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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2008.4
- 수록면
- 399 - 405 (7page)
이용수
초록· 키워드
오류제보하기
Recently, robot technology is actively going on progress to the field of various services such as home care, medical care, entertainment, and etc. Because these service robots are in use nearby person, they need to be operated safely even though hardware and software faults occur. This paper proposes a Fault-Tolerant middleware for a robot system, which has following two characteristics: supporting of heterogeneous network interface and processing of software components and network faults. The Fault-Tolerant middleware consists of a Service Layer(SL), a Network Adaptation Layer(NAL), a Network Interface Layer(NIL), a Operating System ion Layer(OSAL), and a Fault-Tolerant Manager(FTM). Especially, the Fault-Tolerant Manager consists of 4 components: Monitor, Fault Detector, Fault Notifier, and Fault Recover to detect and recover the faults effectively. This paper implements and tests the proposed middleware. Some experiment results show that the proposed Fault-Tolerant middleware is working well.
목차
Abstract
Ⅰ. 서론
Ⅱ. 서비스 로봇을 위한 결함 허용 미들웨어
Ⅲ. 결함 허용 관리자(fault-tolerant manager) 구조
Ⅳ. 구현 및 성능 측정
Ⅴ. 결론
참고문헌
참고문헌 (15)
참고문헌 신청
1. [학술지(정기간행물)] - 이승익 / 2007 / 지능형 서비스 로봇을 위한 유비쿼터스 환경과 제어구조 / 전자통신동향분석 22 (2) : 20 ~ 30
2. [학술지(정기간행물)] - A. Avizienis / 2004 / Basic concepts and taxonomy of dependable and secure computing / Journal of Dependable and Secure Computing IEEE Transaction 1 (1) : 11 ~ 33
3. [학술대회논문] - S. C. Ahn / 2005 / UPnP approach for robot middleware / Proceeding of the 2005 IEEE International Conference on Robotics and Automation (ICRA2005) : 1959 ~ 1963
4. [학술지(정기간행물)] - Hans Utz / 2002 / Miro-middleware for mobile robot applica-tions / IEEE Transaction on Robotics and Automation 18 (4)
5. [학술지(정기간행물)] - S. S. Hong / 2006 / The Robot Software Communication Architecture(RSCA): embedded middleware for networked service robots / Proceeding of the IEEE International Workshop on Parallel and Distributed Real-Time Systems (WPDRTS)
2. [학술지(정기간행물)] - A. Avizienis / 2004 / Basic concepts and taxonomy of dependable and secure computing / Journal of Dependable and Secure Computing IEEE Transaction 1 (1) : 11 ~ 33
3. [학술대회논문] - S. C. Ahn / 2005 / UPnP approach for robot middleware / Proceeding of the 2005 IEEE International Conference on Robotics and Automation (ICRA2005) : 1959 ~ 1963
4. [학술지(정기간행물)] - Hans Utz / 2002 / Miro-middleware for mobile robot applica-tions / IEEE Transaction on Robotics and Automation 18 (4)
5. [학술지(정기간행물)] - S. S. Hong / 2006 / The Robot Software Communication Architecture(RSCA): embedded middleware for networked service robots / Proceeding of the IEEE International Workshop on Parallel and Distributed Real-Time Systems (WPDRTS)
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