Byoungyoul Song

A Development of Software Component Framework for Robotic Services

Robot software components, which can be accessed through their interface, are reusable and replaceable software modules used in composing robotic services. Using robot software components in developing a robot, developers can expect shortening of developing times, reduction of maintenance cost and improvement of program reusability, because interoperability among components is guaranteed. We have developed a component framework assisting robot developers to make robot application with ease. The component framework consists of a specification of component model, a component authoring tool, a component composer, and a component container. In this paper, we will not only show the developed component framework, but also demonstrate its usability by applying to commercial robots.

A heterogeneous coupling scheme of OPRoS component framework with ROS

The Open Platform for Robotic Services (OPRoS) supports the full life cycle for robot software development and execution by providing the robot software component model, component execution engine, various middleware services, development tools, and simulation environment. This paper describes a heterogeneous coupling scheme of OPRoS framework with ROS of which the communication infrastructure is made with the topics based on public/subscribe scheme.

Real-time supporting of OPRoS component Platform

The Open Platform for Robotic Services (OPRoS) supports the full life cycle for robot software development and execution by providing the robot software component model, component execution engine, various middleware services, development tools, and simulation environment. This paper describes real-time supporting of OPRoS component execution engine which is responsible for management and execution of components.

Speech-based Human-Robot Interaction Components for URC Intelligent Service Robots

This video is concerned with a scenario for developing speech-based Human-Robot Interaction (sHRI) components for Ubiquitous Robot Companion (URC) Intelligent Service Robots as one of the next-generation growth engine industries in Korea. Here the URC means that it will provide the necessary services at any time and place to meet the users requirements. Thus, it combines the network function with the current concept of a robot in order to enhance mobility and human interface. The main characteristics of this video are to combine of text-independent speaker recognition and Korean-based spontaneous speech recognition from two speakers in scenario. Especially each speaker communicates with service robot through spontaneous speech recognition with continuous words to provide useful information such as daily life schedule and TV program suitable to the speaker recognized. On the basis of these components, consumers will be able to utilize various speech-based services of the robot.

Event Port Extension of OPRoS Framework for Inter-connecting with ROS Topic

ROS is based on a graph architecture where processing takes place in nodes. Nodes communicate together by passing messages through topics based on the publish/subscribe model. On the other hand, OPRoS components know each other and are tightly-coupled via port connections, and different coupling schemes make the interoperation between two platforms difficult. This paper describes an extension of OPRoS framework to support the interoperation with the ROS topic.

Block comparison based face identification using HOG feature

The fully automatic face identification on the robot system usually meet challenging environments due to the motion blur, illumination change, and erroneous face normalization caused by imperfect face detection. In the face identification system, multiple images of same individual in gallery set can be used as useful sources for good identification. This paper introduces the face identification system using efficient comparison method between gallery and probe set using HOG features. The comparison method based on blocks makes possible that the system could effectively use the limited registration images in the classification step. The whole process is validated on ETRI-HRI Database acquired in uncontrolled environment.

Transformation algorithms between WSCI and BPEL4WS for the collaborative business process

Web services is an emerging technology of distributed computing as an interoperable means of integrating loosely coupled Web applications. To support the business process based on Web services, several specifications, such as BPEL4WS, WSCI, and BPML, were suggested. Among them, BPEL4WS and WSCI may be used to describe a collaborative business process that describes visible message exchanges covering one or more participants involved. In this paper, we suggest the transformation algorithms between WSCI and BPEL4WS to enhance the interoperability. For example, a BPEL4WS implementation system may use the transformation algorithm from WSCI into BPEL4WS to refer to a WSCI-formatted abstract business process

A robot software middleware based on the OPRoS and the RTX

The OPRoS(Open Platform for Robotic Services) is a robot software platform to operate hardware device components and software algorithm components in order to perform given tasks effectively. But, the OPRoS cannot support hard real time in the MS Windows due to limit of general purpose operating system that aims at efficiency of overall processes. IntervalZeros RTX transforms Windows into a real time operating system. This paper introduces a robot software middleware that support to develop real-time robot application using OPRoS component model on the RTX.

The OPRoS fault processing framework

The Open Platform for Robotic Services (OPRoS) is a robot software platform that provides component-based development and execution environments for robot software. It also supports the full life cycle for robot software development and execution by providing the robot software component model, component execution engine, various middleware services, development tools, and simulation environment. This paper describes the fault processing framework that processes faults in the OPRoS component execution engine.