Reliability of component based robot software depends on the quality of each component because any defective components will have a ripple effect on systems built with them. Thus, testing of unit component, composite component and component based robot software is critical for checking the correctness of the software functionality. This paper proposes Web-based automated black-box testing framework for component based robot software. The proposed framework provides automated testing service, testing for different robot platform and distributed test environment, and sharing test resources. We have implemented the proposed framework and evaluated it on the component based front guidance application to output a guidance statement by sensing front obstacles, and control robot wheels by sensing a back user.

Open Platform for Robotic Services (OPRoS) is an open source robot software platform funded by the Korean government. Its research results are released on its homepage. OPRoS supplies several IDEs working with its framework for easy and fast development. The Component Editor, Component Composer, and Simulator are core development tools for ubiquitous robot. Robot-in-the-loop-Simulation (RILS) is an additional simulation based development tool. This paper explains these core tools used with a reference robot.

In this paper, an efficient development environment for vertical integration of many tasks involved with robot programming, called Open software Platform for Robotic Services (OPRoS), is presented. It covers from the control of hardware (HW) devices to the execution of complicated application programs. Based on general software (SW) architecture, standardized components with design patterns, frameworks, and servers are offered for developing robot SW applications easily and efficiently. Specially, an easy and one-stop Integrated Development Environment (IDE) and simulation tools are provided to make the management and debugging easier, and to check performance in advance. For an all-level development environment, the IDE of OPRoS supports development from low-level device controls to high-level contents composition, and hence, many programs ranging from HW device programs to complicated applications can be developed and integrated in a single development environment. Additionally, OPRoS makes all modules and components undergo the proper evaluation and test, which avoids potential errors due to incomplete coding. As a comprehensive platform for robot SW applications, OPRoS provides convenient environments for all development steps from editing through verification to execution.

Open Platform for Robotics Services (OPRoS) is a project funded by the South Korea government. Its first released results including executables and source codes with their document, are on its homepage. OPRoS is designed based on component modeling. It covers defined templates of the component, a framework that has component execution engines and several managers, GUI based editors, a simulator as tools for evaluation of robot tasks, and a server that has global repository function for OPRoS components and supports distributed component computation load. Real-time scheduling, multi-board performance, and integration with editors for different level of users are features currently under development. The open source codes are expected to reduce development loads and support fast robot software development.

Service gateways (SGs) are a promising approach to integrate wireless sensor and actuator networks (SANETs) with pervasive infrastructure over Internet by encapsulating distributed physical sensor and actuators into regular objects. Typically, SGs for SANETs are assumed to know operational environment in advance at design time with limited awareness of operational SANET conditions and, in the meanwhile, provide a single particular form of access without knowledge of application activities. As a SANET evolves, end users will frequently add sensor and actuator nodes (SANs) for additional services, remove defective or obsolescent SANs, and upgrade SANs in deployed SANETs. Therefore, traditional SGs are infeasible to integrate the future evolvable SANET (ESANET) with the pervasive infrastructure. In this paper, we introduce the reflective service gateway (RSG) architecture combined with ESANET management functions. RSG enables heterogeneous middleware systems to concurrently access ESANETs. In addition, by reflection mechanism where network management functions are explicitly reified and integrated into RSG so that it can learn the changing ESANET runtime environment, RSG self-adapts to ESANET dynamics and enables ESANETs to customize its activities according to application services involved. To validate the RSG, we have implemented the RSG and conducted empirical performance measurements with home sensor and actuator applications using ZigBee.

In this paper, the packet error rate of Zigbee under the interference of multiple Bluetooth networks is analyzed. The analytic model for the coexistence between ZigBee network and a Bluetooth network is presented, where the acknowledgement packets are considered. A numerical method is used for the interference of the multiple Bluetooth networks. The packet error rate (PER) is used for the performance measure. The PER is obtained from the bit error rate (BER) and the collision time. The BER is obtained from signal to noise and interference ratio. The simulation results are shown to validate the analysis.

Coexistent heterogenous wireless networks may interfere with each other and result in significant performance degradation when devices are collocated in the same environment. Understanding the impacts of interference among different wireless networks is one of critical issues for designing and implementing network system with multiple wireless technologies. The main goal of this paper is to provide a general framework to evaluate the interfering effects of one network to another network system. As a measure of performance, packet error rate (PER) is evaluated, where the PER is obtained from bit error rate (BER) and collision time. Analytic results are validated by simulations using OPNET.

Recently, according to various application field of robot, the scalability and the flexibility of robot are essential requirements. To satisfy these requirements, the robot is divided into the module or a hardware component unit, where the function such as vision, control, sensing are executed. The robot is composed of the set of various modules. So, it could include heterogeneous O/S and network interfaces. A middleware is necessary for supporting these operating environments in robot. It provides services which are required commonly in modules. In this paper, we propose and implemented middleware for robot called the KOMoR (Korea object-oriented middleware of Robot). The KOMoR is lightweight middleware supporting characteristic of both communication middleware and distributed middleware. The KOMoR provides a various operating system and heterogeneous network interface for the flexibility and the scalability, QoS capabilities, a resource management, a fault tolerance, a routing capability for multiple path.

In this paper, the performance of IEEE 802.15.4 ZigBee under the interference of IEEE 802.11b wireless local area network (WLAN) and/or Bluetooth is evaluated using an analytic model for the coexistence among ZigBee, WLAN, and Bluetooth. The packet error rate (PER) is evaluated, where the PER is obtained from the bit error rate (BER) and the collision time. The BER is obtained from the signal-to-interference-plus-noise ratio (SINR). Finally, the analytic results are validated by simulations.

IEEE 802.15.4-based ZigBee routing is based on ad hoc on-demand distance vector (AODV) so that ZigBee states the possibility of building mesh network with data dissemination manner similar to ad hoc network. Although ZigBee focuses on low data rate, routing overhead for route discovery may interfere with network traffic. Since it affects network performances such as end-to-end delay and packet delivery ratio in dense networks, it is necessary that routing protocols improving the scalability are designed. In this paper, we present a mesh routing protocol for ZigBee, called ZigBee cluster label (ZiCL). As ZiCL divides the ZigBee network into one or more logical clusters and encourages nodes to share routing information, it reduces numerical potential route discoveries. Therefore, it shows that network performances such end-to-end delay and packet delivery ratio are significantly improved, especially in dense network. Simulation results demonstrate that ZiCL enhances scalability

This paper proposes and evaluates a new aggregation algorithm in wireless sensor networks with time constraint. In the proposed algorithm, each aggregation node controls its aggregation time in order to aggregate and transfer data from child nodes within a given deadline of the sink node. The objective of the algorithm is to deliver the time constrained data within time bound while reducing the energy consumption resulted from the number of transmissions. Based on the aggregation tree, the proposed algorithm considers the number of the child nodes to determine the aggregation time. The performance of the proposed algorithm is evaluated using both the miss ratio and the aggregation gain

In this paper, an energy-efficient contention-based MAC protocol (ECM) for wireless ad hoc networks is proposed. The ECM is the combined protocol of the power management scheme and the collision avoidance scheme of the IEEE 802.11 DCF to reduce the energy consumption of a node. The proposed ECM enhances power saving effects of the legacy IEEE 802.11 DCF, provides longer network lifetime, and delivers more packets than the power management scheme of the legacy IEEE 802.11 DCF. These results are shown throughout the simulation

This paper presents an interference model of IEEE 802.11b wireless local area network (WLAN) affected by IEEE 802.15.4 wireless personal area network (WPAN). The packet error rate (PER) of the IEEE 802.11b under the interference of the IEEE 802.15.4 is analyzed, and is obtained by the bit error rate (BER) and the collision time. The safe distance ratio can be obtained from the PER. Further, this paper suggests a packet length to reduce the effect of the IEEE 802.15.4 interference and obtain a maximum throughput of the IEEE 802.11b. The analytic results are validated using the simulation

This paper presents object models and service models such without lots of considerations about data transmissions between as an I/O object, a control object, a broadcasting service and an event service for a distributed control system (DCS), and three types of distributed control systems based on CORBA, DCOM, and Tspace, are designed and implemented using the suggested object models and service models. They are applied to the Ball and Beam position control system and their response times are measured. It is known from these measurements that the CORBA-based DCS has shorter response time than both DCOM-based one and Tspace-based one. This paper suggests two advanced modules of broadcasting service and event service to reduce communication delays without modification of ORB structure.