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SEKE 2012 Proceedings - Knowledge Systems Institute

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expected reconfiguration. For instance, failures w ere<br />

injected to the Camera1 first and then to t he Camera2 to<br />

check if the Camera1 and Camera2 failures af fects the<br />

Car Detection and Pedestri an components. Also, we<br />

tested the reconfigurations for the LRF component that is<br />

insignificant to the Car Detection componen, and<br />

Pedestrian component that are serious to the Dangerous<br />

Situation component. These test results were the same as<br />

the expected reconfiguration.<br />

Korea [10030826, Development of Reliable OPRoS<br />

Framework].<br />

References<br />

[Ahn10] Ahn, H., D. Lee, and S. Ahn, “Hiearchical Fa ult<br />

Tolerant Architecture For Com ponent-based Service<br />

Robots,” 8 th IEEE International Conferenc es on Industrial<br />

Informatics(INDIN), Osaka, Japan, 2010, pp.487-492 .<br />

Laser Range<br />

Finder (LRF)<br />

insignificant<br />

localization<br />

[Jang10] Jang, C., S. Lee, S. Jung, B. Song, R. Kim, S. Kim,<br />

and C. Lee, "OPROS: A New Component-Based Robot<br />

Software Platform," ETRI Journal, vol.32, no.5, Oct. 2010,<br />

pp.646-656.<br />

Camera1<br />

Camera2<br />

tolerable<br />

Car Detection<br />

tolerable<br />

tolerable<br />

tolerable<br />

tolerable Pedestrian<br />

serious serious<br />

Dangerous Situation<br />

serious<br />

[Mohamed10a] Mohamed, A., and M. Zulkernine, “Failure<br />

type-Aware reliability Assessment Component Failure<br />

Dependency,” 4 th International Conference on Secure<br />

software Integration and reliability Improvement(SSIRI)<br />

Singapore, 2010, pp.98-105.<br />

Thermal Imaging<br />

Camera (TIC)<br />

tolerable<br />

Fig. 4 Pedestrian Detection, and Environment Modeling<br />

and Perception in UGV Application<br />

4. Conclusions<br />

This paper has described a n approach to reconfiguring<br />

component-based robot applications using the data<br />

dependency relationships between components and their<br />

impact analysis. The impact of a c omponent failure to its<br />

dependent components are analyzed and classified as<br />

different impact levels, such as insignificant, tolerable,<br />

serious, and catastrophic. Based on different impact levels, a<br />

robot application is reconfigured against a component failure.<br />

To validate, a prototype for reconfiguration has been<br />

developed with the UGV application and it has been tested<br />

with OPROS engine.<br />

This paper can have future research. The constraints on<br />

impact levels bet ween data dependency relationships<br />

between components need be specified formally. The<br />

impact level between data dependency relationships can be<br />

changed dynamically and should be specified by means of<br />

constraints. Also the proposed approach needs to be applied<br />

to large-scale robot applications to validate further.<br />

Moreover, this paper could be extended to include event and<br />

functional dependency relationships between components<br />

for reconfiguring a robot application.<br />

[Mohamed10b] Mohamed, A., a nd M. Zulkernine, “The<br />

Level of De composition Impact on Com ponent Fault<br />

Tolerance,” IEEE 34 th Annual Computer Software a nd<br />

Applications Conference Workshops(COMPSACW), Seoul,<br />

Korea, 2010, pp.57-62.<br />

[Popescu10] Popescu, D., “Impact Analysis for Event-Based<br />

Components and <strong>Systems</strong>,” ACM/IEEE 32 nd International<br />

conference on Software Engineering, Cape Town, South<br />

Africa, 2010, pp.401-404.<br />

[Roh11] Roh, M. C., J. Byun , and S. Kim, “Design of t he<br />

UGV System based on Open Platform Robot of S oftware,”<br />

6 th Korean conference on robots, Seoul, Korea, June, 2011.<br />

[Song08] Song, B., S. Jung, C. Jang, and S. Kim, “An<br />

introduction to Robot Component Model for OPROS<br />

(Opend Platform for Ro botic Services),” International<br />

Conference on Simulation, Modeling, and Programming for<br />

Autonomous Robots, Venice, Italy, 2008.<br />

[Vieira02] Vieira, M., a nd D. Richards on, “Analyzing<br />

dependencies in Large Com ponent-based systems,” 17 th<br />

IEEE International Conference on A utomated Software<br />

Engineering (ASE) , Edinburgh, UK, 2002, pp.241-244.<br />

Acknowledgement<br />

This work was supported by the Industrial Foundation<br />

Technology Development Program of MKE/KEIT, Rep. of<br />

687

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