Title : Intelligent Networked Robotic Systems with Reconfigurable Exogenous System Sensing 1 Professor Il Hong Suh and Dr. Sanghoon Lee Hanyang University, South KOREA 1 Title of this proposal has been suggested by Profe ssor Rolf Johansson who recommended joint work betw een Professor Suh and Professor Klas Nilsson
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Title : Intelligent Networked Robotic Systems with Reconfigurable Exogenous System Sensing 1 Professor Il Hong Suh and Dr. Sanghoon Lee Hanyang University,
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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