Intelligent Robot Architecture (8-3) Background of research Research objectives image –Problems...
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Intelligent Robot Architecture (8-3) Background of research Research objectives image – Problems • A robot must provide diverse services within limited resources. – Approach • Using dynamic software architecture technologies to optimize robot resources based on currently executing services. – 2 nd Phase • Robot S/W Architecture Technologies optimizing robot resources, QoS, user requirements(An autonomous nervous system for Robot S/W)
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Transcript of Intelligent Robot Architecture (8-3) Background of research Research objectives image –Problems...
Intelligent Robot Architecture (8-3) Background of research
Research objectives
image
– Problems• A robot must provide diverse
services within limited resources.
– Approach• Using dynamic software
architecture technologies to optimize robot resources based on currently executing services.
– 2nd Phase• Robot S/W Architecture
Technologies optimizing robot resources, QoS, user requirements(An autonomous nervous system for Robot S/W)
Intelligent Robot Architecture (8-3)
Sensing Components
Locomotion Components
HRI Components
…
CommunicationComponents
S/W ComponentsS/W Components
Constrained H/W Resources
Robot Robot H/W & S/WH/W & S/W
Task ModelTask Model
S/W
New Situations
Self-EvolvingSelf-EvolvingSelf-EvolvingSelf-Evolving
Resource/Quality Resource/Quality Optimization of Software Optimization of Software
ArchitectureArchitecture
Resource/Quality Resource/Quality Optimization of Software Optimization of Software
ArchitectureArchitecture
Self-Healing and Self-Healing and AdaptationAdaptation
Self-Healing and Self-Healing and AdaptationAdaptation
– Plan-based Architecture Brokering
– Component Brokering based on Quality Attributes
– Optimal Component Deployment by using Multiple/Multidimensional Knapsack Problem
– Runtime S/W Monitoring & Dynamic Architectural Reconfiguration
Research contents
Intelligent Robot Architecture (8-3)
Intelligent Robot Architecture (8-3)
• Component Brokering based on Quality Attributes
• Runtime S/W Monitoring & Dynamic Architectural Reconfiguration
• Optimal Component Deployment by using Multiple/Multidimensional Knapsack Problem
• Plan-based Architecture Brokering
{ , , , …}
{ , , , …}
{ , , , …}
SBC1 SBC2 SBC3Available components
Mem
ory
CP
U
Mem
ory
CP
U
Mem
ory
CP
U
60% 70% 70% 40% 70% 60%
Slot: MotionControl Slot: Coordinator Slot: Localizer
Slot: PathPlanner
Slot: MapBuilder
AA BB CC
DD EE
C1C1 C1C1
C1C1 C1C1
Service
Sub-Architecture
Component
Task
Feedback
: An ontology tree node
N VP : A node “N” has a property
slot “P”, a value of the property slot is “V”
Literal
Literal
Literal
: Literal value of property slot
name
task
feedback
name
name
relevant service
Literal
component description
Literal
class-pathResource
QoS
resource
supported QoS
Literalsub-architecture
description
PlanSub-
architecture
A1
A2
A3 A4
A5
Sub-architecture search
Service Ontology & Architecture Ontology(Properties : Quality attributes)
Architecture integration & search
Consolidated architecture
Sooyong Park
Professor, Dept. of Computer Science, Sogang University
Research Institutes : Sogang University, Information and Communication University,
Sungkyunkwan University, Hansung University
Researchers : 25(Univ. 25)
Project Leader
