김경산 안상철 권용무 고희동 김형곤 2024-01-20T21:35:55Z 2024-01-20T21:35:55Z 2021-09-06 2009-03 1975-6291 https://pubs.kist.re.kr/handle/201004/132675 The UPnP is middleware architecture that supports dynamic distributed computing environment. It has many good features for possible use as middleware in robot system integration. There is a need for bulky binary data transmission between distributed robot S/W components. Since the UPnP utilizes SOAP protocol for message transmission, however, it is not efficient to send bulky binary data. In order to overcome this weak point, this paper proposes UPnP-MTOM, MTOM (Message Transmission Optimization Mechanism) implementation over UPnP, as an efficient way for bulky binary data transmission with UPnP messages. This paper presents our implementation method and experimental results of the UPnP-MTOM implementation. Korean 한국로봇학회 UPnP 기반 로봇 미들웨어의 효율적 데이터 전송 Efficient Data Transmission Method for UPnP Based Robot Middleware Article 2 로봇학회 논문지, v.4, no.1, pp.68 - 73 로봇학회 논문지 4 1 68 73 kci other ART001412411 Robot Middleware UPnP SOAP MTOM