소프트웨어 컴포넌트 기반 로봇 시스템을 위한 입출력 연관관계 기반 적응형 조합 테스팅 기법

강정석,박홍성,Kang, Jeong Seok,Park, Hong Seong 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.7

In the testing of a software component-based robot system, generating test cases for the system is a time-consuming and difficult task that requires the combining of test data. This paper proposes an adaptive combinatorial testing method which is based on the input/output relationship among components and which automatically generates the test cases for the system. The proposed algorithm first generates an input/output relationship graph in order to analyze the input/output relationship of the system. It then generates the reduced set of test cases according to the analyzed type of input/output relationship. To validate the proposed algorithm some comparisons are given in terms of the time complexity and the number of test cases.

Bridge for Exchange of Data/Service between Robot Software Platforms

Ki-Won Lee,Hong-Seong Park 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

Those robot software platforms built on component-based software engineering have the dependency problem that they are operated only on certain platform components. Such problem causes unproductive situation due to duplicate production of robot software platform resulting from dependency. On that account, the proposed bridge aims to address unproductive situation caused by duplicate production by solving component dependency problem between robot software platforms. Moreover, it has some additional benefits. First, an operating robot maintains realtime system. Second, it can leverage the features of other platform components. Third, it does not modify or reproduce robot software platforms. This thesis aims to realize the proposed bridge and demonstrate the interoperation as to the exchange of data and service between the following heterogeneous robot software platforms: OPRoS and ROS.

네트워크 로봇의 서비스 통합을 위한 템플릿 컴포넌트

김주형,이호동,박귀태 한국로봇학회 2011 로봇학회 논문지 Vol.6 No.1

In a large scale robot system, one of important problems is software integration, which involves three elements: modularity, reusability and stability. By these issues, the degree of convenience of system integration, its required time and the performance of the system stability can be determined. In addition, the convenience of system management can be determined by the degree of completion of service components. This paper explains the template based service component (TBSC) for the integration of service components in networked robot. The important characteristics of TBSC are automatical execution and recovery process by a PnP supporting robot framework, which helps a system operator to manage a robot system comfortably. For easy implementation and system stability, we provide a service component creator and a verification tool to developers.

로봇 소프트웨어 컴포넌트의 재사용성을 위한 C++ 객체의 바이너리 호환성 유지 방법

유동욱(Donguk Yu),박홍성(Hong Seong Park) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.8

This paper proposes the C++-based binary compatibility object model(CBCOM) to maintain the binary compatibility of software components that share objects among C++-based executable codes, such as .exe and .dll, for reusability of robot-software components. In addition, the proposed model provides methods such as overriding and overloading, multiple inheritances of interfaces, and exception handling. This paper illustrates how to use the proposed model via a simple example in the Windows environment. The proposed method is validated by application examples and comparisons with known object models, such as C++, COM, and CCC, in terms of the call time of a method during execution and binary compatibility for reusability of robot software components independent of the interface version or the types of compilers. Additionally, this paper shows that CBCOM-based components that are compiled with Microsoft Visual C++ and GCC can call each other and that any interface version problems are resolved.

네트웍 기반 모듈라 로봇의 원격 제어

염동주,이보희 중소기업융합학회 2018 융합정보논문지 Vol.8 No.5

동작을 기억하는 모듈라 로봇은 손으로 직접 표현하기 때문에 창의적 구조물을 쉽게 만들고, 동작시킬 수 있다. 하지만 사용자에 의하여 만들어진 동작을 저장할 충분한 저장 공간이 모듈 내에 없어서 만들어진 동작을 재사용이 불가능하며 모듈라 로봇이 다시 동작을 기억할 시에 다른 동작으로 바뀌게 된다. 또한, 다수의 모듈라 로봇을 동시에 동작시킬 수 있는 주 제어기가 없어서 직접적으로 사용자가 모듈라 로봇에 입력해야하는 단점이 있다. 이러한 단점을 극복하고자, 유선 및 무선 네트웍을 이용하고 웹 서버 및 컴퍼넌트 기반 소프트웨어를 설계하여, 주변의 스마트 기기에서 동작시킬 수 있는 원격제어기를 제안하였다. 그리고 제안된 제어기의 하드웨어 개념 및 소프트웨어의 연결 관계를 자세히 제시 하였다. 제안된 방식은 모듈라 로봇에 연결하여 다양한 형태의 구조물을 만들어 동작시키고 저장한 후 다시 재생 동작을 수행하여 동작의 재현성을 보였으며 기존의 저장된 동작을 효과적으로 재생함으로써 유용성을 확인하였다. 아울러 다운로드한 궤적 데이터를 도해적으로 표현하고 실제 동작된 궤적과의 차이를 분석하여 신뢰성을 확인하였다. 향후에는 원격제어기에 저장된 궤적을 인공지능 기법을 이용하여 표준화시켜 모듈라 로봇의 동작을 손쉽게 구현 시킬 예정이다. A modular robot that memorizes motion can be easily created and operated because it expresses by hand. However, since there is not enough storage space in the module to store the user-created operation, it is impossible to reuse the created operation, and when the modular robot again memorizes the operation, it changes to another operation. There is no main controller capable of operating a plurality of modular robots at the same time, and thus there is a disadvantage that the user must input directly to the modular robot. To overcome these disadvantages, a remote controller has been proposed that can be operated in the surrounding smart devices by designing web server and component based software using wired and wireless network. In the proposed method, various types of structures are created by connecting to a modular robot, and the reconstructed operation is performed again after storing, and the usefulness is confirmed by regenerating the stored operation effectively. In addition, the reliability of the downloaded trajectory data is verified by analyzing the difference between the trajectory data and the actual trajectory. In the future, the trajectory stored in the remote controller will be standardized using the artificial intelligence technique, so that the operation of the modular robot will be easily implemented.

소프트웨어 컴포넌트 기반 로봇 시스템을 위한 입출력 연관관계 기반 적응형 조합 테스팅 기법

강정석(Jeong Seok Kang),박홍성(Hong Seong Park) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1

In the testing of a software component-based robot system, generating test cases for the system is a time-consuming and difficult task that requires the combining of test data. This paper proposes an adaptive combinatorial testing method which is based on the input/output relationship among components and which automatically generates the test cases for the system. The proposed algorithm first generates an input/output relationship graph in order to analyze the input/output relationship of the system. It then generates the reduced set of test cases according to the analyzed type of input/output relationship. To validate the proposed algorithm some comparisons are given in terms of the time complexity and the number of test cases.

로봇 소프트웨어 컴포넌트의 프레임워크 수준 결점관리 방안

김종영(JongYoung Kim),윤희병(HeeByung Yoon) 한국정보과학회 2011 정보과학회 컴퓨팅의 실제 논문지 Vol.17 No.9

자율로봇은 일반적으로 임베디드 기반의 실시간 및 데이터 집약적인 특성을 지니며 안전성, 신뢰성 그리고 결점감내와 같은 시스템 속성을 보장해야 한다. 컴포넌트 기반 로봇의 경우, 컴포넌트를 실행하고 관리하는 프레임워크 차원에서 결점을 관리할 필요가 있으나 대부분의 로봇 소프트웨어 프레임워크가 결점을 관리할 수 있는 기능을 체계적으로 지원하고 있지 않다. 본 논문에서는 지식경제부 주관으로 개발되고 있는 로봇 표준 플랫폼인 오프로스를 기반으로 소프트웨어 프레임워크 차원에서 컴포넌트의 결점을 탐지, 진단, 고립 및 복구하는 방법을 제안한다. 제안 방법은 로봇 컴포넌트에서 공통적으로 발생할 수 있는 결점을 프레임워크에서 일괄적으로 관리함에 따라 응용개발자의 부담을 감소시켜주고 컴포넌트 기반 로봇의 신뢰성을 향상시킬 수 있다. 제안 방법의 타당성을 검증하기 위해, 오프로스 컴포넌트를 활용하여 감시정찰 임무를 수행하는 로봇을 구현하고 결점주입(Fault Injection) 기법을 활용하여 실험한다. 실험 결과, 소프트웨어 프레임워크에서 컴포넌트 결점을 효율적으로 탐지, 진단 및 복구할 수 있음을 확인할 수 있었다. Software for autonomous robotics is typically embedded based realtime, and dataintensive and must guarantee system properties such as safety, reliability, and fault tolerance. In component based robot it is necessary to provide a common, framework-level fault management. However, the majority of existing robot software frameworks has failed to provide systematic fault management features. In this paper, we propose a fault management method to detect, diagnose, isolate and recover faults based on the OPRoS software framework. The proposed method provides a collective, framework-level management for commonly encountered robot software faults, thereby reducing the application developers’ efforts while enhancing the robot system reliability. To verify the effectiveness of the proposed approach, we implement a prototype reconnaissance robot using OPRoS components and injected different types of faults. The results of the experiments have shown that our approach effectively detect, diagnose, and recover component faults using the software framework.

로봇 소프트웨어 컴포넌트의 실행 모니터링/효율적인 데이터 관리방안

김종영(JongYoung Kim),윤희병(HeeByung Yoon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.11

As robotics systems are becoming more complex there is the need to promote component based robot development, where systems can be constructed as the composition and integration of reusable building block One of the most important challenges facing component based robot development is safeguarding against software component failures and malfunctions. The health monitoring of the robot software is most fundamental factors not only to manage system at runtime but also to analysis information of software component in design phase of the robot application. And also as a lot fo monitoring events are occurred during the execution of the robot software components, a simple data treatment and efficient memory management method is required. In this paper, we propose an efficient events monitoring and data management method by modeling robot software component and monitoring factors based on robot software framework. The monitoring factors, such as component execution runtime exception, Input/Output data, execution time, checkpoint-rollback are deduced and the detail monitoring events are defined. Furthermore, we define event record and monitor record pool suitable for robot software components and propose a efficient data management method. To verify the effectiveness and usefulness of the proposed approach, a monitoring module and user interface has been implemented using OPRoS robot software framework. The proposed monitoring module can be used as monitoring tool to analysis the software components in robot design phase and plugged into self-healing system to monitor the system health status at runtime in robot systems.

Serviceable Intelligent Agent for Ubiquitous

Dong W. Kim 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

Autonomous Gesture Generation in Humanoid Robot using Knowledge-Based System

정유철(Yu Chul Jung),Laxmisha Rai,홍지만(Jiman Hong),한헌수(Hernsoo Hahn) 한국정밀공학회 2009 한국정밀공학회 학술발표대회 논문집 Vol.2009 No.6월