제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design for Supporting Interoperation between Heterogeneous Networks in Personal Robot System

  • Choo, Seong-Ho (Division of Electrical and Computer Engineering, Kangwon National University) ;
  • Li, Vitaly (Division of Electrical and Computer Engineering, Kangwon National University) ;
  • Jang, Ik-Gyu (Division of Electrical and Computer Engineering, Kangwon National University) ;
  • Park, Tae-Kyu (Division of Electrical and Computer Engineering, Kangwon National University) ;
  • Jung, Ki-Duk (Division of Electrical and Computer Engineering, Kangwon National University) ;
  • Choi, Dong-Hee (Division of Electrical and Computer Engineering, Kangwon National University) ;
  • Park, Hong-Seong (Division of Electrical and Computer Engineering, Kangwon National University)
  • Published : 2004.08.25
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Abstract

Personal Robot System in developing, have a module architecture, each module are connected through heterogeneors network systems like Ethernet, WLAN (802.11), IEEE1394 (Firewire), Bluetooth, USB, CAN, or RS-232C. In developing personal robot system we think that the key of robot performance is interoperability among modules. Each network protocol are well connected in the view of network system for the interoperability. So we make a bridging architecture that can routing, converting, transporting data packets with matcing each network's properties. Furthermore we suggest a advanced design scheme for realtime / non-realtime and control signal (short, requiring hard-realtime) / multimedia data (large, requiring soft-realtime). By some application systems, we could test performance, interoperability and stability. In this paper, we show our design concept, middleware architecture, and some applications systems using this middleware.

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