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公开(公告)号：KR101363092B1
公开(公告)日：2014-02-14
申请号：KR1020120104509
申请日：2012-09-20
Applicant: 강원대학교산학협력단
Abstract: According to an embodiment of the present invention, a method for performing an RILS (Robot-in-the-loop simulation) of an OPRoS (Open platform robotic services)-based robot system comprises the steps of: generating a virtual avatar robot including multiple components corresponding to a real robot; selecting at least one component relative to an hardware among the multiple components; inserting information on an HIL (Hardware-in-the-loop-simulation) driver in a component profile corresponding to the at least one component relative to the hardware; and controlling the real robot or the avatar robot based on the operational results of the real robot and the avatar robot relative to a specific motion using the HIL driver. [Reference numerals] (611) Synchronizing module; (612) Real H/W control module; (613) Virtual H/W control module; (620) Real module; (630) OPRoS simulator
Abstract translation: 根据本发明的实施例，一种用于执行基于OPRoS（开放平台机器人服务）的机器人系统的RILS（机器人在环模拟）的方法包括以下步骤：生成包括多个的虚拟化身机器人 对应于真实机器人的部件; 相对于所述多个组件中的硬件选择至少一个组件; 在关于相对于所述硬件的所述至少一个组件对应的组件简档中的HIL（硬件在循环仿真）驱动器上插入信息; 并且基于使用HIL驱动器相对于特定运动的真实机器人和化身机器人的操作结果来控制真实机器人或头像机器人。 （附图标记）（611）同步模块; （612）真实H / W控制模块; （613）虚拟H / W控制模块; （620）实模块; （630）OPRoS模拟器
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公开(公告)号：KR101335038B1
公开(公告)日：2013-11-29
申请号：KR1020110085508
申请日：2011-08-26
Applicant: 강원대학교산학협력단
Abstract: 본 발명의 실시예들은 실시간 시스템에서 태스크들을 스케줄링하여 처리하는 기술에 관한 것으로, 특히 태스크들의 특성을 고려하여 태스크들 각각을 효율적으로 스케줄링하여 처리하는 알고리즘에 관련된다. 특히, 본 발명의 실시에에 의하면, 하나의 시스템에서 주기 태스크들 및 비주기 실시간 태스크를 함께 수행할 수 있고, 주기 태스크들 간의 선행 관계를 만족시키는 스케줄링 및 주기 태스크들의 스케줄링 시간에 의해 남는 잉여 시간에 비주기 실시간 태스크를 효율적으로 실행시킬 수 있는 스케줄링이 가능하다.
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公开(公告)号：KR101266565B1
公开(公告)日：2013-05-22
申请号：KR1020110085509
申请日：2011-08-26
Applicant: 강원대학교산학협력단
IPC: G06F11/36
Abstract: 본발명의실시예는소프트웨어를테스트하기위하여, 소프트웨어를컴포넌트단위로분리하고각 컴포넌트별테스트케이스들을생성하여, 소프트웨어를자동으로테스팅하는기술에관련된다. 특히, 본발명의실시예에의하면, 소프트웨어의테스팅을위하여, 단위소프트웨어의제공인터페이스의명세정보뿐아니라요구인터페이스의명세정보를고려하여효율적으로조합된테스트케이스를생성하고실행할수 있다.
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公开(公告)号：KR1020130022707A
公开(公告)日：2013-03-07
申请号：KR1020110085508
申请日：2011-08-26
Applicant: 강원대학교산학협력단
CPC classification number: G06F9/46 , G06F9/44 , G06F9/461 , G06F9/4881
Abstract: PURPOSE: A periodic and non-periodic real time task scheduling algorithm based on phase ordering and remaining time is provided to perform scheduling which satisfies preceding relations between periodic tasks and to perform scheduling for executing non-periodic real time tasks in remaining time. CONSTITUTION: A periodic task scheduler(610) performs scheduling of periodic tasks by considering preceding relations between the periodic tasks. A scheduling request receiving unit(620) receives a scheduling request of a non-periodic real time task from a system. A non-periodic real time task scheduler(630) performs the scheduling of the non-periodic real time task in remaining time of scheduling time of the periodic tasks. The periodic task scheduler preferentially schedules a task of which the entry degree is low on a graph structure based on a period and performance order of the periodic tasks. [Reference numerals] (610) Periodic task scheduler; (620) Scheduling request receiving unit; (630) Non-periodic real time task scheduler
Abstract translation: 目的：提供基于相位排序和剩余时间的周期性和非周期性实时任务调度算法，以执行满足周期性任务之前的关系的调度，并在剩余时间内执行非周期性实时任务执行调度。 构成：周期性任务调度器（610）通过考虑周期性任务之间的先前关系来执行周期性任务的调度。 调度请求接收单元（620）从系统接收非周期性实时任务的调度请求。 非周期性实时任务调度器（630）在周期性任务的调度时间的剩余时间内执行非周期性实时任务的调度。 周期性任务调度器基于周期性任务的周期和性能顺序优先在图形结构上安排入门程度低的任务。 [610]周期性任务调度器; （620）调度请求接收单元; （630）非周期性实时任务调度器
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公开(公告)号：KR101231771B1
公开(公告)日：2013-02-08
申请号：KR1020100140095
申请日：2010-12-31
Applicant: 강원대학교산학협력단
Inventor： 박홍성
Abstract: 본 발명은 로봇이 이동 또는 내부 고장 등의 의해 변경되는 외부 또는 내부의 환경 변화 및 상황 조건들에 적합한 반응 및 적절한 동작을 자율적으로 수행가능하도록 하기 위해 로봇 내부에 구비된 소프트웨어 컴포넌트 또는 외부의 서버로부터 다운받아 동적으로 재구성하는 로봇 소프트웨어 컴포넌트 동적 재구성 장치 및 방법을 제공하고자 한다.
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Patent Agency Ranking
公开(公告)号：KR1020120051935A
公开(公告)日：2012-05-23
申请号：KR1020100113315
申请日：2010-11-15
Applicant: 성균관대학교산학협력단 , 강원대학교산학협력단
CPC classification number: B25J9/1669 , B25J9/161 , B25J9/1671 , B25J13/088 , G05B2219/40041 , G05B2219/40317 , G06F9/448
Abstract: PURPOSE: A mobility component test system and method are provided to reduce the costs and time for a test by providing evaluation metrics of a mobility component and calculation references of test cases according to performance evaluation indexes. CONSTITUTION: A mobility component test system comprises a test agent(100) and a mobile rotor(200). The test agent comprises a transceiver unit(110) which transmits test data on test cases according to evaluation metrics to a mobile robot and a test unit(130) which receives test result data from the mobile robot and calculates the results of evaluation metrics based on the receives test result data.
Abstract translation: 目的：提供移动组件测试系统和方法，通过根据性能评估指标提供移动组件的评估指标和测试用例的计算参考，来降低测试的成本和时间。 构成：移动性部件测试系统包括测试剂（100）和移动转子（200）。 测试代理包括收发器单元（110），其根据评估指标将测试用例的测试数据传送到移动机器人;以及测试单元（130），其从移动机器人接收测试结果数据，并基于 接收测试结果数据。
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公开(公告)号：KR100965832B1
公开(公告)日：2010-07-01
申请号：KR1020100024893
申请日：2010-03-19
Applicant: 강원대학교산학협력단
Abstract: PURPOSE: A mutual message conversion method of a heterogeneous network is provided to automatically convert a mutually transmitted and received through different kind of communication methods to enable a heterogeneous network. CONSTITUTION: The start and termination position of each file of a payload corresponding to an analyzed non-IP message type is analyzed(S711), and a payload filed value of a corresponding position is extracted(S713). The extracted payload filed values are converted into an UPnP(Universal Plug and Play) message format corresponding to a non-IP message type value(S715). The payload field value is converted into the UPnP message value corresponding to the payload field value(S719), and a message of the UPnP device is created(S721).
Abstract translation: 目的：提供异构网络的相互消息转换方法，通过不同种类的通信方式自动转换相互发送和接收，从而实现异构网络。 构成：分析与分析的非IP消息类型对应的有效载荷的每个文件的起始和终止位置（S711），并提取相应位置的有效载荷归档值（S713）。 提取的有效载荷字段值被转换成对应于非IP消息类型值的UPnP（通用即插即用）消息格式（S715）。 有效载荷字段值被转换为与有效载荷字段值对应的UPnP消息值（S719），并且创建UPnP设备的消息（S721）。
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公开(公告)号：KR1020090105538A
公开(公告)日：2009-10-07
申请号：KR1020080031058
申请日：2008-04-03
Applicant: 강원대학교산학협력단
CPC classification number: H04L12/462 , G06F9/4413 , H04L41/0803 , H04L41/0866
Abstract: PURPOSE: A UPnP bridge apparatus for interworking with UPnP and an embedded non-IP device for reducing the waste of the memory are provided to dynamically interwork with UPnP without an execution program within a bridge. CONSTITUTION: A UPnP bridge apparatus for interworking with UPnP and an embedded non-IP device for reducing the waste of the memory includes a plug and play manager(130), a message conversion module(110), a device information storage(180) and a virtual UPnP device manager(140). The plug and play manager recognizes a connection and release of the Non-IP device. The message translation module performs the message conversion of the Non-IP apparatus for being recognized through plug and play manager. The apparatus information depository transmits the pertinent information to plug and play manager the connection or the deactivation event of the Non-IP apparatus the apparatus information storage.
Abstract translation: 目的：提供一种UPnP桥接器，用于与UPnP和嵌入式非IP设备互通，以减少内存的浪费，以便与UPnP动态互通，而桥内没有执行程序。 构成：用于与UPnP和嵌入式非IP设备相互作用以减少存储器浪费的UPnP桥接装置包括即插即用管理器（130），消息转换模块（110），设备信息存储器（180）和 虚拟UPnP设备管理器（140）。 即插即用管理器识别非IP设备的连接和释放。 消息转换模块执行非IP设备的消息转换，以便通过即插即用管理器进行识别。 设备信息存储处将相关信息发送到即插即用管理器，该非IP设备的连接或去激活事件设备信息存储。
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公开(公告)号：KR100915555B1
公开(公告)日：2009-09-03
申请号：KR1020070099280
申请日：2007-10-02
Applicant: 강원대학교산학협력단
IPC: H04L12/28
CPC classification number: Y02D50/10
Abstract: 본 발명은 지그비 네트워크에서 질의 기반의 경로 탐색을 수행하는 지그비 메쉬 라우팅 방법에 관한 것으로, 지그비(ZigBee) 네트워크를 구성하고 있는 노드들이 라우팅시에 지그비 코디네이터(ZC)와 지그비 라우터(ZR) 간에 질의를 기반으로 경로 탐색을 수행하는 지그비 메쉬 라우팅 방법을 제공하고자 한다.
이를 위하여, 본 발명은 지그비 네트워크에서 경로 탐색을 수행하는 지그비 메쉬 라우팅 방법에 있어서, 지그비 코디네이터에서 지그비 네트워크 토폴로지에 대한 관리를 수행하는 네트워크 토폴로지 관리 단계; 및 소스 노드가 목적지 노드로 데이터 전송을 위한 최적 경로를 상기 지그비 코디네이터에게 질의하여, 상기 지그비 코디네이터로부터 전달받은 최적 경로를 기반으로 상기 목적지 노드로 데이터를 전송하는 라우팅 단계를 포함한다.-
公开(公告)号：KR1020080060588A
公开(公告)日：2008-07-02
申请号：KR1020060134874
申请日：2006-12-27
Applicant: 강원대학교산학협력단
CPC classification number: Y02D70/10 , Y02D70/20 , H04L47/286 , H04L61/6081 , H04W84/18
Abstract: A method for setting packet TTL in initializing route discovery in zigbee mesh networks is provided to apply the optimal maximum value to the maximum TTL value settings, thereby reducing the load of the networks caused by broadcasting and reducing participation in the unnecessary route discovery of a node. A method for setting packet TTL(Time-To-Live) in initializing route discovery in zigbee mesh networks comprises the following steps of: receiving information about SrcDepth(Depth of Source node), ScrAddr(Address of Source node), and DstAddr(Address of Destination node)(S110); initializing and setting CurDepth(Current Depth), upper bound and lower bound values of a destination node depth, a RouterIndex(repeated Router Index) with the upper bound of a Rm(Maximum Router number), and inhValue(the number of branches between source node and destination node) into temporary variables(S120); detecting the depth of a destination node using the inputted information and set variables(S130~S170) and setting the packet TTL using an expression if the depth of the destination node is determined(S180). The expression is maxTTL=Ds+Dd-2xVi. Ds is depth from a coordinator to a source node. Dd is depth from the coordinator to the destination node. Vi is the number of branches between the source node and the destination node on the tree structure of the zigbee mesh networks.
Abstract translation: 提供了一种在zigbee网状网络中初始化路由发现中设置分组TTL的方法，以将最佳最大值应用于最大TTL值设置，从而减少广播引起的网络负载，并减少参与节点不必要的路由发现 。 在zigbee网状网络初始化路由发现中设置分组TTL（生存时间）的方法包括以下步骤：接收关于SrcDepth（源节点深度），ScrAddr（源节点地址）和DstAddr（地址 目的节点）（S110）; 初始化和设置CurDepth（当前深度），目标节点深度的上限和下限值，Rm（最大路由器号）的上限的RouterIndex（重复路由器索引）和inhValue（源的分支数 节点和目标节点）转换为临时变量（S120）; 使用所输入的信息和设定变量（S130〜S170）检测目的地节点的深度，并且如果确定了目的地节点的深度，则使用表达式来设置分组TTL（S180）。 该表达式为maxTTL = Ds + Dd-2xVi。 Ds是从协调器到源节点的深度。 Dd是从协调器到目标节点的深度。 Vi是Zigbee网状网络的树结构上的源节点和目的节点之间的分支数。
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