90 research outputs found
Robotic ubiquitous cognitive ecology for smart homes
Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent- based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feed- back received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work
A Practical Hardware Implementation of Systemic Computation
It is widely accepted that natural computation, such as brain computation, is far superior to typical computational approaches addressing tasks such as learning and parallel processing. As conventional silicon-based technologies are about to reach their physical limits, researchers have drawn inspiration from nature to found new computational paradigms. Such a newly-conceived paradigm is Systemic Computation (SC). SC is a bio-inspired model of computation. It incorporates natural characteristics and defines a massively parallel non-von Neumann computer architecture that can model natural systems efficiently. This thesis investigates the viability and utility of a Systemic Computation hardware implementation, since prior software-based approaches have proved inadequate in terms of performance and flexibility. This is achieved by addressing three main research challenges regarding the level of support for the natural properties of SC, the design of its implied architecture and methods to make the implementation practical and efficient. Various hardware-based approaches to Natural Computation are reviewed and their compatibility and suitability, with respect to the SC paradigm, is investigated. FPGAs are identified as the most appropriate implementation platform through critical evaluation and the first prototype Hardware Architecture of Systemic computation (HAoS) is presented. HAoS is a novel custom digital design, which takes advantage of the inbuilt parallelism of an FPGA and the highly efficient matching capability of a Ternary Content Addressable Memory. It provides basic processing capabilities in order to minimize time-demanding data transfers, while the optional use of a CPU provides high-level processing support. It is optimized and extended to a practical hardware platform accompanied by a software framework to provide an efficient SC programming solution. The suggested platform is evaluated using three bio-inspired models and analysis shows that it satisfies the research challenges and provides an effective solution in terms of efficiency versus flexibility trade-off
Ubiquitous Integration and Temporal Synchronisation (UbilTS) framework : a solution for building complex multimodal data capture and interactive systems
Contemporary Data Capture and Interactive Systems (DCIS) systems are tied in with various
technical complexities such as multimodal data types, diverse hardware and software
components, time synchronisation issues and distributed deployment configurations. Building
these systems is inherently difficult and requires addressing of these complexities before the
intended and purposeful functionalities can be attained. The technical issues are often
common and similar among diverse applications.
This thesis presents the Ubiquitous Integration and Temporal Synchronisation (UbiITS)
framework, a generic solution to address the technical complexities in building DCISs. The
proposed solution is an abstract software framework that can be extended and customised to
any application requirements. UbiITS includes all fundamental software components,
techniques, system level layer abstractions and reference architecture as a collection to enable
the systematic construction of complex DCISs.
This work details four case studies to showcase the versatility and extensibility of UbiITS
framework’s functionalities and demonstrate how it was employed to successfully solve a
range of technical requirements. In each case UbiITS operated as the core element of each
application. Additionally, these case studies are novel systems by themselves in each of their
domains. Longstanding technical issues such as flexibly integrating and interoperating
multimodal tools, precise time synchronisation, etc., were resolved in each application by
employing UbiITS. The framework enabled establishing a functional system infrastructure in
these cases, essentially opening up new lines of research in each discipline where these
research approaches would not have been possible without the infrastructure provided by the
framework. The thesis further presents a sample implementation of the framework on a
device firmware exhibiting its capability to be directly implemented on a hardware platform.
Summary metrics are also produced to establish the complexity, reusability, extendibility,
implementation and maintainability characteristics of the framework.Engineering and Physical Sciences Research Council (EPSRC) grants - EP/F02553X/1, 114433 and 11394
- …