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Kim J.,Korea University | Yoon H.,Korea University | Kim S.,Intelligent Robot Control Research Team | Son S.H.,University of Virginia
Proceedings - 2011 14th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing, ISORC 2011 | Year: 2011

Component-based robot development has been a vibrant research topic in robotics due to its reusability and interoperability benefits. However, robot application developers using robot components must invest non-trivial amount of time and effort applying fault tolerance techniques into their robot applications. Despite the need for a common, framework-level fault management, 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 have implemented a prototype reconnaissance robot using OPRoS components and injected different types of faults. The results of the experiments have shown that our approach effectively detects, diagnoses, and recovers component faults using the software framework. © 2011 IEEE.


Park J.,Intelligent Robot Control Research Team | Sohn J.,Intelligent Robot Control Research Team | Kim S.,Intelligent Robot Control Research Team
Advances in Intelligent Systems and Computing | Year: 2013

The legacy technologies of water quality measurement show the weakness that it manually or semi-automatically measures various water quality information at just only small parts of a large area. In this paper, we propose new water quality sensor apparatus which can consistently provide high resolution water quality data as well as attachable and PnP type deployable to underwater vehicles. The water quality sensor module, as a result of going through two water system tests in Han River and Gabchun and benchmarking with the commercial water quality meter, shows not only outstanding performance but also receives an official experimental achievement by the supervisor of the Korea Testing Laboratory. © 2013 Springer-Verlag.


Park J.,Intelligent Robot Control Research Team | Sohn J.,Intelligent Robot Control Research Team | Kim S.,Intelligent Robot Control Research Team
Studies in Computational Intelligence | Year: 2013

At the point of monitoring coverage, the legacy technologies of water quality measurement show the weakness. It manually or semi-automatically measures various water quality information at just only small parts of a large area. In this paper, we propose new water quality sensor apparatus which can consistently provide high resolution water quality data as well as attachable and PnP type deployable to underwater robots and buoys. The water quality sensor module, as a result of going through three water system tests in Han River, Gold River and Gapchun respectively and benchmarking with the commercial water quality meter, shows not only outstanding performance but also receives an official experimental certification by the supervisor of the Korea Testing Laboratory. © 2013 Springer-Verlag Berlin Heidelberg.


Shin M.E.,Texas Tech University | Gowda H.T.,Texas Tech University | Kang T.,Texas Tech University | Kim S.,Intelligent Robot Control Research Team | And 3 more authors.
SEKE 2010 - Proceedings of the 22nd International Conference on Software Engineering and Knowledge Engineering | Year: 2010

This paper describes a self-managing mechanism for failed component executors in a component execution engine for robot applications. Each component executor for robot applications should execute all the assigned components periodically within a defined cycle time. A component executor falls into a failure if it does not meet the cycle time requirements for the assigned components. To handle the failures of component executors, this paper describes the design of a self-managing mechanism, which includes detection and self-managing algorithms. The designed self-managing mechanism is implemented as a prototype before it is integrated with a component execution engine. The performance of the algorithms has been analyzed using the prototype.

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