Mi-sook Kim

Open Software Platform for Robotic Services

In this paper, an efficient development environment for vertical integration of many tasks involved with robot programming, called Open software Platform for Robotic Services (OPRoS), is presented. It covers from the control of hardware (HW) devices to the execution of complicated application programs. Based on general software (SW) architecture, standardized components with design patterns, frameworks, and servers are offered for developing robot SW applications easily and efficiently. Specially, an easy and one-stop Integrated Development Environment (IDE) and simulation tools are provided to make the management and debugging easier, and to check performance in advance. For an all-level development environment, the IDE of OPRoS supports development from low-level device controls to high-level contents composition, and hence, many programs ranging from HW device programs to complicated applications can be developed and integrated in a single development environment. Additionally, OPRoS makes all modules and components undergo the proper evaluation and test, which avoids potential errors due to incomplete coding. As a comprehensive platform for robot SW applications, OPRoS provides convenient environments for all development steps from editing through verification to execution.

Components and an effective IDE of Open software Platform for Robotics Services

In this paper, we propose the components and an effective integrated development environment (IDE) of an Open software Platform for Robotic Services (OPRoS) that covers from the control of H/W devices to the execution of complicated application programs. Standardized components with data, service, and event ports are offered for developing robot S/W applications easily and efficiently by just combining several components in proper ways. Some design patterns are also provided for general reusable solutions to commonly occurring problems in developing the robot S/W applications. For an all-level development environment, the IDE of the OPRoS supports the development from low-level device controls to high-level contents composition. It turns out that, as a comprehensive platform for robot S/W applications, the proposed OPRoS provides convenient environments for all development steps from editing to execution.

A scheduling for periodic robot software components

In this paper we presented a novel Delta time Scheduling algorithm for periodic Robot Software components. This algorithm dynamically assigns priority to components, by calculating delta time, which is, generally, difference between periods of components of Robot application. Therefore, performance of the time-critical and data-sensitive applications could be improved, especially, when they operate under general OSs such as Windows XP, Linux. We implemented proposed scheme on the OPRoS component execution engine and run under Windows XP. Here we show the performance results, which verify usefulness of Delta time Scheduling algorithm.

An automatic robot software design tool: An Open Platform for Robotics Services

Open Platform for Robotics Services (OPRoS) is a project funded by the South Korea government. Its first released results including executables and source codes with their document, are on its homepage. OPRoS is designed based on component modeling. It covers defined templates of the component, a framework that has component execution engines and several managers, GUI based editors, a simulator as tools for evaluation of robot tasks, and a server that has global repository function for OPRoS components and supports distributed component computation load. Real-time scheduling, multi-board performance, and integration with editors for different level of users are features currently under development. The open source codes are expected to reduce development loads and support fast robot software development.

Managing algorithm of graph structured scenario for robot

All the robots except industrial robots and medical robots are defined as service robots. Robots having the same functions can be used in different business areas. For example, robotic reception service and museum guide service move around the restaurant or museum and run facial recognition algorithms, but different contents are used for what is displayed to users. When a face was detected, different responses might be applied to different robots. The services arranged in a graph is called scenario in this paper. When a scenario is written, it has not only a sequential flow, but also conditional flow and repeat flow. This paper introduces an algorithm managing a graph having conditional sub graphs and repeat sub graphs.

Open platform for ubiquitous robotic services

Open Platform for Robotic Services (OPRoS) is an open source robot software platform funded by the Korean government. Its research results are released on its homepage. OPRoS supplies several IDEs working with its framework for easy and fast development. The Component Editor, Component Composer, and Simulator are core development tools for ubiquitous robot. Robot-in-the-loop-Simulation (RILS) is an additional simulation based development tool. This paper explains these core tools used with a reference robot.