31,282 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
Service-Oriented Architecture for Space Exploration Robotic Rover Systems
Currently, industrial sectors are transforming their business processes into
e-services and component-based architectures to build flexible, robust, and
scalable systems, and reduce integration-related maintenance and development
costs. Robotics is yet another promising and fast-growing industry that deals
with the creation of machines that operate in an autonomous fashion and serve
for various applications including space exploration, weaponry, laboratory
research, and manufacturing. It is in space exploration that the most common
type of robots is the planetary rover which moves across the surface of a
planet and conducts a thorough geological study of the celestial surface. This
type of rover system is still ad-hoc in that it incorporates its software into
its core hardware making the whole system cohesive, tightly-coupled, more
susceptible to shortcomings, less flexible, hard to be scaled and maintained,
and impossible to be adapted to other purposes. This paper proposes a
service-oriented architecture for space exploration robotic rover systems made
out of loosely-coupled and distributed web services. The proposed architecture
consists of three elementary tiers: the client tier that corresponds to the
actual rover; the server tier that corresponds to the web services; and the
middleware tier that corresponds to an Enterprise Service Bus which promotes
interoperability between the interconnected entities. The niche of this
architecture is that rover's software components are decoupled and isolated
from the rover's body and possibly deployed at a distant location. A
service-oriented architecture promotes integrate-ability, scalability,
reusability, maintainability, and interoperability for client-to-server
communication.Comment: LACSC - Lebanese Association for Computational Sciences,
http://www.lacsc.org/; International Journal of Science & Emerging
Technologies (IJSET), Vol. 3, No. 2, February 201
Performance evaluation of a distributed integrative architecture for robotics
The eld of robotics employs a vast amount of coupled sub-systems. These need to interact
cooperatively and concurrently in order to yield the desired results. Some hybrid algorithms
also require intensive cooperative interactions internally. The architecture proposed lends it-
self amenable to problem domains that require rigorous calculations that are usually impeded
by the capacity of a single machine, and incompatibility issues between software computing
elements. Implementations are abstracted away from the physical hardware for ease of de-
velopment and competition in simulation leagues. Monolithic developments are complex, and
the desire for decoupled architectures arises. Decoupling also lowers the threshold for using
distributed and parallel resources. The ability to re-use and re-combine components on de-
mand, therefore is essential, while maintaining the necessary degree of interaction. For this
reason we propose to build software components on top of a Service Oriented Architecture
(SOA) using Web Services. An additional bene t is platform independence regarding both
the operating system and the implementation language. The robot soccer platform as well
as the associated simulation leagues are the target domain for the development. Furthermore
are machine vision and remote process control related portions of the architecture currently
in development and testing for industrial environments. We provide numerical data based on
the Python frameworks ZSI and SOAPpy undermining the suitability of this approach for the
eld of robotics. Response times of signi cantly less than 50 ms even for fully interpreted,
dynamic languages provides hard information showing the feasibility of Web Services based
SOAs even in time critical robotic applications
Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms
The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications
A Software Suite for the Control and the Monitoring of Adaptive Robotic Ecologies
Adaptive robotic ecologies are networks of heterogeneous robotic devices (sensors, actuators, automated appliances) pervasively embedded in everyday environments, where they learn to cooperate towards the achievement of complex tasks. While their flexibility makes them an increasingly popular way to improve a system’s reliability, scalability, robustness and autonomy, their effective realisation demands integrated control and software solutions for the specification, integration and management of their highly heterogeneous and computational constrained components. In this extended abstract we briefly illustrate the characteristic requirements dictated by robotic ecologies, discuss our experience in developing adaptive robotic ecologies, and provide an overview of the specific solutions developed as part of the EU FP7 RUBICON Project
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