1st International ICST Conference on Robot Communication and Coordination

Research Article

Spinning Sensors:Middleware for Robotic Sensor Network

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  • @INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2198,
        author={Soko Aoki and Yukihiko Kirihara and Jin Nakazawa and Hideyuki Tokuda},
        title={Spinning Sensors:Middleware for Robotic Sensor Network},
        proceedings={1st International ICST Conference on Robot Communication and Coordination},
        keywords={Sensors Actuators Robotic Sensors Sensor Network Coordination Middleware Robotic Interactions with Sensors},
  • Soko Aoki
    Yukihiko Kirihara
    Jin Nakazawa
    Hideyuki Tokuda
    Year: 2010
    Spinning Sensors:Middleware for Robotic Sensor Network
    DOI: 10.4108/ICST.ROBOCOMM2007.2198
Soko Aoki1,*, Yukihiko Kirihara2,*, Jin Nakazawa1,*, Hideyuki Tokuda1,*
  • 1: Graduate School of Media and Governance, Keio University, Kanagawa, Japan
  • 2: Triple Double Corporation, Tokyo, Japan
*Contact email: soko@ht.sfc.keio.ac.jp, kirihara@triple-double.co.jp, jin@ht.sfc.keio.ac.jp, hxt@ht.sfc.keio.ac.jp


This paper proposes Spinning Sensors, a middleware system for creating robotic sensor network applications. This middleware enables application programmers to easily write application software which utilizes both sensors and actuators in their network. In the Spinning Sensors model, a sensor node is attached to a robotic actuator to change its position and/or direction. The continuous position change enables the single robotic sensor node to cover greater sensing area and sensing time. This paper describes robotic sensor node model that the sensor and the actuator are attached together as one node, then present our design and implementation of the software which achieved both versatility and functionality simultaneously. We constructed three applications using the middleware: an environment monitoring, a radio control robot, and context-aware services. We show the result of experiment in which we utilized multiple robotic sensor nodes to monitor the environment.