integration of ubiquitous robotic systems using …security system rfid floor decorative light multi...

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


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


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


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




Book ShelfWS Component

Book ShelfWS Component

DatabaseWS Component

DatabaseWS Component

Needs for Standardization of Robotics TechnologyNeeds for Standardization of Robotics Technology


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


One big application that manages everything


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


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.


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


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


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


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


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


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


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


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

≠


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


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


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


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


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


Requirements for InteroperabilityRequirements for Interoperability

Infrastructure

Architecture Protocols

CommonFacilities

Mediators

CommonMechanisms

Paradigms

CommonData / Objects

Semantics

Interoperabilityin RoboticsTechnology


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


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.


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


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.


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


Sorting out the conceptsSorting out the concepts

Robotics

Sensor Management

Sensor Management

DigitalDigital AnalogAnalogImageImage

PositionPosition

MapMapRequestRequest



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



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 :


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


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


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


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


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


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


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

mailto:[email protected]





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)

The RT MiddlewareThe RT Middleware


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


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


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





Access from

Rem

ote Com

ponent





Access from

Rem

ote Com

ponent





Access from

Rem

ote Com

ponent





Access from

Rem

ote Com

ponent





Access from

Rem

ote Com

ponent






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




Discovery 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




Discovery 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




Discovery 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




Discovery API

Receives Requests from … Sends Requests to … Is Supported by … Controls …

The RT Middleware Concretely


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

integration of ubiquitous robotic systems using …security system rfid floor decorative light multi...

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