Robot Autonomous Perception Model For Internet-Based Intelligent Robotic SystemBy

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

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

Questions?Questions?