅲ. Fault Tolerance 지원 구조
• Ⅳ. 프레임웍에 적용된 fault tolerance 기법들
• Ⅴ. 검증 시험
• Ⅵ. 결론
• 참고문헌

참고문헌 (Reference)

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6 Inhwan Lee, "Software Dependability in the Tandem GUARDIAN System" 21 (21): 455-467, 1995

7 ISO, "Service Robot Group"

8 OMG, "Robotic Technology Component Specification Version 1.0"

9 "OPRoS project official site"

10 "OPRoS Component Spec" 2009

11 Microsoft, "Microsoft Robotics Developers Studio R2"

12 Hanback Electronics Inc, "HBE-Robonova-AI (Embedded Robot with Robonova Body)"

13 I. Koren, "Fault Tolerant System" Morgen Kaufman Publisher 2007

14 C. Ferrell, "Failure Recognition and Fault Tolerance of an Autonomous Robot" 2 : 375-398, 1994

15 B. Perens, "Electrical Fence"

16 B. Song, "An Introduction to robot Component Model for OPROS" 2008

17 G. R. Lueke, "A Survey of Systems for Detecting Serial Run-Time Errors" 18 (18): 1885-1907, 2006