Architecture of Kukanchi Middleware: The second report

There are some efforts for providing middleware for building robot system. However, these approaches are not adequate for service robot. In the first report, we proposed Kukanchi Middleware Architecture. Our research focuses on building Kukanchi System which supports interactions between human, robots and space. The proposed architecture provides APIs for robots, sensors, and user interfaces as well as functions to convert user´s command to robot command. In this report, we propose data model of our system. We intend and expect to simplify Kukanchi System development by applying Kukanchi Middleware.