A Middleware Framework for Loose Robot Communication over the Internet

Makoto Oya; Taku Okuno

doi:10.20965/jrm.2005.p0011

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JRM Vol.17 No.1 pp. 11-16

doi: 10.20965/jrm.2005.p0011

(2005)

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A Middleware Framework for Loose Robot Communication over the Internet

Makoto Oya, and Taku Okuno

Hokkaido University, N14, W9, Kita-ku, Sapporo 060-0814, Japan

Received:

October 12, 2004

Accepted:

November 22, 2004

Published:

February 20, 2005

Keywords:

robot communication, Internet, Web Services, middleware

Abstract

Paralleling with the expansion of robot technology to social activities such as home use, community work, and entertainment, robot communication technology must expand from closed networks to the Internet. Unlike closed networks, robot communication over the Internet must be based on loose process coupling between robots. Web Services technology fits this requirement, but requires middleware supporting Web Services for robot communication to implement robot application software in this environment. Most existing middleware does not fully conform to this requirement because it mainly targets enterprise systems rather than robot applications. We propose a middleware framework for loose robot communication over Web Services based on OpenSOAP, an open-source middleware for Web Services. The framework realizes several essential features for loose robot communication, including bidirectional communication, a new concept called task service, asynchronous messaging, and task forwarding. The results of this study, while based on OpenSOAP, are applicable to other middleware technologies.

Cite this article as:

M. Oya and T. Okuno, “A Middleware Framework for Loose Robot Communication over the Internet,” J. Robot. Mechatron., Vol.17 No.1, pp. 11-16, 2005.

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References

[1] M. Oya, K. Naruse, M. Narita, T. Okuno, M. Kinoshita, and Y. Kakazu, “Loose Robot Communication over the Internet,” Journal of Robotics and Mechatronics, Vol.16, No.6, pp. 626-634, 2004.
[2] M. Narita et al., “RoboLink Protocol Specification Public Draft v1.1,” 2003 (in Japanese).
http://www.osl.fujitsu.com/osl/contents/RoboLink/RoboLinkProtocol1.1.pdf
[3] M. Narita, K. Naruse, and M. Oya, “RoboLink: A Robot Collaboration Protocol based on Web Services,” ICAM’04, JSME/No.05-204, ISSN:1348-8961, pp. 442-448, 2004.
[4] D. Box, D. Ehnebuske, G. Kakivaya, A. Layman, N. Mendelsohn, H. F. Nielsen, S. Thatte, and D. Winer, “Simple Object Access Protocol (SOAP) 1.1,” W3C Note
(http://www.w3.org/TR/SOAP),
W3C, 2000.
[5] Y. Kakazu et al., “Development of Middleware as Platform for IT Application Services,” a report on NEDO regional consortium project, 2002 (in Japanese).
[6] K. Iwasa, J. Durand, T. Rutt, M. Peel, S. Kunisetty, and D. Bunting, “WS-Reliability 1.1,” OASIS, 2004.
[7] The OpenSOAP Project, “OpenSOAP Project: The Middleware as Platform for IT Application Services,” 2004.
http://www.opensoap.jp/
[8] T. Okuno, and Y. Kakazu, “OpenSOAP: A Middleware for the Platform of IT Service Business,” Proc. of 2nd Symposium on System Integration, Society of Instrument and Control Engineers, Nagoya, 2001 (in Japanese).
[9] J. Nakajima, and Y. Kakazu, “Overview of the OpenSOAP Middleware Architecture and Message Management Technology,” Proc. of 2nd Symposium on System Integration, Society of Instrument and Control Engineers, Nagoya, 2001 (in Japanese).
[10] Y. Sato, T. Ishida, S. Chaya, T. Uozumi, H. Kubo, and Y. Kakazu, “Architecture and an Implementation of the OpenSOAP Server,” Proc. of 2nd Symposium on System Integration, Society of Instrument and Control Engineers, Nagoya, 2001 (in Japanese).
[11] T. Bellwood et al., “UDDI Version 3.0.1,” OASIS, 2003.
[12] J. Beatty, G. Kakivaya, D. Kemp et al., “Web Services Dynamic Discovery (WS-Discovery),” 2004.
http://msdn.microsoft.com/library/en-us/dnglobspec/html/ws-discovery.pdf

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Oya, K. Naruse, M. Narita, T. Okuno, M. Kinoshita, and Y. Kakazu, “Loose Robot Communication over the Internet,” Journal of Robotics and Mechatronics, Vol.16, No.6, pp. 626-634, 2004.

[2] [2] M. Narita et al., “RoboLink Protocol Specification Public Draft v1.1,” 2003 (in Japanese).
http://www.osl.fujitsu.com/osl/contents/RoboLink/RoboLinkProtocol1.1.pdf

[3] [3] M. Narita, K. Naruse, and M. Oya, “RoboLink: A Robot Collaboration Protocol based on Web Services,” ICAM’04, JSME/No.05-204, ISSN:1348-8961, pp. 442-448, 2004.

[4] [4] D. Box, D. Ehnebuske, G. Kakivaya, A. Layman, N. Mendelsohn, H. F. Nielsen, S. Thatte, and D. Winer, “Simple Object Access Protocol (SOAP) 1.1,” W3C Note
(http://www.w3.org/TR/SOAP),
W3C, 2000.

[5] [5] Y. Kakazu et al., “Development of Middleware as Platform for IT Application Services,” a report on NEDO regional consortium project, 2002 (in Japanese).

[6] [6] K. Iwasa, J. Durand, T. Rutt, M. Peel, S. Kunisetty, and D. Bunting, “WS-Reliability 1.1,” OASIS, 2004.

[7] [7] The OpenSOAP Project, “OpenSOAP Project: The Middleware as Platform for IT Application Services,” 2004.
http://www.opensoap.jp/

[8] [8] T. Okuno, and Y. Kakazu, “OpenSOAP: A Middleware for the Platform of IT Service Business,” Proc. of 2nd Symposium on System Integration, Society of Instrument and Control Engineers, Nagoya, 2001 (in Japanese).

[9] [9] J. Nakajima, and Y. Kakazu, “Overview of the OpenSOAP Middleware Architecture and Message Management Technology,” Proc. of 2nd Symposium on System Integration, Society of Instrument and Control Engineers, Nagoya, 2001 (in Japanese).

[10] [10] Y. Sato, T. Ishida, S. Chaya, T. Uozumi, H. Kubo, and Y. Kakazu, “Architecture and an Implementation of the OpenSOAP Server,” Proc. of 2nd Symposium on System Integration, Society of Instrument and Control Engineers, Nagoya, 2001 (in Japanese).

[11] [11] T. Bellwood et al., “UDDI Version 3.0.1,” OASIS, 2003.

[12] [12] J. Beatty, G. Kakivaya, D. Kemp et al., “Web Services Dynamic Discovery (WS-Discovery),” 2004.
http://msdn.microsoft.com/library/en-us/dnglobspec/html/ws-discovery.pdf