Title : Intelligent Networked Robotic Systems with

Reconfigurable Exogenous System Sensing1

Professor Il Hong Suhand

Dr. Sanghoon LeeHanyang University, South KOREA

1 Title of this proposal has been suggested by Professor Rolf Johansson who recommended joint work between Professor Suh and Professor Klas Nilsson

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Research Objective - Research Objective - BackgroundBackground

• Users need highly intelligent service robot– intelligence can be realized by using many of

perception and actuation devices.

• Robot can not be equipped with all sensors for intelligence because of cost of sensors and spacing problems

• Users need highly intelligent service robot– intelligence can be realized by using many of

perception and actuation devices.

• Robot can not be equipped with all sensors for intelligence because of cost of sensors and spacing problems

We have a chance to utilize ubiquitous environment

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Research Objective - Research Objective - ObservationObservation

Intelligence emerge from cooperation– Device discovery, data communication– Perception devices, action devices, intelligence

devices

• Devices are highly heterogeneous– From a camera to a cleaning robot

• S/W development environment are heterogeneous– Embedded S/W, Personal Computer

• S/W modules and functionalities are distributed– Act as one system to execute given task

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Research Objective – Research Objective – Requirements Requirements

IntelligencecooperationIntelligencecooperation

HeterogeneousDevices

HeterogeneousDevices

Heterogeneous S/W Development

Environment

Heterogeneous S/W Development

Environment

DistributedFunctionalityDistributed

Functionality

CommunicationMiddleware

CommunicationMiddleware

Component OrientedApproach

Component OrientedApproach

Distributed Computing Distributed Computing

New IntelligenceConcept

New IntelligenceConcept

HI-SpaceHI-SpaceHI Space (Hexagonal Intelligence)

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Research Objective – Research Objective – Goal: Development of HI Space

• Virtual Robot Space - “Things of Robot”

• Standard Robot Programming Methodology– Component-oriented

intelligence framework

• Dynamic Reconfiguration Framework – Robot can discover the

required component for sensing

– Robot can interact with external sensors and actuators

HI Space (Hexagonal Intelligence)

H-ICKernel

Perception Action

SearchingUnder-

standing

Modeling Planning

EnvironmentEnvironmentEnvironmentEnvironment

Behavior Control

Cognition

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Specification of Technology to be developed - Dynamic reconfiguration

• Component Configuration– Robot must know what components are needed to

complete given task– Robot can ask what components are available in

this environment

• Ontology-based configurations– Ontology for reconfiguration include :

• Available robots and Sensors• Functionality • Information types• Location• Access Method

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Component Specification

• Port-based Connection– Public Port : accessible from outside

• Data Port : data in/out port

– Private Port : hidden inside• System control Port : Lifecycle management

– Initiate, Store, Recover, Destroy

• System monitoring Port• System timing Port : Clock tick in/out port• Port as interface

• Internal Active Thread• Data translation mechanism

– Establish automatic port compatibility– Data type matching of two component ports

Component

Data inputs

Timer Clock

Lifecycle

Monitoring Data Outputs

Monitoring

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Technology to be developed – ROPE

• Each Component interact with ROPE

• Existing Communication Middleware– CORBA : Heavy and Difficult to apply to robot applications– RMI : May be not working between exogenous sensor systems program

med with different programming languages (RMI between Java and C/C++ is not working)

• Functional Requirements for HI Components– Light-weight and small size (Embedded Processor)– OS/Language independent– SYNC/ASYNC/EVENT communication– Method level invocation– Object: Serialize/Deserialize– Timing Requirement support

(A lightweight middle ware)

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Technology to be developed – HI Space Kernel

• Component Execution EngineComponent Execution Engine• Local Component Lifecycle ManagementLocal Component Lifecycle Management• HI Space management HI Space management • Remote Component Proxy ManagementRemote Component Proxy Management

• Component Execution EngineComponent Execution Engine• Local Component Lifecycle ManagementLocal Component Lifecycle Management• HI Space management HI Space management • Remote Component Proxy ManagementRemote Component Proxy Management

HI-Kernel

Perception Action

HI-ComponentRepository HI-Kernel

Perception Action

Container Container

Container : Component Lifecycle Management Engine

HIC-ROPE

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Duration Objectives

Phase I

(2007.3 ~ 2008. 2)

Design and Test of H-IC components for Perception, Action, and Understanding.

ROPE : Design and Alpha-Test

HI Kernel / Ontology for Reconfiguration :Design and Alpha-Test

Phase II

(2008.3 ~ 2009. 2)

Design and Test of H-IC components for Modeling, Planning, and Searching

ROPE: Improvement of 1st phase design, and Beta-Test

HI Kernel / Ontology for Reconfiguration: Improvement of 1st phase design, and Beta-Test

Research Schedule