Towards Interactive, Incremental Programming of ROS Nodes

Writing software for controlling robots is a complex task, usually demanding command of many programming languages and requiring significant experimentation. We believe that a bottom-up development process that complements traditional component- and MDSD-based approaches can facilitate experimentation. We propose the use of an internal DSL providing both a tool to interactively create ROS nodes and a behaviour-replacement mechanism to interactively reshape existing ROS nodes by wrapping the external interfaces (the publish/subscribe topics), dynamically controlled using the Python command line interface.Comment: Presented at DSLRob 2014 (arXiv:cs/1411.7148

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure

a human in the loop cyber physical system for collaborative assembly in smart manufacturing

Abstract Industry 4.0 rose with the introduction of cyber-physical systems (CPS) and Internet of things (IoT) inside manufacturing systems. CPS represent self-controlled physical processes, having tight networking capabilities and efficient interfaces for human interaction. The interactive dimension of CPS reaches its maximum when defined in terms of natural human-machine interfaces (NHMI), i.e., those reducing the technological barriers required for the interaction. This paper presents a NHMI bringing the human decision-making capabilities inside the cybernetic control loop of a smart manufacturing assembly system. The interface allows to control, coordinate and cooperate with an industrial cobot during the task execution

Incremental Unit Networks for Distributed, Symbolic Multimodal Processing and Representation

Incremental dialogue processing has been an important topic in spoken dialogue systems research, but the broader research community that makes use of language interaction (e.g., chatbots, conversational AI, spoken interaction with robots) have not adopted incremental processing despite research showing that humans perceive incremental dialogue as more natural. In this paper, we extend prior work that identifies the requirements for making spoken interaction with a system natural with the goal that our framework will be generalizable to many domains where speech is the primary method of communication. The Incremental Unit framework offers a model of incremental processing that has been extended to be multimodal, temporally aligned, enables real-time information updates, and creates complex network of information as a fine-grained information state. One challenge is that multimodal dialogue systems often have computationally expensive modules, requiring computation to be distributive. Most importantly, when speech is the means of communication, it brings the added expectation that systems understand what they (humans) say, but also that systems understand and respond without delay. In this paper, we build on top of the Incremental Unit framework and make it amenable to a distributive architecture made up of a robot and spoken dialogue system modules. To enable fast communication between the modules and to maintain module state histories, we compared two different implementations of a distributed Incremental Unit architecture. We compare both implementations systematically then with real human users and show that the implementation that uses an external attribute-value database is preferred, but there is some flexibility in which variant to use depending on the circumstances. This work offers the Incremental Unit framework as an architecture for building powerful, complete, and natural dialogue systems, specifically applicable to robots and multimodal systems researchers