The CORTEX Cognitive Robotics Architecture: use cases

CORTEX is a cognitive robotics architecture inspired by three key ideas: modularity, internal modelling and graph representations. CORTEX is also a computational framework designed to support early forms of intelligence in real world, human interacting robots, by selecting an a priori functional decomposition of the capabilities of the robot. This set of abilities was then translated to computational modules or agents, each one built as a network of software interconnected components. The nature of these agents can range from pure reactive modules connected to sensors and/or actuators, to pure deliberative ones, but they can only communicate with each other through a graph structure called Deep State Representation (DSR). DSR is a short-term dynamic representation of the space surrounding the robot, the objects and the humans in it, and the robot itself. All these entities are perceived and transformed into different levels of abstraction, ranging from geometric data to high-level symbolic relations such as "the person is talking and gazing at me". The combination of symbolic and geometric information endows the architecture with the potential to simulate and anticipate the outcome of the actions executed by the robot. In this paper we present recent advances in the CORTEX architecture and several real-world human-robot interaction scenarios in which they have been tested. We describe our interpretation of the ideas inspiring the architecture and the reasons why this specific computational framework is a promising architecture for the social robots of tomorrow

Perceptions or Actions? Grounding How Agents Interact Within a Software Architecture for Cognitive Robotics

One of the aims of cognitive robotics is to endow robots with the ability to plan solutions for complex goals and then to enact those plans. Additionally, robots should react properly upon encountering unexpected changes in their environment that are not part of their planned course of actions. This requires a close coupling between deliberative and reactive control flows. From the perspective of robotics, this coupling generally entails a tightly integrated perceptuomotor system, which is then loosely connected to some specific form of deliberative system such as a planner. From the high-level perspective of automated planning, the emphasis is on a highly functional system that, taken to its extreme, calls perceptual and motor modules as services when required. This paper proposes to join the perceptual and acting perspectives via a unique representation where the responses of all software modules in the architecture are generalized using the same set of tokens. The proposed representation integrates symbolic and metric information. The proposed approach has been successfully tested in CLARC, a robot that performs Comprehensive Geriatric Assessments of elderly patients. The robot was favourably appraised in a survey conducted to assess its behaviour. For instance, using a 5-point Likert scale from 1 (strongly disagree) to 5 (strongly agree), patients reported an average of 4.86 when asked if they felt confident during the interaction with the robot. This paper proposes a mechanism for bringing the perceptual and acting perspectives closer within a distributed robotics architecture. The idea is built on top of the blackboard model and scene graphs. The modules in our proposal communicate using a short-term memory, writing the perceptual information they need to share with other agents and accessing the information they need for determining the next goals to address

Industrialized Sunspace Prototype with Solar Heat Storage. Assessment of Post-Occupational Behaviour in Adaptive Facades.

The thermal performance of two passive solar components has been investigated. An attached sunspace with horizontal heat storage and another one with vertical thermal storage were designed in order to optimize the use of solar gains and its storage and distribution in an industrialized component. These sunspaces have been tested under real conditions, comparing their thermal performance with two commonly used components in residential buildings in Spain: a window and a double window making up an attached sunspace. Different series of experimental measurements were conducted in two test-cells exposed to outdoor conditions in Pamplona (Northern Spain). As a result, nine scenarios during winter 2011 and six during summer 2012 have been carried out, comparing all of the prototypes two by two with different use modes. Results show that a sunspace with heat storage takes advantage of the solar energy and improves the indoor thermal performance of the adjacent room during winter in a better way than a window or a simple sunspace, and that it also offers better performance in summer. The best results in winter and summer were obtained when an appropriate use of the component was performed, in concordance with outdoor conditions. Several thermal control keys for the use of these components are suggested

Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion

Social robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to consider other requirements, such as optimizing energy consumption or making the robot behave in a socially accepted way. Path planning can be tuned according to a set of factors, being the most common path length, safety, and smoothness. This last factor may have a strong relation with energy consumption and social acceptability of produced motion, but this possible relation has never been deeply studied. The current paper focuses on performing a double analysis through two experiments. One of them analyzes energy consumption in a real robot for trajectories that use different smoothness factors. The other analyzes social acceptance for different smoothness factors by presenting different simulated situations to different people and collecting their impressions. The results of these experiments show that, in general terms, smoother paths decrease energy consumption and increase acceptability, as far as other key factors, such as distance to people, are fulfilled

Industrialized Sunspace Prototype with Solar Heat Storage. Assessment of Post-Occupational Behaviour in Adaptive Facades.

The thermal performance of two passive solar components has been investigated. An attached sunspace with horizontal heat storage and another one with vertical thermal storage were designed in order to optimize the use of solar gains and its storage and distribution in an industrialized component. These sunspaces have been tested under real conditions, comparing their thermal performance with two commonly used components in residential buildings in Spain: a window and a double window making up an attached sunspace. Different series of experimental measurements were conducted in two test-cells exposed to outdoor conditions in Pamplona (Northern Spain). As a result, nine scenarios during winter 2011 and six during summer 2012 have been carried out, comparing all of the prototypes two by two with different use modes. Results show that a sunspace with heat storage takes advantage of the solar energy and improves the indoor thermal performance of the adjacent room during winter in a better way than a window or a simple sunspace, and that it also offers better performance in summer. The best results in winter and summer were obtained when an appropriate use of the component was performed, in concordance with outdoor conditions. Several thermal control keys for the use of these components are suggested