안희준 이동수 안상철 2024-01-20T19:03:42Z 2024-01-20T19:03:42Z 2021-09-06 2010-06 1976-5622 https://pubs.kist.re.kr/handle/201004/131370 For commercial success of emerging service robots, the fault tolerant technology for system reliability and human safety is crucial. Traditionally fault tolerance methods have been implemented in application level. However, from our studies on the common design patterns in fault tolerance, we argue that a framework-based approach provides many benefits in providing reliability for system development. To demonstrate the benefits, we build a framework-based fault tolerant engine for OPRoS (Open Platform for Robotic Services) standards. The fault manager in framework provides a set of fault tolerant measures of detection, isolation, and recovery. The system integrators choose the appropriate fault handling tools by declaring XML configuration descriptors, considering the constraints of components and operating environment. By building a fault tolerant navigation application from the non-fault-tolerant components, we demonstrate the usability and benefits of the proposed framework-based approach. Korean 제어·로봇·시스템학회 서비스로봇의 신뢰성 향상을 위한 OPRoS 기반 Fault-tolerance 기법 OPRoS based Fault Tolerance Support for Reliability of Service Robots Article 1 제어.로봇.시스템학회 논문지, v.16, no.6, pp.601 - 607 제어.로봇.시스템학회 논문지 16 6 601 607 scopus kci ART001448450 OPRoS (Open Platform for Robotic Services) fault tolerance design pattern robot software framework