Robotics Domain Task Force Final Agenda ver.1.0.4

Transcription

1 Robotics Domain Task Force Final Agenda ver robotics/ OMG Technical Meeting - St. Louis, MO, USA -- April 24-28, 2006 TF/SIG Host Joint (Invited) Agenda Item Purpose Room Monday (April 24) WG and Committee Activites 8:30 12:00 SDO Robotics Robot Technology Components RFP submitter's meeting (closed) St. Peters 12:00 13:00 LUNCH Grand Ballroom ABC 13:00 18:00 Architecture Board Plenary Grand Ballroom D 13:00 14:20 Robotics WG (Service) discussion 14:20 15:40 Robotics WG (Profile) discussion 15:40 17:00 Robotics WG (Tool) discussion Gateway3 17:00 18:00 Robotics SDO Steering Committee of Robotics DTF (included Publicity Subcommitee discussion) Volunteer recruit Tuesday (April 25) Robotics Plenary 8:30 9:00 MARS SDO, Robotics 10:05 10:20 Robotics, SDO 10:20 11:20 Robotics, SDO SDO, Robotics Progress Report of the Robot Technology Components RFP revised submission reporting Welcome and review agenda <Special Talk> "Real-Time ORB Middleware: Standards, Applications, and Variations - Prof. Chris Gill (Washington University) Robotics/SDO Joint Meeting Kick-off Informative Gateway2 11:20 12:00 Robotics (SDO) "Communication protocol for the URC robot and server - Hyun-Sik Shim (Samsung Electronics) RFI response 12:00 13:00 LUNCH Grand Ballroom ABC 13:00 14:00 Robotics (SDO) <Special Talk> Infomative "URBI: a Universal Platform for Personal Robotics - Prof. Jean-Christophe Baillie (ENSTA/UEI Lab) 14:00 14:40 Robotics (SDO) "Fujitsu's robotics research and standardization activities RFI response - Toshihiko Morita 14:40 15:20 Robotics (SDO) "Standardization of device interfaces for home service robot RFI response Poplar - Ho-Chul Shin (ETRI) Break (20min) 15:40 16:20 Robotics (SDO) Voice interface standardization items network robot in noisy environments RFI response - Soon-Hyuk Hong (Samsung Electronics) 16:20 17:40 Robotics SDO WG (Infrastructure) discussion Wednesday (April 26) Robotics Plenary 8:30 9:10 Robotics (SDO) Home robot navigation in SAIT - Seok Won Bang and Y. H. Kim (Samsung Advanced Institute of Technology) RFI response 9:10 9:50 Robotics (SDO) ITR Internet Renaissance - The world s first humanoid robot to be harmonized RFI response with the family - - Hiroyuki Nakamoto (Systems Engineering Consultants) Break (10min) 10:00 11:40 Robotics (SDO) WG Reports and Roadmap Discussion chartering WG Poplar (Infrastructure, Service, Profile) 11:40 11:50 Robotics (SDO) Contacts Report Informative 11:50 12:00 Robotics, SDO Publicity, Next Meeting Agenda Discussion, etc Robotics/SDO Closing session 12:00 Adjourn 12:00 14:00 LUNCH and OMG Plenary Grand Ballroom ABC 14:00 18:00 Robotics Infrastructure WG [14:00-18:00] follow up discussion Poplar the current component model RFP as well as other topics of interest to the (14:00-18:00) members including possible additional areas for standardization. Service WG [16:00-18:00] follow up discussion Missouri (16:00-18:00) 18:00 20:00 OMG Reception Grand Ballroom CD Thursday 8:30 10:00 SDO Robotics Robot Technology Components RFP submitter's meeting (open) Grand Ballroom F 10:00 12:00 Robotics Service WG follow up discussion Grand Ballroom F 12:00 13:00 LUNCH Grand Ballroom ABC 13:00 18:00 Architecture Board Plenary Grand Ballroom D 13:00 14:00 MARS SDO, Robotics RFI Summary Report Robotics Blanchette2 14:00 15:00 MARS SDO, Robotics Friday "Real-Time ORB Middleware: Standards, Applications, and Variations" - Prof. Chris Gill (Washington University) Blanchette2 8:30 12:00 AB, DTC, PTC Grand Ballroom DEF 12:00 13:00 LUNCH Grand Ballroom AB Other Meetings of Interest Monday 8:00 8:45 OMG New Attendee Orientation Poplar 9:00 12:00 OMG MOF Metamodeling Tutorial Discovery 13:00 17:00 OMG Architecture-Driven Modernization Concepts and Task Force Update Discovery 18:00 19:00 OMG New Attendee Reception (by invitation only) Posh's Dining Tuesday 13:00 17:30 OMG MDA Where it Came From and Where It s Going Discovery Wednesday 9:00 12:00 OMG Introduction to UML 2.0 Discovery 14:00 17:00 OMG Introduction to the Data Distribution Service Discovery Poplar

2 robotics/ Robotics D Steering Committee Meeting April 24, 2006 St. Louis, MO, USA Hilton St. Louis Airport Gateway 3 Agenda Agenda Review Publicity Working Group Discussion Roadmap Discussion Next meeting Schedule

3 Review Agenda Tuesday, April 25, 2006 Poplar 10:05-12:20 Welcome and Review Agenda 10:20-11:20 Special Talk: Prof. Chris Gill 11:20-12:00 RFI response presentation 13:00-14:00 Special Talk: Prof. Jean-Christophe Baillie 14:00-16:20 RFI response presentation 16:20-17:40 WG (Infrastructure) Joint Meeting with MARS/RTESS Thursday, April 27, :00-14:00 (Banchette2) Review Agenda Wednesday, April 26, 2006 Poplar 08:30-09:50 RFI response presentation 10:40-11:40 WG Reports and Roadmap Discussion 11:40-11:50 Contacts Report 11:50-12:00 Next meeting, etc. 12:00 Adjourn 14:00-18:00 WG (Infrastructure) 16:00-18:00 WG (Service) Joint Meeting with MARS/RTESS Thursday, April 27, :00-14:00 (Banchette2)

4 Publicity Activities 4 page fly sheet Draft of Abheek@ADA Software Abheek@ADA Soft, Olivier@AIST, Chung@ETRI, Yokomachi@NEDO Action: Send each organization logo to Abheek. 4 page fly sheet will be authorized in in Boston Publicity Activities Korea-Japan RSW2006 Friday, June 16, 2006, Jeju Island, Korea Chung@ETRI RoboBusiness2006 June 20-21, 2006, Pittsburgh, PA, USA Jon Sigel and Bruce@Systronix IROS2006 Workshop October 9-15, Beijing, China Kotoku@AIST, Chung@ETRI, Mizukawa@Sibaura-IT SICE-ICASE International Joint Conference October 18-21, Pusan, Korea Mizukawa@Sibaura-IT

5 Roadmap (WG organization) 4 Discussion Groups: Infrastructure: Rick@RTI, Ando@AIST Service: Chi@ETRI, Lemaire@AIST Tool: Abheek@ADA soft Profile: Lee@ETRI, Bruce@Systronics Next Meeting Agenda June 26-30, 2006 (Boston, MA, USA) Monday : RTCs RFP revised submission review [MARS] Steering Committee Monday-Tuesday, Thursday : WG activities Wednesday : Robotics-DTF Plenary Meeting Guest Presentation(s) WG reports & Roadmap discussion Contact reports Resolution

6 Robotics-DTF Meeting Minutes Tampa, FL, USA approved (robotics/ ) Overview and votes The first plenary of Robotics Domain Task Force was held, following the charter of Robotics DTF in the last Burlingame meeting. We had one special talk and 14 RFI response presentations. We decided to start 4 working group activities, which will be chartered officially in the upcoming St. Louis meeting. With the sponsorship of MARS, the deadline of the Robotics Systems RFI was re-extended to April 3rd, 2006 (3 weeks before the St. Louis meeting). By the proposal from ADA Software, the Publicity Sub-Committee has been chartered. OMG Documents Generated robotics/ Robotics-DTF Final Agenda (Tetsuo Kotoku) robotics/ Steering Committee Presentation (Tetsuo Kotoku) robotics/ Burlingame Meeting Minutes [approved] (Olivier Lemaire) robotics/ Opening Presentation (Tetsuo Kotoku) robotics/ Robotics-DTF Roadmap (Tetsuo Kotoku) robotics/ Hitachi's needs for robotic system standards (Saku Egawa, Hitachi) robotics/ Towards Plug and Play Robotics (Abheek Bose, ADA Software Group) robotics/ SEC's Approach to the Standardization of Robotic Systems (Masayuki Nagase and Hiroyuki Nakamoto, SEC) robotics/ Development of Food Robots, Meat Processing Robots, and Request for Standardization of RTC (Tomoki Yamashita, Mayekawa MFG) robotics/ RT service framework using IT infrastructure (Wonpil Yu, ETRI) robotics/ A Mobile Robot Software System Architecture with Unified Sensory Data Integration (Takashi Tsubouchi, Tsukuba Univ.) robotics/ Navigation of mobile robots (Wonpil Yu, ETRI) robotics/ OMG Robotics Systems RFI response from AIST (Olivier Lemaire, AIST) robotics/ Current State of Robotics Script and Control Languages [and Standards] (Lloyd Spencer, CoroWare) robotics/ Special Talk: Lessons Learned About Software for Rescue Robots (Matt Long, Univ. of South Florida) robotics/ Development Framework for Mobile Robot based on JAUS and RT-Middleware (Wataru Inamura, IHI) robotics/ Applicable SWRadio Spec Concepts for Robotics Domain (Jerry Bickle, PrismTech) robotics/ COMPARE Response to the Robotics RFI (Virginie Watine, THALES) robotics/ Robot Server Middleware (Seung-Ik Lee, ETRI) robotics/ Toshiba's Approach to RT Standardization and Where the Standardization is Needed (Fumio OZAKI, Toshiba) robotics/ OMG Robotics Task Force RFI Survey Result (Olivier Lemaire, AIST) robotics/ Query Report (Olivier Lemaire, AIST) robotics/ Publicity Activity Proposal (Abheek Bose, ADA software) robotics/ Summary of Activity Robotics TF - Tampa (Olivier Lemaire, AIST) robotics/ DTC Report Presentation (Tetsuo Kotoku) robotics/ Meeting Minutes - DRAFT (Saku Egawa, Soo-Young Chi) Agenda 13 February, Monday 15:00-17:00 Steering Committee of Robotics DTF 14 February, Tuesday 08:40-09:00 Welcome and Review Agenda

7 09:30-10:30 Robot Technology Components RFP initial submission Noriaki Ando (AIST) 10:30-11:30 Robot Technology Components RFP initial submission Hung Pham (RTI) 13:00-13:40 Hitachi's needs for robotic system standards Saku Egawa (Hitachi) 13:40-14:20 Towards Plug and Play Robotics Abheek Kumar Bose (ADA Software Group) 14:20-15:00 SEC's approach to the standardization of robotics systems Hiroyuki Nakamoto and Masayuki Nagase (SEC) 15:20-16:00 Development of Food Robots and Meat Processing Robots, and Request for Standardization of RTC Tomoki Yamashita (Maekawa MFG) 16:00-16:40 RT service framework using IT infrastructure Wonpil Yu (ETRI) 16:40-17:20 A mobile robot software system architecture with unified sensory data integration Takashi Tsubouchi (Tsukuba Univ.) 17:20-18:00 Navigation of mobile robots including mapping, localization, and motion Wonpil Yu (ETRI) 15 February, Wednesday 08:10-08:50 Response from AIST Olivier Lemaire (AIST) 08:50-09:30 Current State of Robotics Script/Control Language Standards Lloyd Spencer (CoroWare) 09:30-10:20 Lessons Learned About Software for Rescue Robots Matt Long (issrt, Univ. of South Florida) 10:40-11:20 Development Framework for Mobile Robot based on JAUS and RT-Middleware Wataru Inamura (IHI) 11:20-12:00 An overview of PIM & PSM for SWRadio Components specification Jerry Bickle (Prismtech) 14:00-14:40 Response from Compare Project Virginie Watine (THALES) 14:40-15:20 Robot Server Middleware: CAMU Seung-ik Lee (ETRI) 15:40-16:20 Toshiba's approach to RT standardization and where the standardization is needed Fumio Ozaki (Toshiba) 16:20-17:40 Summary of RFI responses and working group discussion 17:40-17:50 Publicity Activity 17:40-17:50 Next Meeting Agenda Discussion 18:00 Adjourn Minutes 14 February, Tuesday AM Plenary Tetsuo Kotoku, presiding co-chair Meeting Week Kick-off Meeting was called to order at 08:40. Saku Egawa (Hitachi) volunteered to take minutes of the Tampa meeting. Tetsuo Kotoku provided a brief overview of the Burlingame Minutes. (robotics/ ) Action: The Burlingame minutes were unanimously approved. Tetsuo Kotoku reviewed today's agenda. (robotics/ ) Char Wales, presiding co-chair Joint Meeting with MARS-PTF and SDO-DSIG Review of the initial submissions of Robot Technology Components RFP Introduction What is important for RTC specification (mars/ )

8 Takashi Suehiro (AIST) provided background on the RTC RFP and the goals they hope to achieve with these submissions. Presentation Robot Technology Components RFP Initial Submission Noriaki Ando (AIST) (mars/ ) Noriaki Ando (AIST) presented the first initial submission Basing it on the existing SDO specification. Extending it and modifying it. Seeking to achieve a pseudo-real-time capability for distributed components. Presentation Robot Technology Components RFP Initial Submission Hung Pham (RTI) (mars/ ) Hung Pham (RTI) presented the second initial submission. Looking at how a robotics systems behaves behavioral layering in robotic systems reactive nature of robotics systems Range of requirements from (e.g.) tightly coupled to loosely coupled interactions. is there a common component model that can be used to bridge between these characteristics? Propose to establish a PIM that uses PSMs to address various quadrants of requirements. PIM needs to satisfy 3 basic requirements (in presentation). PIM based on Lightweight CCM (LW CCM), which is based on UML, COMPARE, and Constellation (an RTI Product) and PSM mapping based connector implementation such as DDS, CORBA/IIOP Discussion Char Wales (MITRE) discussed how what could be the next step if it is desired is to form an Evaluation Team so that the submitters and users can work together to help craft the revised submission. Victor Giddings (OIS) stated that such an action would be premature; that it should not happen until the first revised submissions are received. In addition, it would be better for now for the submitters to resolve/work out the differences (if they exist) between their submissions. Action: Make a progress review presentation at the upcoming St Louis meeting. PM Plenary Yun-Koo Chung, presiding co-chair Presentation RFI Response: Hitachi's needs for robotic system standards Saku Egawa (Hitachi) (robotics/ ) Saku Egawa talked about needs for standardization in Hitachi Ltd. and showed two examples of their robotic systems, a cleaner robot and a workmate robot. Their first priority for standardization is in the field of realtime control system, where platform for integration of multiple domains of knowledge is especially needed. Their cleaner robot is a small-scale system that has only a 28 MHz RISC processor, while their workmate robot is a more complicated system with four processors and message-based software platform. They expect Robotics TF to build scalable standards that can cover wide range of products in the company. Presentation RFI Response: Towards Plug and Play Robotics Abheek Kumar Bose (ADA Software Group) (robotics/ ) About robotics, ADA Software is primarily focusing on developing intelligent components, which mean distributed set of robotic components having basic intelligence and adaptability. Abheek Kumar Bose emphasized on the need for standardization by comparing the current situation of robotic development where interoperability is very low with very standardized automobile industry. He introduced his experiences in the Volksbot project at the Fraunhofer Institute for Autonomous Intelligent Systems. In the project, modular approaches in both in hardware and software are used. By combining the behavior modeling system Dual Dynamics Designer and the visual programming system IConnect model based development of autonomous robot became possible. His current project is to develop the Robot Modeller by extending the Control Designer Framework, an Eclipse based system developed by the Fraunhofer AIS. Presentation RFI Response: SEC's approach to the standardization of robotics systems Hiroyuki Nakamoto and Masayuki Nagase (SEC)

9 (robotics/ ) SEC has experiences in development of on-board computer of spacecrafts, software for cellular phones, and Internet systems. As for robotic systems, the company has advantages in the technologies, such as firmware on robotic systems, robot control and robot monitoring server applications, robotic content service systems. Their motivation for standardization is to make a cooperative system of the robot and its surrounding devices and services, such as neighboring robots, RFID tags, GPS, and Internet services. The presenters listed up the points for standardization about methods for detecting environment, detecting position, and adapting the robot to the environment. As an example, they introduced the OMA Download Architecture Specification for the cellular phone system. Presentation RFI Response: Development of Food Robots and Meat Processing Robots, and Request for Standardization of RTC Tomoki Yamashita (Maekawa MFG) (robotics/ ) Mayekawa s robot divisions have been developing various meat processing robots. From 2003 to 2006, they participated in a joint research project for development of food handling robots that can pack foods in a lunch box. To handle foods with various shape, they developed an easy changeable hand-tool system. They also developed a harvest transportation robot, using the RT component system developed by AIST, OpenRTMaist. Based on their experience, the presenter stated four requests for the RTC system: user-friendly development tools, support for non-pc based controller device including the programmable logic controller (PLC), plug-n-play function of RTC, and safety management for errors in hardware, communication, and software. Presentation RFI Response: RT service framework using IT infrastructure Wonpil Yu (ETRI) (robotics/ ) To realize an RT service for real-world, technologies such as perception of objects, behavior control (navigation, localization), and connectivity to IT infrastructure should be developed. Their approach to implement RT service is to decompose it into three conceptual spaces: physical space, semantic space, and virtual space. Standardization of interface between three spaces (API) is needed. Presentation RFI Response: A mobile robot software system architecture with unified sensory data integration Takashi Tsubouchi (Tsukuba Univ.) (robotics/ ) Intelligent Robot Laboratory of University of Tsukuba has been developing autonomous mobile robots Yamabico family. Tsubouchi pointed out that not only an software architecture or data flow, data structure should be discussed. He proposed a data structure of free space description, the Unified Sensory Data (USD). USD is a 2D scrolling ring buffer that contains an occupancy grid map of the vicinity of the robot and holds abstracted information of free pace independent from specific type of sensors. By using USD, behavior description program can be written independent from sensor types. Presentation RFI Response: Navigation of mobile robots including mapping, localization, and motion Nakju Doh Wonpil Yu?(ETRI) (robotics/ ) Navigation is a key component in mobile robots. The navigation technology includes three sub-techniques: mapping, localization, and motion. To solve the current problem of stand-alone robots, high cost and low performance, a client-sever system is used in the Ubiquitous Robotic Companion (URC) project. The mobile robot (client) sends information such as relative position, range data, and image data to the server over the TCP/IP network, and the server returns robot path and location. As a candidate for standard for navigation, the speaker presented data structures for mapping, localization, and motion. 15 February, Wednesday AM Plenary

10 Tetsuo Kotoku, presiding co-chair Presentation RFI Response: Response from AIST Olivier Lemaire (AIST) (robotics/ ) Olivier Lemaire introduced the use cases of the robotics technology in the Ubiquitous Functions Research Group, AIST and showed needs for standardization of robotics technology. Robotic Space is a robotic room for daily life support, which uses distributed wireless active RFID. Librarian Robot has a minimal on-board processing system and takes full advantage of infrastructure, such as ID tags, to do many usual robotic tasks. The system is constructed by integrating RT Middleware infrastructure and Web service infrastructure. Standardization is needed for re-using technology to develop new robot faster and cheaper by integrating COTS technologies, and for managing complexity of a broad and complex field needed for robotics. Standards are needed at all levels of abstraction, the model layer, the platform layer, the implementation layer, and the hardware layer. He also introduced the Japan s joint national project on the Robot Technology Middleware. Presentation RFI Response: Current State of Robotics Script/Control Language Standards Lloyd Spencer (CoroWare) (robotics/ ) Robotics interfaces can be categorized as programmatic interfaces, protocol interfaces, scripting and control interfaces. All of the above interfaces can be defined using XML Web Services. XML Web Services should be considered as a viable model for local resource interfaces for arms, motors, sensors, local robotic function interfaces for localization, mapping, vision recognition, and remote robotic function interfaces for higher level navigation functions and tactical objectives. The presenter requested that OMG should create an RFI for Robotics Markup Language. Special Talk: Lessons Learned About Software for Rescue Robots Matt Long (issrt, Univ. of South Florida) (robotics/ ) Matt Long of USF talked about a robotic software architecture design based on their experience on rescue robots. He listed desirable characteristics of an architecture of a distributed field robot, including incorporation of reactive and deliberative components, fault tolerance, adaptability in the face of changing operating conditions. To provide a consistent programming model, their Distributed Field Robot Architecture uses Java and Jini. DFRA has benefits of flexibility and critical capabilities owing to the robust middleware employed, while it has tradeoffs in complexity, performance overhead, and steeper learning curve. Hung Pham, presiding co-chair Presentation RFI Response: Development Framework for Mobile Robot based on JAUS and RT- Middleware Wataru Inamura (IHI) (robotics/ ) Approach of IHI to standardized robotic architecture is to use two existing open architectures, JAUS and OpenRTM-aist. JAUS defines application specifications of a mobile robot, such as software structure, function assignment to each component, messages between components, and the behavior of a component, while OpenRTM-aist implements components and message communication. A JAUS component is mapped to a RT-Component and JAUS messages are sent through the RTC InPort and OutPort objects. The state machine of JAUS component is mapped to the RTC state machine. Two examples of mobile robot system using the proposed framework were presented. Presentation RFI Response: An overview of PIM & PSM for SWRadio Components specification Jerry Bickle (PrismTech) (robotics/ ) SWRadio specifications include UML profile for SWRadio and SWRadio facilities. The UML Profile for SWRadio consists of the Generic Component Framework, a rich set of semantics for component and container based development, and Communication Channel & Equipment, which defines basic types and

11 properties for the communication channel and for each specific equipment. The SWRadio Facilities are optional interfaces for component behavior extensions, such as common layer for PDUs, error control, or flow control, networking layer, physical layer, and radio control. Robotics may use these facilities as appropriate and supplement these facilities with their own that are specific to the robotics domain. Presentation RFI Response: Response from Compare Project Virginie Watine (THALES) (robotics/ ) Virginie Watine made a talk on a component / container model for real-time / embedded software defined by the Compare Project. The model is based on the Lightweight CCM with adaptations specific to RT/E systems. To isolate timing properties, a concept of Activity, which represents an execution path, is introduced. For interaction between components, Connectors, which capture captures interaction logics in a fully reusable manner, are used. In the robotics domain, profiling for robotics could be defined, such as dedicated Connectors, Container Services, and Predefined Components. Presentation RFI Response: Robot Server Middleware: CAMU Seung-ik Lee (ETRI) (robotics/ ) The basic concept of the URC consists of a ubiquitous sensor network, a high-performance computer, and a hardware robot. The URC server expands the robot functions and services, improves the context-awareness, and enhances the robot intelligence. The server system, robots, and devices communicate by the PLANET framework. PLANET is based on the remote method invocation and has light-weight protocol to minimize the communication load. Presentation RFI Response: Toshiba's approach to RT standardization and where the standardization is needed Fumio Ozaki (Toshiba) (robotics/ ) Toshiba started to adopt the object oriented technology for robot software development. The idea of the Open Robot Controller Architecture is to use standard IT, concentrating on robot control, and define the framework and standard APIs. From lessons learned from their experiences, they use Python for scripting language, HORB for networking middleware, UPnP for home appliances connection. The presenter pointed out several issues needed to be discussed. He also stated that high level technologies that should be developed in the future, for example, AI, are not for standardization because a standard should not prevent the development of new technologies. Tetsuo Kotoku, presiding co-chair Summary of RFI responses and working group discussion (robotics/ , -25) Olivier Lemaire reported the result of the survey on possible working groups gathered by just this meeting. There were answers from 5 organizations in Japan, 5 in Korea, 2 in US, 1 in France, and 1 in India. The survey showed that the needs for standards and intention of participation are high and the robotic system infrastructure has got the highest score. Based on the survey, four working groups were defined and volunteers for each potential working group are listed as: Robotic Infrastructure WG: Rick Warren (RTI), Noriaki Ando (AIST) Robotic Service WG: Soo-Young Chi (ETRI), Olivier Lemaire (AIST) Robotic Tools WG: Abheek Bose (ADA Software) Robotic Profiles WG: Seung-Ik Lee (ETRI), Bruce Boyes (Systronix) Working groups should start discussion by and the founding chairs should report on the mission statement and real chairs in the next technical meeting. Motion: To recommend an extension of the submission date for the Robotics Systems RFI (mars/ ) to 3 April 2006, 3 weeks before the St. Louis meeting by Yun-Koo Chung(ETRI). Established Task Force quorum of 3 Second: Olivier Lemaire (JARA) Discussion: none

12 WB proposed: Masayoshi Yokomachi (NEDO) No objection to WB PASSED Publicity Activity (robotics/ ) Abheek Bose proposed to start the publicity activity to promote the OMG robotics standardization especially in Japan, EU, India, and SE Asia. A motion to setup the publicity subcommittee was approved. The voluntary members of the subcommittee are: Abheek Bose (ADA Software) Olivier Lemaire (AIST) Yun-Koo Chung (ETRI) Masayoshi Yokomachi (NEDO) The initial mission of the subcommittee is to make a 4 page flyer and web pages to invite people to the OMG Robotics DTF. Volunteers for attending RoboBusiness event being held in June were requested but no organizations answered. It was decided to propose standardization workshop for IROS 2006 in October. Tissue Kotoku (AIST), Yun Koo Chung (ETRI), and Makoto Mizukawa (Shibaura Institute of Technology) volunteered to become coorganizers for the workshop. ETRI will host the URC Technical Cooperation Forum, March 9, Seoul. Hung Pham (RTI) and an OMG staff will make a talk on the robotics standardization activity. Motion: To charter Publicity Sub-Committee by Abheek Bose (ADA Software). Established Task Force quorum of 3 Second: Yun-Koo Chung (ETRI) Discussion: none WB proposed: Masayoshi Yokomachi (NEDO) No objection to WB PASSED Next Meeting Agenda Discussion The tentative agenda of the next technical meeting was decided as follows: Monday: WG meeting & Steering committee Tuesday-Wednesday: Plenary meeting RFP progress report (MARS joint meeting) RFI response presentations Roadmap discussion Contact reports 18:00 Participants (Sign-in) Steering Committee: 13 February, Monday (23 participants) Tetsuo Kotoku (AIST) Yun Koo Chung (ETRI) Hung Pham (RTI) Yung-Jo Cho (ETRI)

13 Makoto Mizukawa (Shibaura Institute of Technology) Soo-Young Chi (ETRI) Masayoshi Yokomachi (NEDO) Saku Egawa (Hitachi) Tomoki Yamashita (Mayekawa MFG) Fumio Ozaki (Toshiba) Seung-Ik Lee (ETRI) Wonpil Yu (ETRI) Rick Warren (RTI) Ho Chul Shin (ETRI) Roy Bell (Raytheon) Wataru Inamura (IHI) Hiroyuki Nakamoto (SEC) Masayuki Nagase (SEC) Hideo Shindo (NEDO-DC) Olivier Lemaire (JARA) Takashi Suehiro (AIST) Noriaki Ando (AIST) Abheek Bose (ADA Software) Plenary: 14 February, Tuesday (26 participants) Tetsuo Kotoku (AIST) Yun Koo Chung (ETRI) Hung Pham (RTI) Claude Baudoin (Schlumberger) Takashi Suehiro (AIST) Soo-Young Chi (ETRI) Masayuki Nagase (SEC) Hiroyuki Nakamoto (SEC) Masayoshi Yokomachi (NEDO) Takashi Tsubouchi (University of Tsukuba) Roy Bell (Raytheon) Ho Chul Shin (ETRI) Mitola (MITRE) Hideo Shindo (NEDO-DC) Tom Anderson (Objective Interface) Rick Warren (RTI) Olivier Lemaire (JARA) Noriaki Ando (AIST) Wonpil Yu (ETRI) Abheek Bose (ADA Software) Wataru Inamura (IHI) Saku Egawa (Hitachi) Fumio Ozaki (Toshiba) Yung-Jo Cho (ETRI) Seung-Ik Lee (ETRI) Roger Burkhart (Deere & Company) Plenary: 15 February, Wednesday (34 participants) Tetsuo Kotoku (AIST) Yun Koo Chung (ETRI) Hung Pham (RTI) Saku Egawa (Hitachi) Fumio Ozaki (Toshiba) Abheek Bose (ADA Software)

14 Ho Chul Shin (ETRI) Takashi Suehiro (AIST) Masayoshi Yokomachi (NEDO) Jerry Bickle (Prismtech) Matt Long (issrt) Juergen Boldt (OMG) Duame Clarkson (Deere & Company) Gerardo Pardo (RTI) Feed Waskviewicz (OMG) Roger Burkhart (Deere & Company) Claude Baudoin (Schlumberger) Shinobu Koizumi (Hitachi) Noriaki Ando (AIST) Hideo Shindo (NEDO-DC) Takashi Tsubouchi (University of Tsukuba) Wataru Inamura (IHI) Yung-Jo Cho (ETRI) Seung-Ik Lee (ETRI) Hiroyuki Nakamoto (SEC) Masayuki Nagase (SEC) Tomoki Yamashita (Mayekawa MFG) Lloyd Spencer (CoroWare) Rick Warren (RTI) Soo-Young Chi (ETRI) Tom Anderson (Objective Interface) Olivier Lemaire (JARA) Jeff Simith (IDTS) Virginie Watine (Thales) Prepared and submitted by Saku Egawa with the assistance of Soo-Young Chi and Olivier Lemaire.

15 robotics/ Robotics-DTF/SDO-DSIG Plenary Meeting April 24, 2006 St. Louis, MO, USA Hilton St. Louis Airport Poplar Approval of Tampa Minutes Ask for a volunteer (minutes taker) Hung Pham Yun-Koo Chung Tampa Minutes review [Robotics] The first plenary of Robotics-DTF. The deadline of Robotic Systems RFI was re-extended. We had 1 special talk (Matt Long, USF) and 14 RFI response presentations. Make 4 groups for WG activities. [SDO] Review of the initial submissions of Robot Technology Components RFP.

16 Review Agenda Tuesday, April 25, 2006 Poplar 10:05-12:20 Welcome and Review Agenda 10:20-11:20 Special Talk: Prof. Chris Gill 11:20-12:00 RFI response presentation 13:00-14:00 Special Talk: Prof. Jean-Christophe Baillie 14:00-16:20 RFI response presentation 16:20-17:40 WG (Infrastructure) Joint Meeting with MARS/RTESS Thursday, April 27, :00-14:00 (Banchette2) Review Agenda Wednesday, April 26, 2006 Poplar 08:30-09:50 RFI response presentation 10:40-11:40 WG Reports and Roadmap Discussion 11:40-11:50 Contacts Report 11:50-12:00 Next meeting, etc. 12:00 Adjourn 14:00-18:00 WG (Infrastructure) 16:00-18:00 WG (Service) Joint Meeting with MARS/RTESS Thursday, April 27, :00-14:00 (Banchette2)

17 Document Number robotics/ Final Agenda robotics/ Steering Committee presentation robotics/ Tampa Meeting Minutes [approved] robotics/ Opening presentation robotics/ Robotics-DSIG Roadmap robotics/ Special Talk: Chris Gill presentation robotics/ Hyun-Sik Shim presentation robotics/ Special Talk: Jean-Christophe Baillie presentation robotics/ Toshihiko Morita presentation robotics/ Ho-Chul Shinpresentation robotics/ Soon-Hyuk Hong presentation robotics/ Seok Won Bang and Y. H. Kim presentation robotics/ Hiroyuki Nakamoto presentation robotics/ Service WG activity report robotics/ Profile WG activity report robotics/ Infrastructure WG activity report robotics/ Contact Report: KIRSF robotics/ Contact Report: ORiN robotics/ Robot Technology Components RFP Progress Report in MARS robotics/ Summary Report of Robotic Systems RFI robotics/ DTC Report Presentation robotics/ Meeting Minutes - DRAFT Publicity Activities 4 page fly sheet Draft of Abheek@ADA Software Abheek@ADA Soft, Olivier@AIST, Chung@ETRI, Yokomachi@NEDO Action: Send each organization logo to Abheek. 4 page fly sheet will be authorized in in Boston

18 Publicity Activities Korea-Japan RSW2006 Friday, June 16, 2006, Jeju Island, Korea RoboBusiness2006 June 20-21, 2006, Pittsburgh, PA, USA Jon Sigel and IROS2006 Workshop October 9-15, Beijing, China SICE-ICASE International Joint Conference October 18-21, Pusan, Korea Next Meeting Agenda June 26-30, 2006 (Boston, MA, USA) Monday : RTCs RFP revised submission review [MARS] Steering Committee Monday-Tuesday, Thursday : WG activities Wednesday : Robotics-DTF Plenary Meeting Guest Presentation WG reports & Roadmap discussion Contact reports Resolution

19 Roadmap for Robotics Activities robotics/ Item Status Tampa St. Louis Boston Anaheim DC TBA TBA Robot Technology Components RFP (SDO model for robotics domain) In Process Initial Submittion Feb-2006 Apr-2006 Jun-2006 Sep-2006 Dec-2006 Mar-2007 Jun-2007 Pre-review Revised Submittion SDO model for xxx Domain no plan discussion draft RFP RFP issue Charter on Robotics WG in SDO done Oct-2004 Robotic Systems RFI [Robotics: Initial Survey] Flyer of Robotics-DTF [Publicity Sub-Committee] Localization Service RFP [Service WG] User Identification RFP [Services WG] Programmers API: Typical device abstract interfaces and hierachies RFP [Profile WG] Hardware-level Resources: define resource profiles RFP [Profile WG] Deplyment and Configuration RFP [Infrastructure WG] In Process Response Presentation Response Presentation review whitepaper In Process discussion discussion issue ver.1.0 Whitepaper In Process discussion draft RFP review RFP RFP Initial Submittion Planned discussion draft RFP review RFP RFP Planned Topic discussion Planned Topic discussion Planned Outline discussion etc Future Topic discussion Charter on WGs [Service, Profile, Infrastructure] done Apr-2006 Charter on Robotics TF done Dec-2005 Charter on Robotics SIG done Feb-2005 Robotics Information Day [Technology Showcase] done Jan-2005 Grouping issued draft RFP review RFP RFP draft RFP review RFP RFP draft RFP review RFP RFP draft RFP review RFP RFP

20 2 - Chris Gill 4/25/2006

21 image server server side client side cockpit displays transmission middleware virtual folder, images adaptation middleware low bandwidth radio link Collaborative research with Boeing, BBN, Honeywell Technology Center, supported by Boeing/AFRL contract F D-1155/0005 (WSOA) 3 - Chris Gill 4/25/ Chris Gill 4/25/2006

22 5 - Chris Gill 4/25/2006 Client Stub ORB object reference IIOP message Servant Skeleton ORB 6 - Chris Gill 4/25/2006

23 7 - Chris Gill 4/25/2006 // // Define two two lanes lanes RTCORBA::ThreadpoolLane high_priority = {10 {10 /*Prio*/, 3 /*Static Threads*/, 0 /*Dyn /*Dyn Threads*/ }; }; RTCORBA::ThreadpoolLane low_priority = {5 {5 /*Prio*/, 2 /*Static Threads*/, 2 /*Dyn /*Dyn Threads*/}; RTCORBA::ThreadpoolLanes lanes(2); lanes.length (2); (2); lanes[0] = high_priority; lanes[1] = low_priority; RTCORBA::ThreadpoolId pool_id = Thread Pool with Lanes rt_orb->create_threadpool_with_lanes (1024 (1024 * 10, 10, // // Stacksize PRIORITY PRIORITY lanes, // // Thread pool pool lanes lanes 5 10 false, // // No No thread borrowing false, 0, 0, 0); 0); // // No No request buffering 8 - Chris Gill 4/25/2006

24 Structure with Embedded or Bonded Piezoelectric Transducers Acoustic Waves (khz Range) Chris Gill 4/25/ Chris Gill 4/25/2006

25 Remote call Stub code (using ACE_CDR) 1 Marshall parameters 1 Unmarshall parameters Call to implementation Skeleton code (using ACE_CDR) 1) 2) Could be avoided for homogenous nodes Only a subset of GIOP messages 4 Operation lookup and dispatch Foo() Bar() 3) Simple Life cycle management 4) Hash-table vs linear search 3 Simple Object Adapter Reactor Acceptor Connection Cache ORB 2 ORB Reactor Acceptor Connection Cache 11 - Chris Gill 4/25/2006 2,000 1,800 Node NodeRegistry 1,600 Footprint in KB 1,400 1,200 1, Chris Gill 4/25/ ACE TAO norb compile optimized TAO compile optimized norb Node NodeRegistry ACE costs 212KB; norb+ace costs 345KB; TAO+ACE costs ~1.7MB Node application code alone costs 164KB

26 13 - Chris Gill 4/25/ Chris Gill 4/25/2006

27 15 - Chris Gill 4/25/ Chris Gill 4/25/2006

28 Rate Generator GPS Airframe Heads-Up Display 17 - Chris Gill 4/25/ Chris Gill 4/25/2006

29 19 - Chris Gill 4/25/2006 Time (msec) Samples Dynamic RT-CIAO Dynamic CIAO Static RT-CIAO Static CIAO 20 - Chris Gill 4/25/2006

30 Time (msec) Dynamic RT-CIAO Dynamic CIAO Static RT-CIAO Static CIAO Configuring RT-CORBA features Samples 21 - Chris Gill 4/25/2006 Time (msec) Dynamic RT-CIAO Dynamic CIAO Static RT-CIAO Static CIAO Samples 22 - Chris Gill 4/25/2006

31 C A x 1x 8x 2x 9x 3x A 10x 4x 11x 5x 12x 6x 7x 1x 8x 2x 9x 3x B 10x 4x 11x 5x 12x 6x CIAO PRISM Create home C1.1 executor Create home C1.2 servant Register with POA C1.3 and create object reference to home C3 C1 Install home C2 Create component Register component (e.g. with a naming service) Create C4 connection Create home Create component factory Create component impl Create P4 support for facet, receptacle and equivalent interface Init Receptacle, EventSupplier & EventSink P2 P3 P1 P Chris Gill 4/25/2006 Ethernet tickget() systimestamp() 24 - Chris Gill 4/25/2006

32 Frequency PRISM CIAO home activation, etc Creation Time (msec) 25 - Chris Gill 4/25/2006 Frequency component activation, etc. PRISM CIAO Creation Time (msec) Bounded by 4 msec 26 - Chris Gill 4/25/2006

33 Frequency CORBA connection setup cost PRISM CIAO Creation Time (msec) 27 - Chris Gill 4/25/ Chris Gill 4/25/2006

34 29 - Chris Gill 4/25/ Chris Gill 4/25/2006

35 31 - Chris Gill 4/25/2006 Scheduling segment A BSS-A ESS-A Client IDL Stubs 4 5 Dynamic Scheduler Service Context 1 Distributable thread Service Context 3 Current locus of execution Segment scheduling policies A: EDF 5 B: MUF A: EDF Dynamic Scheduler Object (Servant) BSS-B ESS-B IDL Skeletons Object Adapter 2 Scheduling segment B ORB Core 32 - Chris Gill 4/25/2006

36 BSS - A 2- Way Invocation DT1 BSS - B 2- Way Invocation BSS - C DT2 DT3 BSS - D BSS - E ESS - B ESS - C ESS - B ESS - E ESS - A 33 - Chris Gill 4/25/2006 Host 1 Host 2 Host 3 DT1 spawn () BSS - A 1-Way Invocation DT2 DT3 DT4 ESS - A spawn() 34 - Chris Gill 4/25/2006 Host 1 Host 2 Host 3

37 1 BSSorSpawn USS 2 3 ESS Client IDL Stubs 4 7 Service Context in args Operation () outargs +returnvalue Dynamic Scheduler ORB Core Object (Servant) IDL Skeletons 6 Object Adapter 1. BSS - RTScheduling::Current::begin_scheduling_segment() or RTScheduling::Current::spawn() 2. USS - RTScheduling::Current::update_scheduling_segment() 3. ESS - RTScheduling::Current::end_scheduling_segment() 4. send_request() interceptor call 5. receive_request() interceptor call 6. send_reply() interceptor call 7. receive_reply() interceptor call Chris Gill 4/25/2006 Ready Queue of Distributable Threads 10 C V 5 C V 1 C V + 8 New Distributable Thread C V 10 8 C V 5 C V 1 C V Ready Queue of Distributable Threads - Distributable Thread Importance CV - Condition Variable 36 - Chris Gill 4/25/2006

38 37 - Chris Gill 4/25/2006 Binding of a single DT to two different OS threads Host 1 RTCORBA 2.0 Scheduler <GUID, TID> DT DT carries scheduling parameters with it Host 2 <GUID, TID> RTCORBA 2.0 Scheduler Can cancel from either endsystem 38 - Chris Gill 4/25/2006

39 <GUID,tid> DT 1 tss_write O S Thread 1 DT 2 O S Thread 1 O S Thread 2 tss_read 39 - Chris Gill 4/25/2006 Host 1 Host Chris Gill 4/25/2006 Time (nsec) Time (nsec) TSS Key Create: Emulated Native OS Number of Keys Created 3000 TSS Write/Read: Emulated Write Emulated Read Native OS Write 2500 Native OS Read Number of Successive Iterations

40 BSS - A canceldt Head ofdt DT cance lle d Propagate cance l Processthe cancelatne xt schedulingpoint Host 1 Host 2 Host Chris Gill 4/25/ Chris Gill 4/25/2006

41 43 - Chris Gill 4/25/ Chris Gill 4/25/2006

42 Robotics/ Hyun-Sik Shim Telecommunication R&D Center Applied Technology Lab. SAMSUNG ELECTRONICS CO., LTD.

43 Sensing Processing Action Conventional Robot The main approach of URC is to distribute these functional components through the network, and moreover, to fully utilize external sensors and external processing servers. URC : Ubiquitous Robotic Companion The URC server plays an important role with the URC infrastructure in providing functions of various technical components required by URC robots or clients.

44 Agent Load Information Load Report Face Recognition Remote Monitoring Authentication profile URC protocol URC Main TTS coordinator ASR Action/Emotion Dialog Speech/sound profile Video profile Robot Control/Monitoring profile URC contents protocol Clustering Service Motion Detect TTS MO Receving RSS POP3 SMS Transmit Sync CP Connectivity SIP protocol Call Contents profile CAMUS protocol Call profile CAMUS(Context Aware Middleware for URC System) Streaming profile RTP/RTCP Streaming Encoding Mobile Encoding The protocol that the component named URC Main adapts, is URC protocol within URC server Mainly, It used by URC robots or URC Clients. In order for other server system (ex. CAMUS) in the URC server group to use main function, URC protocol has to be utilized. The URC client/server communication protocol is the application protocol of TCP protocol. Ping HTTP Telnet FTP URC Protocol traceroute DNS SNMP NFS TCP UDP ICMP IP IGMP ARP Data Link RARP media

45 URC framing Framing of URC message adapts an binary format for the efficiency and numerous data contained in the URC messages borrows the data format of UDR (URC protocol Data Representation) URC encoding URC messages are encoded with little-endian format. TYPE Corresponding to C++ DESCRIPTION byte char 1-byte integer or character short short 2-byte integer integer int 4-byte integer float float 4-byte single-precision floating point double double 8-byte double-precision floating point string[n] char [N] Fixed-length string data string<m> char [] Variable-length char arrary opaque[n] char [N] Fixed-length opaque data ( binary data ) opaque<m> char [] Variable-length opaque data T[N] T [N] Array[N] of type T T<M> T [] Variable-length array of type T structure struct structure URC authentication Every URC robot and URC client pass through authentication process to be identified into users and robots and then grant themselves of the necessary rights. Pre-registered ROBOT ID(MAC address) identifies URC robots and URC clients authenticate themselves with user ID and password. URC robot ACK (acknowledgement) Most jobs done by robots are relatively time-consuming. moving, gesture, TTS speaking Server must be acknowledged with the start and the end of the job in the form of events in that the synchronizations of URC robots match with other functions. The URC server then matches the synchronizations of the jobs through ACK.

46 HB (Heartbeat) Mechanism URC robots simultaneously start their connection and keep this condition as long as the URC robot connects with URC server. QoS not guaranteed at commercial network Problem Disconnection by abnormal network environments In that case, it is important to swiftly grasp the situation and to address the right direction. URC protocol defines HB (Heartbeat) protocol amongst URC robot/client and URC server to manage abnormal situations. To monitor the connection between URC server and URC robots on a consistent basis URC Message URC Common header message URC message body URC common header message URC common header URC message body (payload) URC message format URC Heartbeat Message URC Request Message URC Response Message URC Event Notification Message The URC heartbeat message is periodically exchanged between URC robot and URC server to tackle abnormal situations found both in wireless and wired connection

47 URC Profile (Total : 178 messages) The URC profile is the unit function of URC robot and URC server in the URC infrastructure. A profile consists of functions supplied by the profile and events. URC Server Profile (61 messages) URC server profiles provide the interface for numerous functions such as URC server s recognition functions (such as speech or image recognition). System, Authentication profile Remote, Event profile ASR (Auto Speech Recognition), TTS profile Face Recognition, Motion Detection profile Localization, Contents profile SMS, Real time recording profile Mpeg4 Play, VOD Play-list profile Reservation Recording profile URC Common Robot Profiles (68 messages) URC common robot profiles support the interface of functions that all URC robots should provide. System, Move profile Navigation Profile EPD (End Point Detection), ASR profile Sound, Vision profile Motion, Sensor profile URC Robot Specific Profiles (49 messages) The URC robot specific profile provides the interface of its characteristic functions. Text Display, Possible Output Notification profile Action-Emotion, Service Notification profile API using URC protocol is embodied in Linux, Windows, Win CE, JAVA platforms

48 : 64 households in the Seoul/Kyung-gi provisions The three types of robot systems using URC protocol as well as server have been installed and carrying out services using BcN. BcN Network VDSL, Cable, FTTH network 5 companies Samsung Elec., Yujin Robotics, Hanwool Robotics, IOTeK, Izirobotics.

49 There are two URC protocol standardizations, which were submitted to TTA (Telecommunication Technology Association of Korea) standardization workgroup PG413 (Intelligent Service Robot Project Group), as standardizations. URC Client/Server transport protocol Payload message format of URC Client/Server transport protocol

50 We plan to improve URC protocol based on URC experimental field services results, and expand the profiles for increasing number of new services and robots. UDP/HTTP Cooperation protocol for multi-robots Fault-tolerant Communication We plant to develop standard Interface between Server and Robot supported by various languages (JAVA, C/C++, C#) Thank you

51 Universal Real-time Behavior Interface Robotics/ URBI: a Universal Platform for Personal Robotics Jean-Christophe Baillie ENSTA / Gostai Aldebaran Robotics contact@gostai.com OMG Meeting St-Louis, April Gostai 1/32 Personal Robotics in 2006 We are at the very beginning of «Personal Robotics»: leisure robots, companion-robots, assistant-robots, vacuum cleaner robots, medical support or assistance to senior citizens Strong similarities exist with the beginning of the Personal Computers industry in the 1980 s: huge potential. No universal platform currently exists as a standard to control these robots. There is a need. contact@gostai.com OMG Meeting St-Louis, April Gostai 2/32

52 PLAN What is URBI? Technical Part: inside URBI Components as Objects Usage examples Current status & Conclusion OMG Meeting St-Louis, April Gostai 3/32 WHAT IS URBI? contact@gostai.com OMG Meeting St-Louis, April Gostai 4/32

53 URBI is a complete solution to control robots. The base of the system is a new Interface Language. Simplicity Easy to understand, but with advanced capabilities for demanding applications. URBI is used as well by Research Labs and by 12 years old kids as a hobby. Flexibility Independent of the robot, OS, platform, interfaced with many languages (C++, Java, Matlab ), Client/Server architecture. Modularity Software components can be transparently plugged in the language to extend it, as internal new objects or as external objects running on different computers (DOM). The user do not see the difference. Parallelism Parallel processing of commands, concurrent variable access policies, event based programming, task scheduling, many new powerful concepts oriented towards parallel programming and Artificial Intelligence URBI Key Features contact@gostai.com OMG Meeting St-Louis, April Gostai 5/32 URBI Engine: based on a client/server approach Mac OSX, Intel or standard URBI Module (plugin) Windows, Linux, URBI modules (remote) commands messages URBI Engine (server) super calculator or, simply onboard contact@gostai.com OMG Meeting St-Louis, April Gostai 6/32

54 Frequently Asked Questions Why a script language? C++ is better and faster! C++ (or Java, Matlab ) is strongly interfaced with URBI with C++ components. URBI orchestrates several objects in a flexible and dynamic reconfigurable way, at runtime, with almost no speed overhead. CPU demanding code should be in C++ objects, not in URBI. The script language is the glue between components, and that s the way of modern modular programming. Why yet another script language? What about python? URBI is different from python or LUA, because it integrates parallelism and event-based programming in the language semantics. This is a fundamental innovation and a need for complex AI & Robotics. It also trivially allow distributed remote objects with its client/server architecture. Why a central server? What if it fails? There are already many central systems that the system depends on: the OS, the hardware drivers. The key point is to have a robust and bullet-proof system, plus a recovery mechanism in the (rare) case of kernel panic. Think about apache or X. Being central (+script based) brings powerful ways to control your objects and to have them cooperate in a flexible manner. contact@gostai.com OMG Meeting St-Louis, April Gostai 7/32 TECHNICAL PART Inside URBI contact@gostai.com OMG Meeting St-Louis, April Gostai 8/32

55 Objects to control hardware micro micro headpan legrf3 legr3 gripl URBI can be seen as a driver: Every sensor, motor, camera or physical hardware in the robot is an object. An URBI object is similar to a C++ object: it has methods and properties. By convention, the val property is related to the device value (telnet session, port 54000, with Aibo ERS7) headpan = 15; // or headpan.val = 15 headpan; [ :notag] accelx; [ :notag] camera; [ :notag] BIN 5347 jpeg ############# 5347 bytes ########### speaker = bin wav ; ####### bytes ##### contact@gostai.com OMG Meeting St-Louis, April Gostai 9/32 Messages and tags All messages from the server are composed with the same standard structure: the command to the server: the message from the server: headtilt; [ :notag] Time stamp (ms) Command tag Message content mytag: headtilt; [ :mytag] custom tag: useful to know who is sending what and to control running commands. Any command or group of commands can be prefixed by a tag. This is one of the most powerful features in URBI, crucial to handle parallelism properly contact@gostai.com OMG Meeting St-Louis, April Gostai 10/32

56 Advanced Tagging stop / block / freeze mytag: { command1; if (distance < 50) sometag: command2; while (index < 10) { ping; index++; };... }; From another client or from other commands running in parallel stop mytag; block mytag; unblock mytag; freeze mytag; unfreeze mytag; Stops the commands kills any new command with tag "mytag" freezes any running or new command contact@gostai.com OMG Meeting St-Louis, April Gostai 11/32 Parallelism Commands can be executed in serial or parallel mode: headpan = 15 & neck = 30; headpan = 15 neck = 30; Set headpan to 15 and neck to 30 at the same time Set headpan to 15 and after, set neck to 30. Operators, and ; are also available and have a semantics identical to & and except that they have looser constraints: gap A B B.Start == A.end A B A ; B B.Start >= A.end A B A & B B.Start == A.start B A A, B B.Start >= A.start A B gap NB: Brackets can be used to group commands, like in C: { headpan = 15 headtilt = 23 time:1000 } & neck = 10; contact@gostai.com OMG Meeting St-Louis, April Gostai 12/32

57 Complex Assignments Simple assignment: headpan = -2; Numerical assignments can be specified via modifiers headpan = 15 time:5s; headpan = 15 speed:0.34; ms -2 speed = 0.34 unit/s -2 accel = 0.02 unit/s² 15 This command never terminates ms 6 units headpan = 15 accel:0.02; headpan = -2 sin:1s ampli:3, put the command in background Any function can be assigned as time parameterized trajectory with the function modifier (v2.0): headpan = function(t):sqr(t)+sin(3*t+pi); contact@gostai.com OMG Meeting St-Louis, April Gostai 13/32 NB: this is also true for sound devices => simple multiplexer Blending modes Conflicting assignments can occur from several clients or inside the same program. x=1 & x=5 neck.val->blend = add; How to handle it? Blending modes: variable->blend = variable "property" Each assignment occurs at the same time and is added to the others => Used to superimpose sinuses in Fourier decomposition neck.val->blend = mix; neck.val->blend = queue; neck.val->blend = discard; neck.val->blend = cancel; neck.val->blend = normal; Like add, but they are averaged instead of added Each assignement occurs only when the others are finished Each conflicting assignment is ignored Each new assignment terminate any other pending assignment The latest assignment has the focus, be the others run in background contact@gostai.com OMG Meeting St-Louis, April Gostai 14/32

58 Objects: OOP and Broadcasting Usual OOP features are available: class motor { var val; function switchon(); event overheat; }; legrf1 = new motor("xx24"); legrf2 = new motor("xx27"); legrf3 = new motor("xx789"); subclassing and multiple inheritance possible head legs motor tail legrf1 legrf2 legrf3 legrf // broadcast grouping group legrf { legrf1, legrf2, legrf3 }; Usual virtual method search going upward function motor.switchon() { echo on +val; }; legrf2.switchon(); gets motor.switchon URBI multiple parallel launch going downward: broadcasting. function motor.switchon() { echo on +val; }; legrf.switchon(); broadcast switchon() gets motor.switchon() legrf1.switchon() & legrf2.switchon() & legrf3.switchon(); contact@gostai.com OMG Meeting St-Louis, April Gostai 15/32 C-like Features Function definition Functions can be defined on devices or virtual devices: function robot.walk (x,y) { /* walk code*/ }; function add (x,y) { return x+y }; function fibo(n) { if (n<2) return 1 else { a = fibo(n-1); b = fibo(n-2); return a+b } }; no semicolon usage: robot.walk (14,255); myresult = fibo(10); robot.process_mystring("bonjour"); Control structures: Standard control structures are available and some more specific to URBI: // the classical for loop for (i=0;i<10;i++) echo i; // soft tests : must be true for 3ms while (headsensor > 0) { instructions } // loop 10 times loopn (10) leglf1 = legrf1; // Funny average calculation with for& avg = 0; avg->blend = mix; for& (i=0;i<10;i++) avg = tab[i]; contact@gostai.com OMG Meeting St-Louis, April Gostai 16/32

59 Event catching Several event catching mechanisms are available: at (test) { at (test) { instructionsa; instructionsa; }; } onleave { instructionsb; }; test = true; test = false; Instruction A Instruction B whenever (test) { whenever (test) { instructionsa; instructionsa; }; } else { instructionsb; }; test = true; test = false; Instruction A Instruction B waituntil (test); usage: waituntil (test) instructions Terminates only when test becomes true. => If given a number, the wait command pauses for this nb of ms. contact@gostai.com OMG Meeting St-Louis, April Gostai 17/32 Event catching (2) You can control the lifespan of a command: timeout (time) command; //example timeout(10s) robot.walk(); command will be executed until time is over. This command runs in the background. stopif (test) command; //example stopif(headsensor) loop legrf1 = leglf1; command will be executed until the test becomes true. This command runs in the background. freezeif (test) command; //example freezeif(!ball.visible) balltracking(); command will be executed until the test becomes true, then it is freezed. When test becomes false again, it is unfreezed. Also runs in the background. contact@gostai.com OMG Meeting St-Louis, April Gostai 18/32

60 Event catching(3) You can emit your own events with the emit function: emit myevent; emit myevent (1,"hello"); This creates an spiking event with or without parameters. at (myevent)... whenever (myevent (x,y)) echo x+y; at (myevent (1,s)) echo s;... You can catch events with a simple test. If there are parameters, you get them together with the event and you can filter on the base of those parameters value. emit(2s) myevent; emit() myevent (1,"hello"); This will add a duration to then event. Possibly, no time limit. every(2s) commands; every(2s) emit myevent; The every command starts the command at given time intervals. It can be used to create «pulsing events» contact@gostai.com OMG Meeting St-Louis, April Gostai 19/32 Multicore Integration Automatic load balancing of parallel commands on a variable number of cores and threads, with real-time scheduling capabilities (currently in development, v.2 only) URBI Code Client1 URBI Code Client2 URBI Code Client3 Network Layer URBI Kernel URBI Commands = Micro-threads (logical thread) URBI Scheduler OS Physical Thread Physical Thread Physical Thread Physical Thread Physical Thread Physical Thread Hardware Core 1 Core 2 Core 3 Synchronisation contact@gostai.com OMG Meeting St-Louis, April Gostai 20/32

61 COMPONENTS OMG Meeting St-Louis, April Gostai 21/32 URBI as a Middleware URBI as a central hub The creation of modules extends the objects available in the robot by pluging external C++ classes in the URBI language (Java and other language plugin in progress) Example of URBI modules: ball => ball.x, ball.y, ball.visible voice => voice.say( hello ), voice.hear(x) ball = new objectdetector(100,23,123, ); Offboard URBI Module CORBA Module Other Module? URBI Server Onboard URBI Module CORBA Module Other Module? URBI Server contact@gostai.com OMG Meeting St-Louis, April Gostai 22/32

62 URBI as a Middleware (2) Proxy URBI Module CORBA Module Other Module Proxy Server mirroring URBI Server Kernel plugins Integrated URBI Module URBI Server With the UObject Architecture: the same C++ code for all integration possibilities contact@gostai.com OMG Meeting St-Louis, April Gostai 23/32 How to use URBI? C++ client // C++ code with liburbi C++ main() { UClient * client = new UClient("myrobot.ensta.fr"); int pos; } pos = complex_calculation(x,y); client->send( headpan.val Liburbi = %d;,pos); Java client // Java code with liburbi Java telnet or urbilab client headpan.val = 15; headpan.val; [ :notag] simple commands functions definition complex scripts URBI Server import liburbi.uclient; robotc = new UClient(robotname); robotc.send("motor on;"); robotc.setcallback(image, "cam"); other integrated clients (matlab, python,...) Remote/Plugged C++ Module // C++ object inherit fro UObject UObject UStart(ball); class ball : { ball(string); UVar x,y;... }; URBI.INI onboard scripts contact@gostai.com OMG Meeting St-Louis, April Gostai 24/32

63 Plugged components extends the objects available in the system and URBI is used to control and coordinate them in a parallel, event-driven way. The architecture is open, we can integrate CORBA or other DOM, interface objects from many languages (C++, Java, Matlab, python ), adapt to existing standards or push towards their creation. URBI aims at being a unifying tool bringing flexibility contact@gostai.com OMG Meeting St-Louis, April Gostai 25/32 USAGE EXAMPLES contact@gostai.com OMG Meeting St-Louis, April Gostai 26/32

64 Examples headpan camera ball detection component legr3 // Ball tracking program: whenever (ball.visible) { headpan = headpan + camera.xfov * ball.x & headtilt = headtilt + camera.yfov * ball.y }; // Get up on the Aibo getup: { { leg2 = 90 time:2s & leg3 = 0 time:2s } leg1 = 90 time:1s leg2 = 10 time:1s { leg1 = -10 time:2s & leg3 = 90 time:2s } }; // Event detection at (headsensor ~ 2s) speaker.play("hello.wav"); at (distance < 40) emit collision;... contact@gostai.com OMG Meeting St-Louis, April Gostai 27/32 This example shows how to write behavior graphs with URBI: speaker = lost; ball.visible == false Behavior example Track ball Search ball ball.visible == true speaker = found; // Tracking state function tracking() { whenever (ball.visible) { headpan = headpan + camera.xfov * ball.x & headtilt = headtilt + camera.yfov * ball.y } }; // Searching state function searching() { period = 10s; { headpan n = 0.5 smooth:1s & headtilt n = 1 smooth:1s } { headpan n = 0.5 sin:period ampli:0.5 & headtilt n = 0.5 cos:period ampli:0.5 } }; // Transitions track_transition: at (ball.visible ~ 400ms) { stop search; speaker = found; track: tracking(); }; search_transition: at (!ball.visible ~ 400ms) { stop track; speaker = lost; search: searching(); }; contact@gostai.com OMG Meeting St-Louis, April Gostai 28/32

65 Finite State Machines (another way to do behavior graphs) state 1 cond3 Action3 state 3 state 2 cond2 Action2 state 4 function state2.init() { state2.tag1: at (cond1) { action1 emit go_state4; stop state2}; cond1 Action1 state2.tag2: at (cond2) { action2 emit go_state3; stop state2}; freeze state2.tag2; state2.main: loop {... }; }; Integrated Local event gate cond4 Action4 state 2 cond2 Action2 cond1 Action1 at (go_state2) state2: state2.init(); at (go_state4) state4: state4.init(); function state2.init() { emit() in_state2; state2.main: loop {... } }; Separated state2.tag1: at (in_state2 && cond1) { action1 state4: state4.init() ; stop state2 }; state2.tag2: at (in_state2 && cond2) { action2 state3: state3.init() ; stop state2 }; contact@gostai.com OMG Meeting St-Louis, April Gostai 29/32 CONCLUSION contact@gostai.com OMG Meeting St-Louis, April Gostai 30/32

66 Summary Key Benefits Simple to use by non experts and experts alike, but yet very powerful Extensible and flexible Strong industrial commitment: backward compatibility with new versions, open interface and protocols, active partnership policy to increase the number of URBIcompatible components Innovative technology to handle parallelism Already seven compatible robots, keeps increasing Community of users and reusability of components between different platforms OMG Meeting St-Louis, April Gostai 31/32 A spin-off from the ENSTA Cognitive Robotics Lab (Paris, France) has been created to promote URBI: Current status We are looking for partners developing components, tools, who are integrating systems or developing standards. contact@gostai.com OMG Meeting St-Louis, April Gostai 32/32

67 robotics/ Fujitsu s Robotics Research and Standardization Activities OMG Technical Meeting Robotics DTF April 25, 2006 Toshihiko Morita Fujitsu Laboratories Ltd. All Rights Reserved, Copyright Fujitsu Laboratories Ltd Outline Use of robotics technology Need for standardization Standardization activities Robot Services Initiative RT vision component 2 All Rights Reserved, Copyright Fujitsu Laboratories Ltd. 2006

68 Use of Robotics Technology All Rights Reserved, Copyright Fujitsu Laboratories Ltd FA robots Hazardous environment Human-friendly robots and outer space Micro-arm ('81) Dual-armed robot ('93) Nursing robots ('98) Humanoid robot ('00) M6 ('83) ETS-VII ('96) Robot for nuclear power plants ('83-'91) 4 Uncle Touch ('99) HRP project ('98-'03) All Rights Reserved, Copyright Fujitsu Laboratories Ltd. 2006

69 - Latest robots (1) - Humanoids for Research Purposes: HOAP (Humanoid for Open Architecture Platforms) HOAP-1 (2001.9) HOAP-2 (2003.8) HOAP-3 (2005.7) Tai Chi 5 Standing on its head All Rights Reserved, Copyright Fujitsu Laboratories Ltd Latest robots (2) - Home Robot: MARON-1 (Mobile Agent Robot Of the Next-generation) At a remote location Cell phone Home Home camera Remote operation Camera visuals MARON-1 (2002) Appliance control Intruder detection 6 All Rights Reserved, Copyright Fujitsu Laboratories Ltd. 2006

70 - Latest robots (3) - Service Robot (exciting nova on network) Assisting people in offices and public facilities Guidance and escort Various applications based on a common platform Transport of objects Security patrol 7 All Rights Reserved, Copyright Fujitsu Laboratories Ltd Hardware Specifications LEDs 6 cameras 4 microphones LCD monitor Speaker Sensors Wheels (2 DOF) Head (2 DOF) Arm (5 DOF) Hand (1 DOF) Height Width Weight Speed Load Battery 1300 mm 560 mm 50 kg Max. 3 km/hr Max. 10 kg Nickel-Hydride non-contact 8 All Rights Reserved, Copyright Fujitsu Laboratories Ltd. 2006

71 Features Autonomous navigation using 3D vision User-friendly information provision via network Voice, touch panel LCD monitor, and gesture Safety Approved by Safety Engineering Lab (NPO) Application fields Shopping malls Exhibition and tourist facilities Airports Internet data centers (IDCs) 9 All Rights Reserved, Copyright Fujitsu Laboratories Ltd All Rights Reserved, Copyright Fujitsu Laboratories Ltd. 2006

72 robotics/ Standardization of Device Interfaces for Home Service Robot Embedded hardware component research team Intelligent robot research division ETRI H.C. Shin Table of Contents Introduction Mission of My Team Standardization of Robot Device Interface Conclusion -1/41- -2/18-

73 Introduction We are Embedded hardware component research team / Intelligent robot research division / ETRI Introduction We are developing LEGO-type embedded systems for low cost, popularized home service robot F/W, Control S/W, BSP on Embedded Linux System Robot core chipsets and SoC (System-on-a-Chip) Network robot system integration Robot service technology (Robot telephone, Robot Videophone, Robot TV, etc.) -3/18- -4/18-

74 Mission of Our Team We are developing embedded systems for low cost, popularized intelligent home service robot MIM_T (Multi-modal Interface Module_Tiny) : For Robot Application Brain: Low-end Embedded MPU(350MHz), embedded linux Eye: MPEG4/H.263 H/W Encoder (CIF, max.30fps) Mouth: Narrow/Wideband Speech I/O Ear: Sound localization from 8 channel microphones Network I/F : Wireless LAN, WiBro (Future) Interfaces for robot hardware devices(rs232, USB, LCD, Zigbee, CAN, etc.) For Videophone Application Acoustic Echo Canceller for Loud Speaker Phone Mission of Our Team MRM (Multimedia Retrieval service Module) For Robot Application Brain:Middle-end Embedded MPU(500MHz), embedded linux Eye: JPEG (max.10fps) Expression: MPEG-2/4, DivX3/4/5, WMV9, H.263 H/W Decoder (DVD Quality), Stereo MP3 Decoder Network I/F : Wireless LAN, WiBro (Future) Interfaces for robot hardware devices(rs232, USB, LCD, Zigbee, CAN, etc.) For Internet Phone Application VoIP:G.711 A/u Law PCM 64Kpbs Acoustic Echo Canceller for Loud Speaker Phone -5/18- -6/18-

75 Mission of Our Team URC (Ubiquitous Robotic Companion) For low cost, popularized home service robot Tele-operation Server - Navigation - Face recognition - Voice recognition - Text to Speech - Multimedia content handling -Etc. Internet AP Wireless LAN Mobile Robot Client - Minimum embedded processor - Minimum sensor - Minimum actuator AP AP AP Mission of Our Team Wever C1 Home Security with sensor network (provides video & audio stream, sensor information to remote user) MIM_T (Zigbee sensor network,wireless LAN) + 2 wheels -7/18- -8/18-

76 Mission of Our Team Wever Prototype 1 Tele-operated intelligent mobile robot with minimum embedded processors -9/18- Mission of Our Team Wever Prototype 1 hardware configuration RS485 Motor RS485 Motor RS485 Arm Controller Pan-tilt Controller RS485 RS232 RS232 Wireless LAN IEEE802.11g USB2.0/Ethernet Embedded Main Board MIM_T / MRM VGA OV9650 LCD Display CMOS Camera Motor RS485 Motor Speaker Standard 3.5mm USB2.0 Mobile Base Controller Standard 3.5mm Microphone CAN2.0B IR Sensor Array CAN2.0B Locomotion Controller Motor Driver Motor Motor -10/18-

77 Standardization of Robot Device Interface Now Future Personal Computer = + A company CPU + B company graphic card + C company memory + etc. Home Service Robot = + X company arm + Y company eye + Z company brain + etc. Standardization of Robot Device Interface Robot device integration is important & hard We want Standardized robot devices like general PC device Robot device manager like Plug & Play Device Manager of Microsoft Windows -11/ /18-

78 Standardization of Robot Device Interface Arm & leg Pan & tilt Display Wheel On/off actuator Heavy Tiny Vision camera Microphone Proximity sensor Touch sensor On/off switch Robot needs various devices! Standardization of Robot Device Interface Robot hardware devices can be classified into General PC devices (vision camera, audio I/O, LCD display, etc.) They have already de facto standard Sensors and actuators IEEE 1451 IEEE 1451 Standard for a Smart Transducer Interface for Sensors and Actuators IEEE Protocols & Format IEEE Object Model IEEE Interface (now revising for RS- 232, RS-485 and USB) IEEE Local Network IEEE Analog & TEDS (Transducer Electronic Data Sheets) IEEE Wireless IEEE CANopen-based transducer network -13/ /18-

79 Standardization of Robot Device Interface We are trying to develop PMI (Physical Media independent Interface) PMI has classified device interfaces Upper layer applications can access hardware devices through each standardized interface Upper Layer Applications Physical Media independent Interface Video In/out Interface Sound In/out Interface Sensor In Interface Actuator Out Interface Standardization of Robot Device Interface Upper Layer Applications PMI Device Data Management Layer General PC Devices Device Connection Management Layer PC I/F, IEEE1451 Devices based on Standard Smart Sensor & Actuator VGA,RS232, USB, Etc. PC I/F LCD Display Vision Camera Microphone, Etc. USB, RS232 CAN, ZigBee VGA, Etc. Robot Main Board USB, RS232 CAN, ZigBee Etc. IEEE 1451 Sensor, Actuator -15/ /18-

80 Standardization of Robot Device Interface A B C D Upper Layer (Applications) Arm controller (Application) PMI IEEE 1451 standard smart actuator Arm controller PMI standard smart sensor standard smart actuator standard smart actuator standard smart actuator E standard smart actuator standard smart actuator standard smart actuator F Conclusion Robot hardware devices can classified into General PC devices de facto standard interface Sensors and actuators IEEE 1451 interface Suggested Physical Media independent Interface for home service robot device can help robot developers and users -17/ /18-

81 Voice Interface Standardization Items for Network Robot in Noisy Environments A Response to Robotic System RFI April, 2006 Telecommunication R&D Center Applied Technology Lab. SAMSUNG ELECTRONICS CO., LTD. robotics/ Contents 1 Purpose of Presentation 2 Network Robot 3 Needs for Standardization 4 Standardization items 5 Conclusion

82 Purpose of Presentation To propose the needs for Robotic System Standards with an emphasis on Voice Interface. - Necessity of enactment of standardization (for both network and standalone type of robots) - Description of the item list that can be standardized accordingly. Network Robot Network robots allocate their functions through the network and the server connected to the network. - The robots alone are limited to provide techniques, expenses as well as resources. - External signals that robots receive are analyzed and responded by the network robot servers. - The role of a robot is as an interface between robots and users.

83 Network Robot using voice interface The most desirable interface is a voice interface (Speech Recognition). - Robots filter out the user s voice signals and transfer these signals to the server that leads the recognition processing. Voice signal command response Noise Suppressing Module wireless Speech Recognition Module Recogition results Network Server Network Robot using voice interface The factors affecting the recognition capability are - background noises from numerous directions - neighboring human voice - noise from radio, TV. Radio,,TV neighboring human voice Network Robot

84 Needs for Standardization The standardization of voice interface for robotic applications would 1. Reduce the uncertainties of robot s voice recognition performances in noisy environment. 2. Prevent investment overlap and cut down on the production cost. 3. Make system alterations and functional addition easy, when a new technique is added or the performance is enhanced. 4. Help establish an improved system in a short period of time for mass production of robots. Standardization items- overview The standardization below are required in order to produce effective robots.

85 Standardization items 1 Item 1. Mic and Array Characteristics for network robot - Stipulations for a microphone s capability and directional distinctions to input the voice signal. - Beam-pattern for beamforming process for acquiring user s voice - Optimal numbers and the locations of internally fitted microphones Standardization items 2 Item 2. Speech recognition performance guideline - Speech recognition rate and SNR improvement Sample Table from Performance evaluation sheet in AURORA2, 3 DB

86 Standardization items 3 Item 3. Input/Output parameter for communication between server and network robot Parameter format of voice input/output - voice codec parameter applied to PCM voice data The feature extracting methods: - sampling rate standard of voice signals - feature extraction parameters (frame size, filter coefficient, step size) The method of transmission between server and robot terminal: - standardization of framing, bit-stream composition, error protection - decoding/error correction of transmitted data to the server <Example> Standard of ETSI advanced Feature extraction Standardization items 4 Item 4. Resource portion for network robot - Stipulate the processing speed of voice signals of robots - Suggest upper bound of memory occupied by voice signal processing Hz 800Hz 1600Hz 3200Hz

87 Conclusion The benefit and effect of technology development based on these standardized guideline. 1. Application of the best possible solution through regular upgrade on the system. 2. Application and instant use of various novel noise reduction techniques. 3. Simple maintenance and repair based on construction of standardized production system. 4. Establish an improved system in a short period of time for mass production of robots. 5. Standardized robots from different company will be compatible with each other s network server. 6. Minimize the production rate of inferior robots and supply of quality guaranteed robots. 7. Guarantee of speech recognition rate for the produced robots. Thank you for your attention.

88 robotics/ Home Robot Navigation in SAIT Seok-Won Bang & Yeon-Ho Kim APRIL 2006 Interaction Lab SAIT (Samsung Advanced Institute of Technology) Brief History of SAMSUNG Home Service Robot : 1999~ : BANGGAR Speech Recognition/Synthesis, Face Recognition, Navigation using a camera mounted on the ceiling : BANGGAR II Camera-phone, remote monitoring, Multi-face Detection : SHR-00 Vacuum Cleaning, Tele-presence : APRIL Emotional Motion, Sound Localization : SAEBOM (Software System) Aiming Dialogue Skill of 4 Years Old Children BANGGAR(1999) APRIL(2003) SHR-00(2002)

89 Brief History of SAMSUNG Home Service Robot : 2003~Present : SHR-50 Navigation using Markers on Ceiling : CRUBO (VACUUM ROBOT) Navigation using Markers on Ceiling : MOBILE AIR-PURIFIER Navigation including Wall Following Motion : SHR-100* Navigation using Natural Image Features on Ceiling Call & Come using Sound Localization Technique User Following using Structured Light Sensor ~: PREMIUM VACCUM ROBOT Navigation using Range Sensors Precise Wall Following Motion fo1r Corner Cleaning SHR-50(2003) CRUBO(2003) MOBILE AIR-PURIFIER(2004) * SHR100 is developed with Samsung Mechatronics Center SHR-100(2004) CONTEXT-AWARE TECHNOLOGIES FOR HOME SERVICE ROBOT AT SAIT Recognizing Position of Robots and Humans Robot s Position Speaker s Position User s Position Self- Localization Call & Come User-Following Based on the work in 2004

90 SELF-LOCALIZATION LOCALIZATION SLAM : Simultaneous Localization And Map-building Use only natural image features on ceiling without any artificial markers Feature extraction : robust to light condition Distance estimation : structured Laser light, low cost Localization accuracy : position error < 15cm, orientation error < 3 degree CALL & COME Call & Come exploits video and audio signals together Stop Position : 0.5~1.0m in front of user (95%) Speaker s Orientation Detection: Analysis of audio signals from 8 microphones Detection Range < 5m, Voice Level > 7dB Human Detection : AdaBoost algorithm with video signals

91 USER FOLLOWING Use of Front camera and structured light Maximum following speed : 1.5m/sec Control distance : 1m Upper body Tracking : particle filter and mean shift algorithm Leg detection : arc pattern extraction from structured light sensor LOCALIZATION & NAVIGATION FOR HOME SERVICE ROBOT AT SAIT Feature Map Wall Map Final Map

92 Thank You!

93 The world s s first humanoid robot to be harmonized with the family Copyright 2006 Systems Engineering Consultants Co., Ltd. All rights reserved.

94 Walking Internet Radio!! ITR = Internet Renaissance and Internet Robot Creation of the robot entertainment that anyone can enjoy in a home!!

95 ITR Server Singing! Dancing! RTML RTML RTML: Robot Transaction Markup Language ITR Mobile Phone Internet Choice and and play play your your favorite ITR ITR programs!!!! Movie1 - Comic Story with a Witty Ending

96 Movie2 English Education Movie3 Music & Dance

97

98 Contents Server Contents Server Download Contents Internet ITR Server Mobile Phone Select Contents Register user information Cooperate Cooperate w/z w/z Mobile Mobile Phone Phone User User Management Management RTML RTML Player Player Download Contents Notify status Device Device Control Control Memory Memory Tendency Tendency Time Time Region Region Contents Contents Navigator Navigator Communication Communication & & Mail Mail Notification Notification Service Service DRM DRM & & Accounting Accounting System System HTTP/SOAP +SSL Web Service (Apache) Linux(FedoraCore) Contents Server Java Web Browser OS HTTP+SSL Contents Server Mobile Phone Web Server Web Service(AXIS) ITR Server Java Linux(FedoraCore) Communication Module ITR engine HTTP/SOAP +SSL ITR server HTTP/SOAP +SSL SpeecysOS Device Driver Web Service (Apache) Contents Server Java Device Linux(FedoraCore) Contents Server

99 Sound data Link Sound data Contents Scenario Motion data Contents Scenario Motion data Contents (SYGSA) Contents (SYGSA)

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101 Developer s Release Upgrade Release Major Release 50 Contents 100 Contents 200 Contents 300 Contents

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104 For the social safety and development

105 robotics/ OMG Robotics Task Force Robotic Services WG April 2006 Saint Louis, MO, USA Mission Statement The goal of the Robotics Services WG is : Establish a clear definition of Functional Services in Robotic Systems Identify and categorize services commonly used in robotic application and the technologies involved Define standard interfaces that expose these technologies to robotic application developers Study other existing related standards and coordinate with them Coordinate with other groups within the OMG Robotics Task Force to keep specification consistent

106 Roadmap Item Status St Louis April 2006 Boston June 2006 Anaheim Sept Washington Dec SW Coast March 2006 Robotic Service WG On going Chartering Localization On RFP RFP RFP Service going 1 st draft Draft Revision (User Identification) Service Proposed Discussio n RFP drafting Draft Revision RFP Other services?? Schedule this week Wednesday 16:00 18:00 Topic : Localization Service 1. Localization Service scope definition 2. Identification of Requirements Thursday 10:00 12:00 Topic : Localization Service 1. Localization Service scope definition 2. Identification of Requirements

107 Election of co-chairs Candidates are : Dr Chi Lemaire Newly elected co-chairs :

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112 robotics/ OMG Robotics DTF Infrastructure WG progress report Rick Warren (RTI) Noriaki Ando (AIST) Mission Statement The purpose of the Infrastructure Working Group of the Robotics Domain Task Force is to standardize fundamental models, common facilities, and middleware to support the development and integration of a broad range of robotics applications. This working group should collaborate with other groups within OMG. Common facilities Fundamental services general to wide range of robotics applications. 2

113 Concerns and Prioritization Deployment & Configuration Resource management Event management Data distribution Behavior of Control Systems 3 Roadmap Outline/framework RFP in Boston (June) Draft RFP in Anaheim (Sep.) Review RFP in Washington D.C. (Dec.) Second review RFP (Mar.) Issue RFP (Mar.) 4

114 Today s meeting (14:00-18:00) Topic: DC (Deployment & Configuration) Presentation Jaesoo Lee s (Seoul National University) Is there *part* of DC should go in RTC? DC RFP discussion. Unification progress update RTC RFP discussion (open) 5 Candidates Saehwa Kim Rick Warren Noriaki Ando Selection Chairs Newly elected co-chairs 6

115 robotics/

116 Open Resource Interface for the Network / Open Robot Interface for the Network Contact Report ORiN Forum Chair: Makoto Mizukawa Shibaura Institute of Technology Robotics DTF, OMG TM, St. Louis 1 robotics/ ORiN Open Resource Interface for the Network /Open Robot Interface for the Network applications ORiN Provider FA devices/robot controllers Robotics DTF, OMG TM, St. Louis 2

117 ORiN: Summary Device Independent Interface API Device Interface Application Independent Interface Robotics DTF, OMG TM, St. Louis 3 ORiN: Summary Before ROBOT Machine Tool PLC.. Operation Panel Close dependency on Devices/ Networks/ Protocols -> One-off/ Order-made -> Low Reliability -> Poor Maintenance Production Management Process Management Operation Monitoring ORiN platform Trouble Shooting.... After Independency on Devices/ Networks/ Protocols -> Standard Products -> High Reliability ROBOT Machine PLC Robotics Operation DTF, OMG TM, St. Louis 4 Tool Panel -> Good Maintenance

118 Scope ORiN proposes the application program interface, the provider interface for linking controllers and the schema definition specification for defining robots using common formats, for realizing unified type applications for production systems containing industrial robots Robotics DTF, OMG TM, St. Louis 5 ORiN System Configuration Standard API Component Structure Standard Controller API Robotics DTF, OMG TM, St. Louis 6 Data Schema

119 ORiN : Features Framework and Interface Standards Application Program Interface Robot/Device Controller Interface Device Profiling Schema Using Distributed Object Device Profiling using XML Providing Interoperability Web Service capability Framework Application layer ORiN Service Layer Engine Provider Controller Layer Robotics DTF, OMG TM, St. Louis 7 RRD Schedules 2006 Jul 15,16 ISO TC184/SC2 NWIP Draft Comments Revision 2007 Jan., Mar. Voting Voting Result Approved Project Starts Robotics DTF, OMG TM, St. Louis 8

120 Open Resource Interface for the Network / Open Robot Interface for the Network Japan Robot Association ORiN forum Robotics DTF, OMG TM, St. Louis 9 Key Technologies for Open Robot Model Robot Access Object (RAO) a middleware that provides standard program interface and services to robot controller based on the distributed object model Robot Resource Definition Format(RRD) a data schema that provides standard format for data from/to robot controller based on the extensible Markup Language (XML) Robot Access Protocol(RAP) standard protocol in the Internet using http and XML to allow data-exchange over firewalls Robotics DTF, OMG TM, St. Louis 10