Integration of Ubiquitous Robotic Systems
using Open Standards
Integration of Ubiquitous Robotic Systems
using Open Standards
IROS 2006 - Workshop on Robotic StandardizationBeijing (China) – October 10th , 2006IROS 2006 - Workshop on Robotic StandardizationBeijing (China) – October 10th , 2006
Olivier LEMAIRENational Institute of
Advanced Industrial Scienceand Technology (AIST)
Usage of Robotics TechnologyUsage of Robotics Technology
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Robotics @ AIST / ISRIRobotics @ AIST / ISRI
AIST
Intelligent SystemsResearch Institute
……
Autonomous Behavior Control Research Gr.
Ubiquitous FunctionsResearch Group
Distributed SystemsDesign Research Gr.
Safety IntelligenceResearch Group
Field SystemsResearch Group
3D Vision SystemsResearch Group
Task IntelligenceResearch Group
Humanoid Research Group
Joint Japanese-FrenchRobotics Lab.
Lighter-than-AirResearch Group
Ubiquitous FunctionsResearch Group
- Largest public research organization in Japan
- 3200 Employees
- 50 Research Centers and Research Institutes
- Research fields including :* Life Science & Technology
* Information Technology
* Nanotechnology, Materials & Manufacturing
* Environment & Energy
* Geological Survey & Applied Geoscience
* Metrology and Measurement Technology
- From Fundamental Research to Applied Research
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Robotics @ AIST / ISRI / UFRG – Robotic SpaceRobotics @ AIST / ISRI / UFRG – Robotic Space
• Robotic Room for Daily life support• The Room is the Robot where each
device provides a simple function• Sum of functions provides more
intelligent functions
• Constraints :– Need High Flexibility/Customization– Event Driven– No a priori design time decision– More about Human /system
Interaction than control
• Use of wireless Active RFID tags with Digital I/O to control appliances and gather sensor states– Use I/O tagging to achieve PnP
Chandelier Light
Chandelier Fan
Security System
RFID Floor
Multi ConsentDecorative LightPortable Switch
Multimedia Syst.
Auto Door
Home Server
Chandelier LightChandelier Light
Chandelier FanChandelier Fan
Security SystemSecurity System
RFID FloorRFID Floor
Multi ConsentMulti ConsentDecorative LightDecorative LightPortable SwitchPortable Switch
Multimedia Syst.Multimedia Syst.
Auto DoorAuto Door
Home ServerHome Server
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Usage of Robotics Technology – Ubiquitous RobotsUsage of Robotics Technology – Ubiquitous Robots
• Librarian Robot• Tidy books back to
bookshelf
• Minimal on board processing (only sensors)
• All intelligence distributed
• Taking advantage of infrastructure (ID Tags) for many usual robotic tasks– Localization, Book
Recognition…
Bookshelf with Tag Reader
Arm
ID Tags in the Floor
ID Tag in the Books
Visio Sensor(Laser, Camera)
Mobile Base(Wheeled)
Gripper
Force Sensor
Tag Reader for Localization
Database
Interface between Robot and Tag System
Mobile RobotEnvironment with embedded ID Tags
Rack with Tag Reader
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Usage of Robotics Technology – IntegrationUsage of Robotics Technology – Integration
RTM Infrastructure(High Level Control)
Wireless UFAM Infrastructure(Low Level Control)
BehaviorManagement
BehaviorManagement
Action Management
Action Management
Internet Infrastructure(Human Interface)
CameraRT Component
CameraRT Component
Human Interface Management
Human Interface Management
SpeechRT Component
SpeechRT Component
Identifier RT Component
Identifier RT Component
Web ServiceInfrastructure
Door RT Component
Door RT Component
Switch RT Component
Switch RT Component
Lock RT Component
Lock RT Component
LightRT Component
LightRT Component
IDTagIdentifierRT ComponentIDTagIdentifierRT Component
Fan RT Component
Fan RT Component
UFAM Gateway
UFAM Gateway
ArmRT Component
ArmRT Component
GripperRT Component
GripperRT Component
CameraRT Component
CameraRT Component
Traj. GeneratorRT ComponentTraj. GeneratorRT Component
EncoderRT Component
EncoderRT Component
PD ControlerRT ComponentPD Controler
RT Component
MotorRT Component
MotorRT Component
Library RobotRT ComponentLibrary Robot
RT Component
SLAMWS Component
SLAMWS Component
WheelsWS Component
WheelsWS Component
Tag ReaderWS Component
Tag ReaderWS Component
Tag ReaderWS Component
Tag ReaderWS Component
Book ShelfWS Component
Book ShelfWS Component
DatabaseWS Component
DatabaseWS Component
Needs for Standardization of Robotics TechnologyNeeds for Standardization of Robotics Technology
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Technology Re-useTechnology Re-use
• Develop new robots faster and cheaper by integrating COTS
Monitoring Console for
Application A
Monitoring Console for
Application A
Robot Controlfor Application ARobot Control
for Application A
RobotMotionControl
RobotMotionControl
HumanInterface
HumanInterface
OtherSensors
Management
OtherSensors
Management
Communication via Proprietary closed protocol
Communication via Proprietary closed protocol
One big application that manages everything
One big application that manages everything
Specifically developed forApplication A
Specifically developed forApplication A
Communication via Proprietary closed protocol
Communication via Proprietary closed protocol
One big application that manages everything
One big application that manages everything
Specifically developed forApplication A
Specifically developed forApplication A
LocalizationAlgorithm
LocalizationAlgorithm
OtherAlgorithms
OtherAlgorithms Communication
Stack
CommunicationStack
Robotic TechnologyComponent Catalog
GenericMonitoring
Console
GenericMonitoring
Console
RobotMotion
Controller
RobotMotion
Controller
RobotHead
Controller
RobotHead
Controller
RobotSensorData
Analyzer
RobotSensorData
Analyzer
LightRobot Human Interfacefor Appli
A
LightRobot Human Interfacefor Appli
A
LightRobot
Human Interfacefor Appli
B
LightRobot
Human Interfacefor Appli
B
FingerprintSensor
FingerprintSensor
Integration ToolsAdmin Tools
Integration ToolsAdmin Tools
This kind of Monolithic and Specific Application :• Cannot address a wide enough market to be very profitable• Takes a long time to develop and to maintain• Is Error-prone• Reaches resources saturation for high intelligent system• Cannot easily integrate with other systems• Is bound to the hardware manufacturer
This kind of Modular and Flexible Application :• Emphasize reuse of smaller specialized components • Takes a short Time to Integrate• Can be distributed over a network to share resources• Is totally open to other systems and to customization• As more accessible, can generate interest from different business actors and stimulate the market
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Develop R
obot
Technology Re-useTechnology Re-use• Expand the Robotics Business by sharing the burden of development
RobotMaker
H/WMaker S/W Developer
(Academia, Business)
H/W Maker(Academia, Business)
ToolVendors
IndependentTesting Org.
ContentsProviders
Extra ServicesExtra Services
ServiceProvider
EndUser UseUse
EndUser
System IntegratorsRobot IntegrationRobot Integration
CustomizationCustomization
MaintenanceMaintenance
MarketingMarketing
TestingTesting
S/W IntegrationS/W Integration
H/W IntegrationH/W Integration
S/W Dvlpt.S/W Dvlpt.
H/W Dvlpt.H/W Dvlpt.
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Manage complexity of a broad and complex FieldManage complexity of a broad and complex Field
• Robotics is a multi-dimensional discipline– Integration of existing sciences– Dealing real world environment
• A roboticist must master all Mechanical, Electrical, Software sciences AND deal with the complexity and uncertainties of a real world uncontrolled environment -> Only Superman can do that !!
Robotics Mechanical Systems
Software Systems
Electrical Systems
Real World Environment
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Manage complexity of a broad and complex FieldManage complexity of a broad and complex Field
Robotics
Sensor Management
Sensor Management
LocalizationLocalization
Path-PlanningPath-
Planning
Hospital Robot
Hospital Robot
AgentAgentArtificial
IntelligenceArtificial
Intelligence
Biped RobotBiped Robot
Humanoid Robot
Humanoid Robot
Trajectory Control
Trajectory Control
KinematicsKinematics
Control LoopControl Loop
Data Communication
Data Communication
Synchronization Concurrency
Synchronization Concurrency
SafetySafety
Home Robot
Home Robot
Wheeled Robot
Wheeled Robot
Reptile Robot
Reptile Robot
Unmanned Vehicle
Unmanned Vehicle
DeploymentDeployment
Real-TimeReal-Time
DigitalDigital AnalogAnalog
CompositionComposition
MappingMapping
GraspingGrasping
ManipulationManipulation
MapMapImageImage
PositionPosition
RequestRequest
Man/Machine Interaction
Man/Machine Interaction
SemanticsSemantics
VisionVision Speech ProcessingSpeech
Processing
Neural
NetworkNeural
NetworkDecisionDecision
Military Robot
Military Robot
Welfare Robot
Welfare Robot
Entertainment Robot
Entertainment Robot
Communication Robot
Communication Robot
RecognitionRecognition
SequencingSequencing
ManagementManagement
MissionMission
….….
….….
….….
….….
Mobile Robot
Mobile Robot
Sensor Fusion
Sensor Fusion
SecuritySecurity
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
GlobalMap
Manage complexity in multi-robot systemsManage complexity in multi-robot systems
Robot Reasoning
Group Reasoning
Group Rules
Local Rules
Robot Sensors and Controls
LocalMap
Group Communications
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Everything but Static(Dynamic Configuration)
Everything but Static(Dynamic Configuration)
We need a way to handle dynamic connection between components as well as their modeling
We cannot shutdown a Robotic System every time an entity is added or removed
System configuration needs to adapt to hardware mobility in a real-time manner
We need a way to manage dynamic properties of components
GenericMonitoring
Console
GenericMonitoring
Console
RobotController
RobotController
RobotHead
Controller
RobotHead
Controller
RobotSensorData
Analyzer
RobotSensorData
Analyzer
LightRobot
Human Interface
for HospitalA
LightRobot
Human Interface
for HospitalA
LightRobot Human Interface
for HospitalB
LightRobot Human Interface
for HospitalB
FingerprintSensor
FingerprintSensor
SpecializedMonitoring
Console
SpecializedMonitoring
Console
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Question of Point of View (Inheritance, Composition and Granularity of Components)
Question of Point of View (Inheritance, Composition and Granularity of Components)
The robot can be considered as a whole or as the sum of its components... Or anything else
Light with a dimmer is still just a light
A camera on a mobile robot becomes a mobile camera
We need a way to compose, at integration time, functionalities defined at design time
We need a way to define and advertise complex services without breaking the semantic of the underlying basic services
We need a way to let the same entity provide different views
+
=A mobile Robot
OrA Camera
OrA Mobile Camera
OrA Robot with Camera
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Relationships are important(Spatial and Temporal Integrity)
Relationships are important(Spatial and Temporal Integrity)
Software distributed entities are location independent, but the pieces of hardware they control are not
Data generated from Robotic Entities may go through several other entities before reaching their destination- Delay may be induced- Information concerning the origin of the
data might be lost
We need a shared representation of the Robotic World and a way to clearly define robotic entities physical relationship
We need a way to ensure spatial and temporal integrity of the data
≠
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
To go or not to go ?(Conflict Management, Prioritization of Tasks)
To go or not to go ?(Conflict Management, Prioritization of Tasks)
In a distributed Robotic System, we cannot assume anything about the synchronization of task
Do that !Do this !
Come Here !Go there !
????Conflicting requests to (especially hardware) entities may lead to incoherent behavior of the system
Some request may be more important than others (especially safety related ones)
We need a way to manage conflicting requests to robotic entities and to prioritize them in an homogenous way
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Safety First(Conformance)
Safety First(Conformance)
Moving Hardware
+Unskilled User
=
Even if a Robotic System cannot be 100% reliable, it has to be 100% safe !
It is NOT possible to assert that a robotic system is 100% safe in an unmanaged real world environment
Companies are reluctant to put on the market a robotic system that could cost them fortunes in potential product liability claims
Standards in robotics could help developing a conformance framework defining acceptable safety and performance levels
Conforming Robot makers, protected against abusive PL claims, can develop more challenging robots
User’s trust in the technology improves
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Tools for the people !Tools for the people !
Robotic Systems will be more often used by people with minimal technical skillsRobotic Systems must become easier to program and to manage
Many tools are necessary to manage the different aspects of the construction of a Robotic System
Functionality designApplication designApplication configurationSimulation Monitoring
We need a way to let all these tools homogenously and interchangeably work together
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
We need a Framework,… not a Patchwork !We need a Framework,… not a Patchwork !
Robotic Technology
Real-Time Communication
Real-Time Communication
FaultTolerance
FaultTolerance
Data Distribution
Data Distribution
Home Automation
Home Automation
DistributedSimulation
DistributedSimulation
ConcurrencyManagement
ConcurrencyManagement
RelationshipManagement
RelationshipManagement
……
……
Service Management
Service Management
Robotic TechnologyRobotic TechnologyThere are standard frameworks
addressing problems related to distributed objects
Most of them are either too general- Hard to understand and support
… or too limited- Some specific aspects of the
robotic technology are not coveredThey can’t always integrate well
- Based on different technologies- Overlapping and conflicting
We need a framework that would homogeneously address the problematic of robotic system
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Robotic Technology
Some frameworks do exist ...Some frameworks do exist ...
Many research groups around the world have been and are still trying to address Most of them take a similar approach which indicates that a consensus could be reached, but...
Most of them are research orientedTechnically correct, unusable as isNone of them as yet been backed up by the industry
Some companies are trying to develop their own solution which usually
Cover only their needsIs proprietary
None of these solutions is even close to reach the volume to make it a de-facto standard
Robotic TechnologyRobotic Technology
Robotic Technology
Robotic Technology
Robotic Technology
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Requirements for InteroperabilityRequirements for Interoperability
Infrastructure
Architecture Protocols
CommonFacilities
Mediators
CommonMechanisms
Paradigms
CommonData / Objects
Semantics
Interoperabilityin RoboticsTechnology
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Hardw
are LayerP
latform Layer
Implem
entation LayerM
odel Layer
Hardware
External CommunicationAPI
External Interface Definition
Standard Paradigms –Semantics Concept Model
Map
ping
Map
ping
Map
ping
Device Driver API
CustomizationParameterization
Skill Descriptor
Adapter
Adapter
Map
ping
Cal
l /S
uppo
rt
Robotic ParadigmsAPIs
Internal CommunicationAPI
Cal
l /S
uppo
rt
Pla
tform
Lay
er
Mid
dlew
are
Tech
nolo
gy
Standards at all Levels of AbstractionStandards at all Levels of Abstraction
Impl
emen
tatio
n La
yer
OS
Control Logic
Pro
gram
min
g La
ngua
ge
Robotic ParadigmsAPIs
Internal CommunicationAPI
Map
ping
Map
ping
Map
ping
Har
dwar
e La
yer
Hardware
Development APIDevice Driver API
Mod
elin
g
Cal
l /S
uppo
rt Cal
l /S
uppo
rt
Static / DynamicComposer
Mod
el L
ayer
Standard Paradigms Semantics Concept Model
CustomizationParameterization
FormatTransformation
(optional)
ProtocolAdaptation(optional)
External Interface Definition
Capability Descriptor
Adapter Cal
l /S
uppo
rt
Map
ping
External CommunicationAPI
Model LayerActors : Robot Scientist – provides the concept related to robotics and defines the type of requirements.
Robotic System Architect – build a robotic system from a catalog of available component definitions.
Relies on :Modeling Language (like UML or easier / more adapted)
Need for Standardization :Ideally, the complete model should be standard.
In real, the basic model of as many concepts as possible AND strong guidelines for model extension, customization
Platform LayerActors : Robotic System Integrator – Select the communication strategies to match the functional requirements and deploy the robotic application.
Relies on :Communication Technology (like Socket, CORBA, Web Services, RMI, possibly (N)DDS…)
Need for Standardization :External Interface Definition (by extension, the mapping to it depending on the communication technology adopted)
Capability Descriptors
External Communication APIs and protocol format (usually, this is already standardized within the communication platform specifications)
Implementation LayerActors : Robotic Component Developer – Develop the logic / algorithms.
Relies on :OS, programming language
Need for Standardization :- Communication platform independent APIs supporting the concept and mechanisms defined in the model (by extension, the mapping to it depending on the programming language adopted)
Hardware LayerActors : Hardware Maker – Develops Hardware and provides hardware functional descriptors
Relies on :Hardware
Need for Standardization :- Hardware capability description, functional tagging
- Mechanical / Electrical Interconnections (out of scope)
Standardization of Robotics within the Object Management Group
Standardization of Robotics within the Object Management Group
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
What is the Object Management Group (OMG)What is the Object Management Group (OMG)
• The Object Management Group (OMG) is – an open membership, not-for-profit consortium that produces and
maintains computer industry specifications for interoperable enterprise applications
– an ISO PAS (Publicly Available Specification) submitter, able to submit our specifications directly into ISO's fast-track adoption process.
• Any company may join OMG and participate in the standards-setting process.
• The one-company-one-vote policy ensures that every company, large and small, has an effective voice in our process.
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
OMG Organization & Technical CommitteesOMG Organization & Technical Committees
Consultation, Command,
Control, Communications and Intelligence
(C4I) DTF
Life ScienceDTF
SoftwareCommunication
DTF RoboticsDTF
ManufacturingDTF
HealthcareDTF
BusinessModeling
DTF
GovernmentDTF
FinanceDTF
SpaceDTF
OMG
DomainTechnologyCommittee
PlatformTechnologyCommittee
Architecture Board
Newly created in December 2005
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
The OMG Robotics DTF : Its MissionThe OMG Robotics DTF : Its Mission
• The purpose of the Robotics Domain Task Force is to foster the integration of robotics systems from modular components through the adoption of OMG standards.
• To realize this purpose, we will:– Recommend adoption and extend OMG technologies that apply to the
specific domain of robotics systems where no current baseline specifications exist, such as MDA for Robotics. The object technology is not solely limited to software but is extended to real objects. This effort promotes the use of OMG technologies in various markets.
– Promote mutual understanding between the robotics community and the OMG community.
– Endeavor to collaborate with other organizations for standardization, such as the one for home information appliances, and make an open effort to increase interoperability in the field of robotics.
– Coordinate with the appropriate OMG subgroups and the Architecture Board, for technology areas that overlap with other OMG Task Forces, to determine where the work will be accomplished.
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Leve
l of
Abstra
ction
Leve
l of F
unct
iona
l Abs
tract
ion
Specialization
OMG Robotics Domain Task Force
Robotic Domain Working Groups
Robotic Platform Working Groups
Provides feedback on usability and applicability of definition & Request new necessary features
Provides data structures
Provides general guidelines for defining models and fundamental concepts definitions
Propose / Request features become available at infra level
Provides feedback on usability and applicability of definition & Request new necessary features
Robotic Profiles WGRobotic Profiles WGDefine standard hardware definitions (including device definition and their associated data structures) on which the Service Layer can rely.
Provide Hardware Abstraction Layer
Robotic Services WGRobotic Services WGDefine standard abstractions of services found in robotic applications (including interfaces to call services, mechanisms and associated data structures)
Provide Algorithm Abstraction Layer
Robotic Infrastructure WGDefine standard infrastructure necessary to develop robotic applications
Provide Platform Abstraction Layer
Tools / Facilities WGDefine standard facilities and tools (including configuration, composition, languages) useful for robotics
Provide Tool Abstraction Layer
Working Groups that reflect the Domain PracticesWorking Groups that reflect the Domain Practices
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Sorting out the conceptsSorting out the concepts
Robotics
Sensor Management
Sensor Management
DigitalDigital AnalogAnalogImageImage
PositionPosition
MapMapRequestRequest
Man/Machine Interaction
Man/Machine Interaction
AgentAgentArtificial
IntelligenceArtificial
Intelligence
SemanticsSemantics
Neural
NetworkNeural
NetworkDecisionDecision
RecognitionRecognition
SequencingSequencing
ManagementManagement
MissionMission
Hospital Robot
Hospital Robot
Biped RobotBiped Robot
Humanoid Robot
Humanoid Robot
Home Robot
Home Robot
Wheeled Robot
Wheeled Robot
Reptile Robot
Reptile Robot
Unmanned Vehicle
Unmanned Vehicle Military
RobotMilitary Robot
Welfare Robot
Welfare Robot
Entertainment Robot
Entertainment Robot
Communication Robot
Communication Robot
Mobile Robot
Mobile Robot
LocalizationLocalization
Path-PlanningPath-
PlanningTrajectory
ControlTrajectory
Control
KinematicsKinematics
Control LoopControl LoopMappingMapping
GraspingGrasping
ManipulationManipulation
VisionVision Speech ProcessingSpeech
Processing
….….
….….
….….
….….
Sensor Fusion
Sensor Fusion
Data Communication
Data Communication
Synchronization Concurrency
Synchronization Concurrency
SafetySafety
DeploymentDeployment
Real-TimeReal-Time
CompositionComposition
SecuritySecurity
Localization / PositioningNavigation / World Mapping
Path-Planning / Motion Control / KinematicsTask Planning
Object Recognition / Person RecognitionObject Tracking / Person Tracking
Visual ProcessingAudio Processing
Sensor FusionHuman Interface
Energy Management ...
Localization / PositioningNavigation / World Mapping
Path-Planning / Motion Control / KinematicsTask Planning
Object Recognition / Person RecognitionObject Tracking / Person Tracking
Visual ProcessingAudio Processing
Sensor FusionHuman Interface
Energy Management ...
Common Device DefinitionComposite Device Management
Sensing DevicesActuating DevicesRendering Devices
Communication Devices
Common Data StructureData Adaptation Mechanism / Data Relation Management
Data Semantics / Onthology ...
Common Device DefinitionComposite Device Management
Sensing DevicesActuating DevicesRendering Devices
Communication Devices
Common Data StructureData Adaptation Mechanism / Data Relation Management
Data Semantics / Onthology ...
Robotic Profiles WGRobotic Profiles WG Robotic Services WGRobotic Services WG
Component Model / Encapsulation / Event ManagementData Flow / Data Distribution / Command Flow
Security Management / Activity MonitoringCode Mobility / Deployment
Execution Synchronization / PrioritizationCapability Modeling / Description / Advertisement
Capability Composition / HierarchizationResource Allocation / Management
Safety Management / Safety Procedure / Safety PoliciesFault Tolerances / Recovery Strategies
System Configuration / Dynamic Reconfiguration ...
Component Model / Encapsulation / Event ManagementData Flow / Data Distribution / Command Flow
Security Management / Activity MonitoringCode Mobility / Deployment
Execution Synchronization / PrioritizationCapability Modeling / Description / Advertisement
Capability Composition / HierarchizationResource Allocation / Management
Safety Management / Safety Procedure / Safety PoliciesFault Tolerances / Recovery Strategies
System Configuration / Dynamic Reconfiguration ...
Behavior LanguageInternal Component Configuration
Application DeploymentPhysical World Repository
Evaluation Metrics / Conformance TestModeling LanguageRemote Monitoring
Simulation ...
Behavior LanguageInternal Component Configuration
Application DeploymentPhysical World Repository
Evaluation Metrics / Conformance TestModeling LanguageRemote Monitoring
Simulation ...
Robotic Infrastructure WGRobotic Infrastructure WG Tools / Facilities WGTools / Facilities WG
This is what you may hear people talk about when you join their Working Groups :
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Prioritize the workPrioritize the work
In order to prioritize standardization work, we took the following survey :
– Given a list of • around 50 of the most common concepts found in robotic systems• and around 20 possible applications of robotic systems
– Each organization was asked for each given item its position related to its :
• Participation to the Standardization Process of this item– I want/will propose Technology– I want/will influence Technology – I have nothing to say / Que sera sera– I think it's impractical
• Utilization of the Standard for each item– I Think it will help me a lot– I will comply with existing standards– I don't need such standard– This is against my interests
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Survey Results in BriefSurvey Results in Brief
• 17 organizations participated – Japan : 8, Korea : 5, US : 2, France : 1, India : 1
• The result of the survey showed that : – Needs for standards are High
• Especially for Robotic System Infrastructure– Intention of Participation seems High
• Not only research centers but also businesses– Needs match proposals rather well
• Some unaddressed needs
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Probable ActivitiesProbable ActivitiesActivities are considered probable if :
- At least 3 organizations are willing to propose technology- At least 2/3 of organization think it will help their business
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Possible ActivitiesPossible ActivitiesActivities are considered probable if :
- At least 2 organizations are willing to propose technology- At least 1/3 of organization think it will help their business
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Improbable ActivitiesImprobable ActivitiesActivities are considered improbable if :
- less than 2 organizations are willing to propose technology- or less than 1/3 of organization think it will help their business
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Working Groups : Their RoadmapWorking Groups : Their Roadmap
Item StatusSt. Louis
Apr-2006
Boston
Jun-2006
Anaheim
Sep-2006
Was. DC
Dec-2006
San Diego
Mar-2007
Robotics Services
Component Model On going Rev. Sub Rev. Sub Adoption Final. Final.
Deployment & Config. On going Proposed Discussion Discussion Draft RFP Draft RFP
Localization Service On going Discussion Discussion Draft RFP Draft RFP RFP
User Identification Service Proposed Proposed Discussion Discussion Draft RFP Draft RFP
Robotics Infrastructure
Robotics ProfilesTypical devices abstractinterfaces and hierarchy
On going Proposed Discussion Draft RFP Draft RFP RFP
Hardware level Resource Profiles Proposed Proposed Discussion Discussion Draft RFP Draft RFP
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
How to participate to the processHow to participate to the process
• Attend to the Robotics Plenary sessions during the OMG TechnicalMeetings (approx. once every 2 months)
• The best way to keep up-to-date with the latest information concerning the standardization for Robotics is to be part of it. By joining the meeting and giving your opinion, you will not only know where the standardization process is heading to, you will actually influence it to suit the needs of your business.
• Respond to RFPs• Responding to RFPs is THE way for your organization to make its ideas and
technologies become an international standard by proposing your solutions.
• Propose a theme and lead a sub-working group• If your organization has interests in any given aspect of the Robotic Technology
and that would benefit from standardization, leading a sub-working group could give you recognition in your field and provide you with a great competitive advantage.
• Subscribe and participate to our Mailing [email protected]@[email protected]@m.aist.go.jp
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
ContactsContacts
Robotics Domain Task ForceContact : [email protected] : Hung PHAM (RTI)
Tetsuo KOTOKU (AIST)Yun Koo CHUNG (ETRI)
Robotic Infrastructure WGContact : [email protected]
Co-chairs : Noriaki ANDO (AIST)Rick WARREN (RTI)
Saehwa Kim (Seoul National Univ.)
Tools / Facilities WGContact : [email protected]
Co-chairs : Abheek BOSE (ADA Software)
Robotic Profiles WGContact : [email protected]
Co-chairs : Bruce BOYES (Systronix)Seung-Ik LEE (ETRI)
Robotic Services WGContact : [email protected]
Co-chairs : Olivier LEMAIRE (JARA / AIST)Soo-Young CHI (ETRI)
Publicity Drive WGContact : [email protected]
Co-chairs : Abheek BOSE (ADA Software)Masayoshi YOKOMACHI (NEDO)Olivier LEMAIRE (JARA / AIST)
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
The RT MiddlewareThe RT Middleware
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
Joint national project between :
AISTJARAMEW (Panasonic)
Sponsored by :
NEDO
Robot Technology Middleware (RTM) : what is it anyway ?!?!
Objective
Increase the competitivity of the Robotic Industry by facilitating the development of large scale multi-vendor Robotic systems
through software modularization and standardization
Objective
Increase the competitivity of the Robotic Industry by facilitating the development of large scale multi-vendor Robotic systems
through software modularization and standardization
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
2 Organizations, 2 Approaches… 2 Middlewares ?2 Organizations, 2 Approaches… 2 Middlewares ?
• AIST considered mostly the Component Developer case and emphasized :– Component Model and Data Exchange– Component Internal Execution– Integration by weakly typed components through data exchange– Control Systems, High Performance, Real-Time– Debugging/Visualization tools, Static System Composition Tools
• MEW considered mostly the System Integrator case and emphasized :– Component Model and Data Exchange– Component Integration– Integration by strongly typed components through well defined interfaces– Event Driven, Sequential Behaviors, Flexibility, Scalability – Dynamic Application Composition Tools, Configuration Tools
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
RTM Configuration Service RTM Monitoring Service CORBA Naming Service CORBA Trading ServiceCORBA Event Service
Part of Code of the Component to be implemented by the component developer
Code common to all Components in an RTM System (Implementation included in RTM Framework) Part of code of the Component automatically generated by an IDL Compiler
Code common to the same family of Components in an RTM System (Implementation included in RTM Framework, See RTM Foundation Interfaces for more details)
RTM Script Service
Libraries of often used data structures (Implementation included in RTM Framework)
Part of code of the Component coming from third parties libraries
Component Implementation
(C++, Java,…)(How it does it)
Component Implementation
(C++, Java,…)(How it does it)Component Interface Definition IDL
(What the Component can do)
Component Interface Definition IDL
(What the Component can do)
Configuration APIMonitoring API State Management API
Logging API
Concurrency API
Calls
Uses
Business Logic
Calls &Supports
Security API
RTM Services Access
Positioning API
Geometry API
Data Exchange API
Rem
ote Com
ponent Access
Multimedia API
ACE (OS Abstraction Layer)
Specific Hardware Driveror Technology SDK
Hardware / Local Resource Access
Discovery APIAccess from
Rem
ote Com
ponent
RTM ComponentStandard Interface
Component SpecificInterface
Component Specific Standard RTM Interface
RTM Base ObjectsStandard Interfaces
Access from
Rem
ote Com
ponent
RTM ComponentStandard Interface
Component SpecificInterface
Component Specific Standard RTM Interface
RTM Base ObjectsStandard Interfaces
Access from
Rem
ote Com
ponent
RTM ComponentStandard Interface
Component SpecificInterface
Component Specific Standard RTM Interface
RTM Base ObjectsStandard Interfaces
Access from
Rem
ote Com
ponent
RTM ComponentStandard Interface
Component SpecificInterface
Component Specific Standard RTM Interface
RTM Base ObjectsStandard Interfaces
Access from
Rem
ote Com
ponent
RTM ComponentStandard Interface
Component SpecificInterface
Component Specific Standard RTM Interface
RTM Base ObjectsStandard Interfaces
Access from
Rem
ote Com
ponent
RTM ComponentStandard Interface
Component SpecificInterface
Component Specific Standard RTM Interface
RTM Base ObjectsStandard Interfaces
Access from
Rem
ote Com
ponent
RTM ComponentStandard Interface
Component SpecificInterface
Component Specific Standard RTM Interface
RTM Base ObjectsStandard Interfaces
Configuration APIMonitoring API State Management API
Logging API
Concurrency API
Calls
Uses
Business Logic
Calls &Supports
Security API
RTM Services Access
Positioning API
Geometry API
Data Exchange API
Rem
ote Com
ponent Access
Multimedia API
ACE (OS Abstraction Layer)
Specific Hardware Driveror Technology SDK
Hardware / Local Resource Access
Discovery API
Configuration APIMonitoring API State Management API
Logging API
Concurrency API
Calls
Uses
Business Logic
Calls &Supports
Security API
RTM Services Access
Positioning API
Geometry API
Data Exchange API
Rem
ote Com
ponent Access
Multimedia API
ACE (OS Abstraction Layer)
Specific Hardware Driveror Technology SDK
Hardware / Local Resource Access
Discovery API
Configuration APIMonitoring API State Management API
Logging API
Concurrency API
Calls
Uses
Business Logic
Calls &Supports
Security API
RTM Services Access
Positioning API
Geometry API
Data Exchange API
Rem
ote Com
ponent Access
Multimedia API
ACE (OS Abstraction Layer)
Specific Hardware Driveror Technology SDK
Hardware / Local Resource Access
Discovery API
Configuration APIMonitoring API State Management API
Logging API
Concurrency API
Calls
Uses
Business Logic
Calls &Supports
Security API
RTM Services Access
Positioning API
Geometry API
Data Exchange API
Rem
ote Com
ponent Access
Multimedia API
ACE (OS Abstraction Layer)
Specific Hardware Driveror Technology SDK
Hardware / Local Resource Access
Discovery API
Receives Requests from … Sends Requests to … Is Supported by … Controls …
The RT Middleware Concretely
Intelligent Systems Research Institute – Ubiquitous Functions Research Group
The RT Middleware : Concretely
A set of supporting services:Centralized Configuration ManagerComponent RepositoryEvent DispatcherEvent ReactorApplication Execution
A set of tools for :Component Configuration ManagementReal-time System MonitoringGraphical Application Composition Component Deployment
A set of standard mechanisms:State MachineData Exchange MechanismUniform Global PositioningActivity Monitoring
A set of standard interfaces :Common Sensors (IO, Laser, Camera, Mobile Base…)Common Actuators (Motor, Arm, Home Appliances…)Common Rendering Devices
Intelligent Systems Research Institute – Ubiquitous Functions Research Group