Robot Autonomous Perception Model For Internet-Based Intelligent Robotic System By Sriram Sunnam

Introduction Internet based robot A platform build to provide information for robot can increase its intelligence and performance of teleoperation greatly

Agenda Problem definition Robot Autonomous Perception Model (RAPM) is proposed Optimizing paths based on Genetic Algorithm are discussed Experimentation part is presented Conclusion and future work

Mobile Robots Limitations of Mobile Robots Limitation of data handling capacity Cannot process excess data, decision and controlling Difficulty to fulfill complex work using only its own sensors

System that allows a robot manipulator to be teleoperated via the world wide web. WWW provides low-cost and widely available interface that can make teleoperated resources accessible to a broad range of users. “Intelligent Space”- Navigation platform for human and robots where Distributed Intelligent Networked Devices (DIND) can detect position of human or robot by their color bars. Detected code is transformed into coordinate data and fed back to human or robot. Solution

Problems in Internet based robots Random Delay (internet) Limited Bandwidth (Internet) Loss of data (Internet) Thousands of Administrators (Internet) Failures in Laboratory Systems (Ex.: route failures, service break off, electricity failures)

Solution: Adopt new method to monitor real-timely, the information of the dynamic network Then issue the information to the network user. Offer specific information service that establishes an information channel between the service and the network users Thus accomplish communication, interactive operation, controlling between robots and sensor and actuator.

Proposed Solutions Robot Autonomous Perception Model (RAPM) Searching for resource in the system, optimizing paths based on Genetic Algorithms

RAPM RAPM (Robot Autonomous Perception Model) – uses JINI JINI is a middleware to build distributed system through java JINI – Socket and RMI (Remote Method Invocation) communication protocol JINI can implement plug-and-play mechanism and so allows dynamic expansion ability

RAPM Lookup Service : It confirms any new services being added to the network. Connections between the system and user should be realized through Lookup Service. Discovery : RAPM entity ( ex: video server) before using other services, must look for a valid lookup service from different RAPM colonies which is called discovery Lookup : It is a catalogue service in a RAPM colony used to obtain new Lookup Service. Issue : Admission of an equipment or application program into a network after its service finds the network Invoke : The agent that is used by the network to communicate with the service.

RAPM

Optimizing Paths Based on GA Dynamic network can transfer into a temporary static network through the RAPM Several robots use same nodes (start and end) at same time. Paths optimized for all mobile robots so that robots use the same nodes at different time or use the different nodes. Use Genetic Algorithms to optimize the paths

Optimizing Paths based on GA Fitness function: Used to avoid robots using the same nodes at the same time Sum of all nodes that robot will pass through Sum of all nodes that robot will pass through at the same time Influence between robots

Optimizing Paths based on GA

Pioneer2DX mobile robots of ActiveMedia Company used with Sony EVID31 camera as vision sensor. Aim: Two robots search a blue goal and an yellow goal Cannot find the goals with their own sensors Vision sensors access the network or internet through computers These vision sensors and computers compose video servers Experiment

Jini server is started Two robots and video servers join Jini network and register information in the Jini server Robots get information of goals and video servers Optimize the paths based on GA. Robots move toward the goal

Path of robot 1 A-E-F Path of robot 2 B-C-E When robots are close to goal, they use their own vision sensors to search, approach and finish the mission

Conclusions Proposes the Robot Autonomous Perception Model (RAPM). Internet based robot can perceive and utilize the information resource as video server. Optimizing the robot paths using GA can get better results. Future work includes including more devices and algorithms into the jini system to provide more information resource to robot to improve its intelligence

Comments In future internet could be used for dynamic identification of objects Internet improves the intelligence of the robots to very high level and so this intelligence could be used by the robots to do lot of things with their own intelligence

Thank You

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