1. Title : Intelligent Networked Robotic Systems with Reconfigurable Exogenous System Sensing 1 Professor Il Hong Suh and Dr. Sanghoon Lee Hanyang University, South KOREA 1 Title of this proposal has been suggested by Professor Rolf Johansson who recommended joint work between Professor Suh and Professor Klas Nilsson

2. 2 Research Objective - Background Research Objective - Background Users need highly intelligent service robot –intelligence can be realized by using many of perception and actuation devices. Robot can not be equipped with all sensors for intelligence because of cost of sensors and spacing problems Users need highly intelligent service robot –intelligence can be realized by using many of perception and actuation devices. Robot can not be equipped with all sensors for intelligence because of cost of sensors and spacing problems We have a chance to utilize ubiquitous environment

3. 3 Research Objective - Observation  Intelligence emerge from cooperation –Device discovery, data communication –Perception devices, action devices, intelligence devices Devices are highly heterogeneous –From a camera to a cleaning robot S/W development environment are heterogeneous –Embedded S/W, Personal Computer S/W modules and functionalities are distributed –Act as one system to execute given task

4. 4 Research Objective – Requirements Intelligence cooperation Intelligence cooperation Heterogeneous Devices Heterogeneous Devices Heterogeneous S/W Development Environment Heterogeneous S/W Development Environment Distributed Functionality Distributed Functionality Communication Middleware Communication Middleware Component Oriented Approach Component Oriented Approach Distributed Computing New Intelligence Concept New Intelligence Concept HI-Space  HI Space (Hexagonal Intelligence)

5. 5 Research Objective – Research Objective – Goal: Development of HI Space Virtual Robot Space - “Things of Robot” Standard Robot Programming Methodology –Component-oriented intelligence framework Dynamic Reconfiguration Framework –Robot can discover the required component for sensing –Robot can interact with external sensors and actuators  HI Space (Hexagonal Intelligence) H-IC Kernel PerceptionAction Searching Under- standing ModelingPlanning EnvironmentEnvironment Behavior Control Cognition

6. 6 Specification of Technology to be developed - Dynamic reconfiguration Component Configuration –Robot must know what components are needed to complete given task –Robot can ask what components are available in this environment Ontology-based configurations –Ontology for reconfiguration include : Available robots and Sensors Functionality Information types Location Access Method

7. 7 Component Specification Port-based Connection –Public Port : accessible from outside Data Port : data in/out port –Private Port : hidden inside System control Port : Lifecycle management –Initiate, Store, Recover, Destroy System monitoring Port System timing Port : Clock tick in/out port Port as interface Internal Active Thread Data translation mechanism –Establish automatic port compatibility –Data type matching of two component ports Component Data inputs Timer Clock Lifecycle MonitoringData Outputs Monitoring

8. 8 Technology to be developed – ROPE Each Component interact with ROPE Existing Communication Middleware –CORBA : Heavy and Difficult to apply to robot applications –RMI : May be not working between exogenous sensor systems programmed with different programming languages (RMI between Java and C/C++ is not working) Functional Requirements for HI Components –Light-weight and small size (Embedded Processor) –OS/Language independent –SYNC/ASYNC/EVENT communication –Method level invocation –Object: Serialize/Deserialize –Timing Requirement support (A lightweight middle ware)

9. 9 Technology to be developed – HI Space Kernel Component Execution EngineComponent Execution Engine Local Component Lifecycle ManagementLocal Component Lifecycle Management HI Space managementHI Space management Remote Component Proxy ManagementRemote Component Proxy Management Component Execution EngineComponent Execution Engine Local Component Lifecycle ManagementLocal Component Lifecycle Management HI Space managementHI Space management Remote Component Proxy ManagementRemote Component Proxy Management HI-Kernel PerceptionAction HI-Component Repository HI-Kernel PerceptionAction Container Container : Component Lifecycle Management Engine HIC-ROPE

10. 10 DurationObjectives Phase I (2007.3 ~ 2008. 2)  Design and Test of H-IC components for Perception, Action, and Understanding.  ROPE : Design and Alpha-Test  HI Kernel / Ontology for Reconfiguration :Design and Alpha-Test Phase II (2008.3 ~ 2009. 2)  Design and Test of H-IC components for Modeling, Planning, and Searching  ROPE: Improvement of 1st phase design, and Beta-Test  HI Kernel / Ontology for Reconfiguration: Improvement of 1st phase design, and Beta-Test Research Schedule