Electronics and Telecommunications Research Institute

Seung-Woog Jung

Byoung Youl Song

Sung Hoon Kim

Choul Soo Jang

Hyun Kyu Cho

Choulsoo Jang

Sung-Hoon Kim

Kyeong Ho Lee

Chang Eun Lee

Joong Bae Kim

Myung Chan Roh

Byoung-Youl Song

Hyun-Kyu Cho

Choul-Soo Jang

Joong-Ki Park

An apparatus for executing components based on a thread pool includes a component executor configured to have a set priority and period, to register components having the set priority and period, and to execute the registered components. Further, the apparatus for executing the components based on the thread pool includes a thread pool configured to allocate a thread for executing the component executor; and an Operating System (OS) configured to create an event for allocating the thread to the component executor in each set period.

Apparatus and method for executing components based on thread pool

A component composing apparatus using virtual components in component-based robot software development, includes a component repository configured to store a plurality of components having at least one port; and an application diagram generation unit configured to create an application diagram by selecting the components stored in the component repository. Further, the component composing apparatus includes an information repository configured to store the components within the application diagram and port information of the components within the application diagram and port connection information between the components within the application diagram; and a virtual component processing unit configured to create the virtual components for components selected by a user among the components within the application diagram.

Component composing apparatus and method using virtual components in component-based robot software development

An apparatus for thread processing robot software components includes a data port unit for storing input data in a buffer and then processing the data in a periodic execution mode or in a dedicated execution mode; an event port unit for processing an input event in a passive execution mode; and a method port unit for processing an input method call in the passive execution mode by calling a user-defined method corresponding to the method call. In the periodic execution mode, the data is processed by using an execution thread according to a period of a corresponding component. In the dedicated execution mode, a dedicated thread for the data is created and the data is processed by using the dedicated thread.

System and method for thread processing robot software components responsive to periodic, dedicated, and passive modes

A data encoding apparatus for communicating between robot softwares includes a meta structure converter factory configured to allow one or more meta structure converters generated based on an information file, and if a type of user data for encoding is a structure or a structure array, select a meta structure converter, operable to convert a structure of the user data into a meta structure, from among the registered meta structure converters; an encoder factory configured to allow encoders for respective types of data to be registered, and to select an encoder from among the registered encoders in order to encode the user data to be encoded; and an encoder unit configured to encode the user data to be encoded using the meta structure generated by the selected meta structure converter and the encoder.

Data encoding and decoding apparatus and method for communicating between robot softwares

A configuration method of a method port arrangement for robot software component includes: generating a requester method port module and a provider method port module; generating a requester method module and a provider method module depending on application of a method module to be generated in the component; registering the requester method module in the requester method port module and the provider method module in the provider method port module; and registering, in a method port management module, the requester method port module and the provider method port module where the requester method module and the provider method module have been registered. The method further includes establishing the requester method port module to be operated by interconnecting the requester method port module and the provider method port module; and executing input and output operations to/from the requester method port or the provider method port depending on application of the component.

Method port arrangement and configuration method thereof for robot software component

Provided are an apparatus and a method of controlling the execution of components without an additional port or messaging for applying the dependency among the components. The apparatus comprises: a profile analyzing unit analyzing execution dependency information of components defined in an execution coordination profile; a component managing unit arranging the components in accordance with the execution sequence of the components caused by the execution dependency information; an execution coordination managing unit determining whether or not each of the components executes the operation on the basis of the execution dependency information of the corresponding component managed by the execution coordination units allocated to the components, respectively; and an operation executing unit executing the operation of each of the components in accordance with the determination result of the execution coordination manager.

Apparatus and method of coordinating operation action of robot software component

An apparatus for performing fault tolerance against a failure occurring during driving robot software components includes: a component executor for executing the robot software components, which are assigned with one thread from an operating system and have a same priority and cycle, by using the assigned thread; and an executor monitor for periodically monitoring the operation of the component executor and determining whether or not there is a failure in the robot software components executed by the component executor. The apparatus further includes: an executor manager for generating the component executor which is assigned with the robot software components having the same priority and cycle and, when the executor monitor determines that there is a failure in the execution of the robot software components, generating a new component executor.

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Daejeon, South Korea

Seung-Woog Jung