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My Research at Soongsil
after ICL
2010. 3. 26
Prof. Jaeyoung ChoiSoongsil University
Seoul, Korea
Outline
• ORNL/UT (92.1 ~ 95.2) 92.1 ~ 94.2 (ORNL) 93.3 ~ 95.2 (UT)
Involved in ScaLAPACK Project• PUMMA, PB-BLAS (PBLAS) & ScaLAPACK
• Soongsil University (95.3 ~ present) TOP50 of Korea (96 ~ 04) PoLAPACK (95 ~ 99) Cluster, Grid & e-Science (99 ~ 07) Workflow (03 ~ present)
• Ubiquitous Computing• Robot & Human-Robot Interface
Top 50 of Korea
1996~2004
Top 50 Report of Korea [1/2]
1
(22)
IBM
xSeries Xeon 2.4 GHz + Myrinet
한국과학기술연구원 (KIST)
2003연구용 1024
2847
4915.2
230000
.
2
(42)
IBM
pSeries 690 Power4 1.7 GHz
한국과학기술정보연구원 (KISTI)
2003연구용 544
1760
3699.2
400000
.
3IBM
X335 Xeon 2.4 GHz + GigE
HOSTEC GLOBAL
2003
산업용호스팅서버
6001156.1
2880
4
(128)
Cluster
P4 2.2/2.4/2.8 GHz + GigE
Seoul National University
2002학술용 400
1011
1843257912
5Hewlett-Packard
SuperDome Itanium II 1.3GHz
KT
2003.10산업용 160
697
832
155400
14570
6
(234)
IBM
xSeries Xeon 2.8 GHz + GigE
Hyundai Motors Co.
2003
산업용자동차
256638.8
1433.6
160000
65000
7Hewlett-Packard
SuperDome Itanium II 1.3GHz
Daewoo Shipbuilding
2003.12
산업용(조선)
128557.4
665.6
139000
13000
8-9
(303
-318)
Hewlett-Packard
SuperDome 875 MHz/HyperPlex
POS Data
2003산업용 256
530.5
896
.
.
Hewlett-Packard
SuperDome 875 MHz/HyperPlex
Samsung SDS
2003산업용 256
530.5
896
.
.
10IBM
p690 Power4 1.5GHz
KT
2003산업용 152
515.7
912.
Reeeee ee 2004
Top 50 Report of Korea [2/2]
15
115 129
666
4,915
0
1
14
48
216 124
425
1,934
6,320
36,484
0.1
1
10
100
1000
10000
100000
1996 1998 2000 2002 2004
GFlops
#1#10#50Total
236
1,830 3,207
12,288
40,960
3
11
38
139
614
6,910
24,278
77,240
198,187
923,376
1
10
100
1000
10000
100000
1000000
1996 1998 2000 2002 2004
GFlops
#1#100#500Total
• Tee 50 Reeeee
1996e 1998e 2000e 2002e 2004
TOP 500 ee 96e04
TOP 50 ee 96e04
PoLAPACK Project
DIMMA1995~1997
PoLAPACK1996~1999
• Beeee Ceeeee Deee Deeeeeeeeeee
global views of matrix distributed views of matrix(8x8 blocks on 2x3 processes)
DIMMA (1/7)
• LCM eeeeeee ee eeeee eeeeee eeee eeeeeeeeeeee
A=12x12 blocks on 2x3 processes
DIMMA (2/7)
• Seeeeeee Ueeeeeeee Meeeee Meeeeeeeeeeeee Aeeeeeeee eSUMMAe
ee Aeeeeeee Geeeeeeeee eee Zeeeee e94e
ee eee ee Geeee eee Weeee e95e
eeee ee PBLAS e95e
Eeeeeee eeeeeeeee eeeeeeeeeeeee
DIMMA (3/7)
• Deeeeeeeeeee Ieeeeeeeeee Meeeee Meeeeeeeeeeeee Aeeeeeeee eDIMMAe
ee Jeeeeeee Ceee e97e
Aeeeeeeeeee Beeeeeee eeeee LCM eeeee eeeeeeee
• eeeeeee e eeeee eeeeee ee eeeee eeee ee eeeeeeee ee eeeee ee eeeee
DIMMA (4/7)
Meeeeeee eeeeeeeee eeeeeeeeeeeee
Simple comm simulation Paragraph Visualization
SUMMA
DIMMA
DIMMA (5/7)
• Highly efficient& scalable
• Performance is independent of block size
On 16x16 processors of Paragon
DIMMA (6/7)
Peeeeeeeeee Ceeeeeeeee
4000x4000 on 8 x 8 processors
SUMMA0 :-original SUMMA routine
SUMMA1 :-SUMMA0 with
algorithmic blocking
DIMMA :-SUMMA1 withmodified pipelined comm
DIMMA (7/7)
PoLAPACK (1/8)
• Meeeeeeeee
SeeLAPACK
• eeeeeeeeeee eeeeeee ee eeeee eeee ee eeee
• eee eeee eeee eeeeeeeeeeeeee ee eeee
Peeeeeeeeeeee
• Aeeeeeeee ee eeeeeeee eeeeeeeeeeeeeee e eeeee eeee e eeee
eeeee
eeeeeeee eeeeeee eeeeeeeeeee eeeeeeeee eee eeeeee eeeeeeeee
• Peee e LAPACK PeLAPACK
Ceeeee ee eeeeeee eeeee eeee eee eeeeeeeeeeee
eeeeeeeeeeee ee eeee eeeee eeee ee eeee
Aeeeee eeee eeee eeeeeeeeeee
• LU Factorization P•A = L•U
Reeeeeeeeeeee eeeeeee
0 1 2 3 4 5 6 7 8 9 10 11
0
1
2
3
4
5
6
7
8
9
10
11
PoLAPACK (2/8)
• PeLAPACK – LU eeeeeeeeeeeee
Feee e eeeeeeee ee eeeeee eeeeeee
e1e SeeLAPACK LU e2e PeLAPACK LU
A • x = b A • e e e
eP P•A•PQTe e PQ•xe e P P•b
P • A ⇒ L • U P 1 • eP P•A•PQTe ⇒ L1 • U 1
L•U • e e P•b e ee L1•U 1 • e PQ•xe e P 1 • e P P•be e e 1
L • e e ee L1 • e 1 e e 1
U • e e e U 1 • e 1 e e 1
PQ • e e e 1
PoLAPACK (3/8]
• Deee Reeeeeeeeeeeee A ⇒ PP • A • PQ
T
eeee eeeeee ee eeeeeeeee eeeeeee 2 eeeeeee ee eeeeee
e eeee eee ee eeeeeeeee eeeeeee 2 eeee ee eeeeee ee eeee eeee
4 5 6 70 1 2 3
01234567
01234567
4 5 6 70 1 2 3
PoLAPACK (4/8)
• Ieeeeeeeeeeeee ee PeLAPACK LU eeeeeeeeeeeee e3 eeeeee
e1e LU eeeeeeeeeeeee P1 • eP P•A•PQTe ⇒ L1 • U 1
PeDGETRF
e2e Teeeeeeeee eeeeee
PeDGETRS L1 • e 1 e e 1
U1 • e 1 e e 1
e3e Reeeeeeeeeee eee Seeeeeee PQ • e e e 1
PoLAPACK (5/8)
On 8 x 8 processors of Cray T3E
0
5
10
15
20
25
1000 2000 4000 6000 8000 10000 12000 14000 16000
Nb = 1
Nb = 6
Nb = 24
Nb = 36
Nb = 60
0
5
10
15
20
25
1000 2000 4000 6000 8000 10000 12000 14000 16000
Nb = 1
Nb = 6
Nb = 24
Nb = 36
Nb = 60
ScaLAPACK LU PoLAPACK LU
PeLAPACK LU eeeeeeeeeeeee eAeeeeeeeeee eeeee eeee e 36e
PoLAPACK (6/8)
On 8 x 8 processors of Cray T3E
ScaLAPACK QR PoLAPACK QR
PeLAPACK QR eeeeeeeeeeeee eAeeeeeeeeee eeeee eeee e 24e
0
5
10
15
20
25
30
1000 2000 4000 6000 8000 10000 12000 14000 16000
Nb = 1
Nb = 6
Nb = 24
Nb = 36
Nb = 60
0
5
10
15
20
25
30
1000 2000 4000 6000 8000 10000 12000 14000 16000
Nb = 1
Nb = 6
Nb = 24
Nb = 36
Nb = 60
PoLAPACK (7/8)
On 8 x 8 processors of Cray T3E
ScaLAPACK LLT PoLAPACK LLT
PeLAPACK Ceeeeeee eeeeeeeeeeeee eAeeeeeeeeee eeeee eeee e 36e
0
5
10
15
20
25
1000 2000 4000 6000 8000 10000 12000 14000 16000
Nb = 1
Nb = 6
Nb = 24
Nb = 36
Nb = 60
0
5
10
15
20
25
1000 2000 4000 6000 8000 10000 12000 14000 16000
Nb = 1
Nb = 6
Nb = 24
Nb = 36
Nb = 60
PoLAPACK (8/8)
Cluster, Grid & e-Science
Cluster & Grid2000~2004
e-Science Project2005~2007
CATs-i
• Ceeeeee Aeeeeeeeeeeeee Teee S ee eee Ieeeeeee
• A eeeeeeeeee ee eeeeee eeeeeeeeee eeeee
Peeeeee eeeeeeeee eee eeeeeeeeee eeeeeeeeeeee ee OS
e eeeeeeeeeee eeeeeeee eeeeeeee
Peeeeee eeeeeeeee eeeeeeeeee eee eeeeeeeeee ee eeeeeee eeeee
eeee eeeeee eeeeeeeee ee eee Ieeeeeee
Peeeeee eeeeeeeeeee GUI ee PBS
• Ceeeeeeeeeeeee eeee Zeee Leeee Seeeeee ee 2001
HG2C [1/4] - Objective
• Tee eeeeeeeee ee eee HG2C eHeeee Geeeeee ee Ceeeeeeeee eeeeeee
ee ee eeeeeee eeeeeee eeeeeeeeee eeeeeeeeeeee
eee eeeeeeeeeee eeee eeeeeeeeee eee ee eeeeeee HG2C DB
• HG2C DB eeeeeeee
eeeeeeeeeee eeeeeeeeee ee eeeeeeee eeeeeeeee
eeeeeee eeee eeeeeeeee eee eeeeeeee eeeeeeeee
How toConnect?
Genome DB
Bio Informatics
30,000 sequences (Human)
Chemome DB
Bio Chemistry
20,000,000 compounds
HG2C [2/4] - Procedure
HomologyThreading
ab. Initio. Folding
Protein Str.Generation
Protein 3DStructure
DockingFeature mapping
VirtualScreening
HittingChemicals
AbsorptionDistributionMetabolismElimination
Toxicity
ADME/Tox
1st FilteredLeads
RegressionPCA
ClusteringEtc.
DataAnalysis
Lead Gene
HG2C (3/4) - Results
• Geeeee
Leeeeeeeee Ieeeeeeeeee DB eeeeee ePeeLeee
TM
e
Geeee e Peeeeeee e Ceeeeeeee
CeeeeeeeeeeGeeeeDNA eeeeeeee eeeeeeee
HG2C [4/4] - System Architecture
Infrastructure (Cluster, Network, …)
Globus Toolkit (GT3, GT4)
Portal (Web)
Application Research
Grid ServicesGlobal scheduler, Monitoring, Adaptive API, etc.
Visualization
Steering
Workflow
Portal Toolkit
Application SW
Service Component Framework
Human Genomes to Chemicals (HG2C)
Infrastructure
Low level : Resource
Management
Mid level :
Fundamental Services
ApplicationSW
Visualization
High level: Steering Workflow PSE toolkit
MSF 2.0
StreamingGlobal scheduler
MonitoringAdaptive API
Text Search
Data Mining
High level :Application
SupportService Component Framework (MAGE)
HG2C [6/6] - Middleware requirements
• Weeeeeee Meeeeeeeeee eee Geee Ceeeeeeee
HG2C eeeeeeee eeee eeeeeeeeeeee eee eeeeeee eeeee eeeeeee
ee e eeeee eeeeee ee eeeeeeee eeeeeeeee
Eeee eeeeeeeeeee eeeeeeee eeeeeeeeeee ee eeeeeee eeeeeeeeeeee
eee eeee
Aeeeeeeeeeee eee Eeeeeeeeeeeee eee eeeeeeee ee Meeeeeeeee eeeee
• Te eeee eeee eeeeeeeeeeee
eeeeeeeee eeeee ee eeeeee eeeeeeee
e eeeeeeeeee ee eeeeeeee eeee
• Meeeeeeeee eeee eeeee eeeeeeeeeee
ee eeeeeee ee eeeeeeeee e eeeeee eeeeeeeeeeee
MSFe MAGEe ePOD
Mata Services Framework [1/6]
• Meee Seeeeeee
Peeeeee eeeeeeee eee eeeeeeeee eeeeeeee eeeeeeeeeeee
Deeeee e eeee ee e eeeeeeee ee e eee eeeeeee
• Weeeeeee eeeeeeee eee ee eeeeeeee ee e eeeeeeee eeee
ee eee eeeeeee eeeeeeeeeee
• Be eeeeeeeeee eeee eeeeeeeeee ee e eeeeeeee eeeee
- Pass parameters of a service to the workflow’s eeeeeeeeee
- Seeee eeeeeee eeeeeeee eeeeeeeeeee
• Tee eee eeeeeee eee ee eeeeeee ee e Wee eeeeeee ee e Geee
eeeeeeee
eeeeeeeee ee eee ee eeeeee eeeeee
Meeeee eeeeeee eeeeeeee eeeeeeeeeee
• Reeeeeee eeeeeeeee ee eeeeeeee e eeeeeeee eeeeeee
(user’s preference and/or organization’s eeeeeee
• Seeeeeee eeee eeee eeeeeeee
WorkflowExecution
Layer
Actual ServiceLayer
Meta ServiceLayer
Service Description
Layer
Service Name
Grid WfMS
OutIn
Service Param
Submission
AttributeOverriding
InterfaceMapping
Mapping
Web Services Grid Services Portal Services
Mata Services Framework [2/6]
• Meee Seeeeeee
3
Meta Services Framework (3/6)
• Meee Seeeeeee Feeeeeeee eMSFe
MSF ee e eeeeeeee eeeeee eee Bee Geee eeeeee
Ueeee eee eeeeee eeeeeee e DAGeeeeee eeeeeeee
eeeee eeeeee eeeeeeeeeeee eeee ee e BLAST
Schedule user’s eeeeeeeee ee Geee eeeeeeeeeeee
Peeeeee eeeeeeee eeeeeeeee eeeee Meee Seeeeeee
Ueeee eee eeeeeee eeeeeeeee eeeeee eee eeeee eeeee XML
Cee ee eeeeee eeeeeeeee eee eeeeeeeeee
3
Meta Services Framework (4/6)
• MSF Weeeeeee eeeee
Weeeeeee eeeeeee eeee eeeee eeeeee
e eeeeeee eeeeee eeee eeeeee eee eeee eeeee
Ieeeeeee eeeeeeeeeee ee eeeeeeee
Seeeeee eeeee ee eeeeeeeee eeeeeeee eeeee Meee eeeeeeee
eeeeeee
• MSF Meeeeeeeee Aeeeeeeeeeee
Ceeeeee ee eeee eeeeeee eSMe RMe EMe AMe OMe
Teeee eeeee eeeeeee eeeeeee eeee eeeee ee eee eeeeeeee
eeeee
eSM e eeeeeeee RM e eeeee EM e eeeee
AM eeeeeee eeeeeeeeeeeeee eee eeeeee eeeeeee
OM eeeeeeeee XML eeeeeeeeeee
3
Meta Services Framework [5/6]
• Feee Aeeeee ee eee Aeeeeeeeeeee
SM eSeeeeee Meeeeeee e eeeeeee
• Meeeee eeee eeeeeeee eee eeeeeeee e eeee eeeeeee ee e eeeeeeee
RM eReeeeeee Meeeeeee e eeee
• Ceeeeee eeeeeeee eeeeeeeeeeee eee eeeeeeeeee eeeeeeeee
EM eEeeeeeeee Meeeeeee e eeee
• Leeeee e eeeeeee eeeeeeeeee eeeee eeeeee eeeeeee
eee eeeeeee eeeeeee eee eeeeeeeeeee eeee
AM eAeeeee Meeeeeee
• Ueee eeeeeeeeeeeeeee eeeeeeeeeee eeeeee eee e eee eeeeeeeeee eeeeeee
OM eOeeeeeee Meeeeeee
• Meeeee eeeeeeee ee eeeeeeee eeeee eee eeee
3
Meta Services Framework [6/6] - Architecture
MAGE [1/5]
• Meeeeeeeeeee Aeeeeeee Geee Eeeeeeeeeee
• Ceeeeeeeeeeeeee
Peeeeee API eee eeee eeeeeeeeeee ee Geee eeeeeeeeeee
Peeeeee eeeeeeeeeeee ee eeeeeeeee eee eeeeeeeeee
• Peeeeeee eeeeeeeeeeee
• Reeeeee eeeeeeee eeeeeeeeeeee
• Meeeeee eeeeeeeee eeeeeeeeeeee
Peeeeee eeeeeee eeeeeeeeeeee eee eeee eeeeeeeeeee
Meeeeeee eee eeee eeeee
MAGE [2/5]
• Aeeeeeeeeeee
MAGE [3/5]
Meeeeeeeee ee Veeeeee Reeeeeeee
Meeeeeee Reeeeeee Meeeeeeeee
Weeeeeeee Meeeeeeeee Eeeeeeeeeee
Veeeeeeeeee Eee
Resource InfoRepository
CIMeeeeee Veeeeeeeeee
Reeeeeee Meeeeeee
Analysis
WBEM eeeeee
Meeeeeeeee
Meeeeeeeee Seeeee
Vir Env
Vir Env
Ceeeee Feeeeeeee
Architecture of Common Framework for VE Management
MAGE [4/5]
• Deeeeee eeeeeeeeeeeeee ee eeeee
Peeeeee eeee GUI eeeeeeeee ee eeeeee eee eeee eeeeeeeeeeee
Peeeeee eeeeeeeeeee e eeeeeeeeeeee
eeee eeeeeeeeeeee eeeeeeeeeeee ee eeeee
MAGE [5/5] – Management of Virtual Resources
4
aPoD (1/3)
• ePeeeeeeeee OeeDeeeee Seeeeeeee Seeeee
OeeDeeeee eeeeeeeeeee eeeeeeeee eeeeee
eeeeeee eeeeeeeeeeeeeee ee eeeeeeeeeeee
• Aeeeeeeeeeeee eeeeeeee eee eeeeeee eeeeeeeeeeee
Nee eeeeeeee ee eeeeeee eeeeeeeeeeee
Ae eeeeeeeeeee ee eeeeeeeeee eeeeeeee ee ee eeeeeeee
Tee eeeeeeeeeee ee eeeeeee eeeee ee ee eeeeeeee
• ePeD eeeeeeee
Ceeeeeeeee eee eeeeeeeee eeeeeeeeeee eeee eeeeeeee eeeeeeeeeeee
Meeeeee eee eeeeeeeeeee eee eeeeeee eeeeeeeeee ee eeeee
aPoD (2/3)
aPoDStreaming Server
User aPoD Broker
Working Node - 1
Working Node - 2
Working Node - 3
① Request to execute a S/W
② Request to execute
⑤ Execute the S/W
S/W
S/W
S/W
④ Streaming the S/W
③ Request the S/W
aPoD (3/3)
Weeeeee eeeee
De eee eeeeeeee eee eeeee eeee eeeeee
Gee eeee eeee eeeee eee eeeeeeeee eeeee ee e eeeeeeeeeee
Deeeeeee eeee eee eeee ee eeee eeee eeeeeeee ee ee eeeeeeee
Uee eeeeeee eeee eeeeee eee ePOD
Ie eeee eeeeeee eeee eeee eeeeeee eee eeeeeeeeeee ee eeeeeee
Uee e eeeee eee eeeeeeeeeee
Ubiquitous Workflow & URC Services
u-Workflow project2003~2006
URC Services (Robot Project] 2008~2011
Ubiquitous Workflow (1/5)
MeetingReservation
Reservation(Business Trip)
CustomerInterview
SendingE-mails
ScheduleAlarm
Schedule
Search Items
Intelligent Office
Intelligent search engine
Intelligent Meeting Room
IntelligentMailing System
Smart Organizer
eFeee eeeeeeeeeee Weeeeeeee
A eeeeeeeeeeeee eeeeeeeeeeeeee eeeeeee eeeeeeeee
ee eeeeeeeee eee eeeeeeee eee eeeeeeeeeeeeee eeeeeeee
eeeeeeeee ee eee eeeeeeeeeee eeeeeeeeeee eeeee eeeeeeeee eeeeeeeeeeee
eeeeeeeeeee
Provider ProviderProvider Provider
uFlow context Infrastructure
User Profile
EventMessage
uFlow Engine
Log
SensorNetwork
RFIDEnvironment
Java
JINI baseduMiddleware
MS
uPNP based uMiddleware
Meee Teeeeeeeeeee
• Oeeeeeeeeeeeee Ceeeeee Meeeeeee
• Ceeeeeeeeeeee Weeeeeee Leeeeeee eeWDLe
• Deeeeeeeeee eeeee eee Ceeeeeeeeeeee Seeeeeee
• Eeeeee ee eeeeeee Ceeeeeeeeeeee Weeeeeeee
Ubiquitous Workflow (2/5)
Seeeeeeeee Ceeeeee Meeee
Ae eeeeeeeeeeeeee eeeeeee eeeee eee eeeeeeeeee eeeeeeeeeee eeeeeeeeeee ee ee
eeeeeeeee
Deeeeeeee eeeeeeeeeee eeeeeeeeeee ee eeeeeeee eeeeee eeeeeee eeeee eeeee eeee
eee eeeeee
Oee eeee eeeeeeee A eeeeeee ee eeeeeeeee eeeee e eeeeeee eee ee eeeeeeeeeeee
eeeeee eeee eeeeeeeee eeeeeeeee eee eeeee ee RDF
Ubiquitous Workflow (3/5)
Ueeeeeeeee Weeeeeee Deeeeeeeeee Leeeeeee eeWDLe
A eee eeeeeeeeeeeeee eeeeeeee eeeeeeee eeee eeeeeeeee eee eeee ee
eeeeeeee
Ie eeeeeeee eee eeeeeeeeeeeeeee ee eeeee ee eeeeee ee eeeeeeeeeee
eeeeeee
eeeeeeeee ee eeeeeeeeee eeeeeeeee eeeeeeeee eee eeeeeee
eeeee eee eeeeeeee eeee eeeeeee eeeeeee eee eeeeeeeeee ee Oeeeeeee
Ubiquitous Workflow (4/5)
eFeee Seeeeeee Eeeeee
A eeee ee eeeeee eeeeee eeeeeeee eeeeeeeee eeeeeee eeeeeeee eeeeeeeeeeeee
ee eWDL eeeeeee
Deeeeeeeee ee eeeeee eee eeeeee eeeeeeeee eeeeeeeee eeeeeeee eeeee
ee Wee Seeeeeee
eee eeeeeeee eeeeeeeeeee eeeeeeeeeee ee e eeeeeeeeeeee eeeeeeeee ee eee
eeeeeeeee
Ubiquitous Workflow (5/5)
Main Technologies
URC Services (1/5)
Ceeeeeeeeeeee eeeeeeee eeeee URC eeeeeeee
Weeeeeee
e Ceeeeeeeeeeee Weeeeeee Leeeeeee eee URC eCAWLe
e Weeeeeee Eeeeee ee eeeeeee URC eeeeeeee eee
ee eeeeeeee eeeee eeeeeeee
SOMAR
e SeeeeeeeOeeeeeee Meeeeeeeee Aeeeeeeeeeee eee Reeee
e Seeeeeeeeeeee Reeee Meeeeeeeee
e Seeeeeeeeeeee Reeee Deeeee Ceeeeee
WorkflowEngine
SOMAR Server
URC Robots
ROMAN
5. Physical Device (URC)
3. Sending Commands using SOAP engine (AXIS)
4. Executing Commands
1. Scenario for URC services
2. Generation of XML-based robot commands to control URC services
Expression of Robot Services using Context-aware Workflows
Service-based Robot Management
SOMAR Server
Workflow Engine
Robot Command Generator
Service-based Robot Device Control
Workflow Parser
Application Services
URC Services (2/5)
Weeeeeee
eSeeeeee
Ieeeeeeeeee
Teeeeeeeeee
Reeee Weeeeeee Seeeeee Leeee
Seeeeeee Deeeeeeeeee Eeeeeeeeeeee
A Ceeeeeeeeeeee Weeeeeee Leeeeeee
eee Reeee Seeeeeee
Reeee Weeeeeee Seeeeee Peeeeeeeee
A Reeee Weeeeeee Seeeeee Peee
SOMAR
eReeee Seeeee
Teeeeeeeeee
Reeee Seeeeee Meeeeeeeee Leeee
Reeee Seeeeee Peeeeeeeee Meeeeeeeee
Reeee Seeeeee Aeeee Meeeeeeeee
Reeee Seeeeee Reeeeeeeee
Reeee Deeeee Eeeeeeeee Leeee
Reeee Seeeeee Meeeeeeeee
Ceeeee Ceeeeeeee Ieeeeeeee
Meee Teeeeeeeee
URC Services (3/5)
URC Services (4/5) – Workflow (Server Integration Techniques)
Scenario Development Environments
Context-aware Workflow Language for Robot Service
Robot Workflow Service Processing
Robot Workflow Service Pool
Workflow Process Layer
Robot Workflow Services
RS1RS2 RS3
RSN
RS3.1 RS3.2
Robot Service PoolWorkflowScenario 1
WorkflowScenario NWorkflow
Scenario kWorkflow
Scenario 3.2
FlowExecutionController
Robot Service Workflow Engine
Workflow Development Environments
Workflow Scenario
Development Tool
OntologyRSk
Service Oriented Middleware Architecture for Robot
Context-aware Services
RobotCommandGenerator
Workflow Description
Language Parser
URC Services (5/5) - SOMAR (Robot Server Techniques)
SOMAR e Reeee Seeeeee Meeeeeeeee Leeee
– Reeee Seeeeee Peeeeeeeee Meeeeeeeee
– Reeee Seeeeee Aeeee Meeeeeeeee
– Reeee Seeeeee Reeeeeeeee
SOMAR e Reeee Deeeee Eeeeeeeee Leeee
– Reeee Seeeeee Meeeeeeeee
– Ceeeee Ceeeeeeee Ieeeeeeee
OSGi Framework
Repository(Robot Services)
Robot Device Driver (Arm-actuator, Leg-actuator, Sensor driver etc.)
OSGi Framework
…
Robot Service Agent
Robot ServiceProcess
Robot Service Process Manager
Robot Service Agent Manager
Service Repository&
Discovery
SOMAR : Robot Service Management
SOMAR : Robot Execution Layer
Robot Service Agent
Robot Service Agent
Robot ServiceProcess
Robot Device Service Manager
Robot DeviceService
Robot DeviceService
Robot Service n
Robot Device Service Manager
Robot DeviceService
Robot DeviceService
Robot DeviceService
Robot Service 1Robot Service k
…
Robot Devices (Arm, Leg, Head, Camera, Sensors etc.)Physical Robot Device Layer
Device Service Interface
Robot Workflow Service Layer
