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WP 2 Architecture. Robot Standards and Reference Architectures Klas Nilsson [email protected]. Annual Assessment, March 27-29 2008, Prague. 1. Objectives in WP 2. Preparing a set of standard defining activities on the following topics of advanced robotics, including: - PowerPoint PPT Presentation
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WP 2 Architectures 1
WP 2 Architecture
Robot Standards and
Reference Architectures
Klas Nilsson [email protected]
Annual Assessment, March 27-29 2008, Prague
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 2
Objectives in WP 2
• Preparing a set of standard defining activities on the following topics of advanced robotics, including:
• Specification of a reference architecture for mobile manipulation and service robots
• Resulting either in:– an action plan for a standard defining activity or– an action plan and a recommendation/proposal to
the European Commission for a supported activity (e.g. a open-source project with financial support in FP7) or
– an action plan for a community driven open-source activity with seed-money for a project office or alike
• Year 1 results point at option B or C as reasonable.
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 3
Difficulties
• State of the art report format/presentation
• Personnel resources 1 less than planned (D2.1 delay)
• WP2&3 connection appears overlapping
• DoW meeting schedule not practical
• Making points of agreement tangible
• Motivation for industrial assessments
• Open standards depend on closed data
• “I’ll certainly not use your architecture”
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 4
ProgressEfforts & deliverables [difficulties, previous slide]: • Successful expert meetings and workshops.• Contributions to wiki and community dialogue.• Detailed studies on specific topics (BROS, Task).• Tightly integrated with WP3 (community overlap)Tech results [very promising]:• Community consensus 1: Something need to be
done, and the time is about right: ….• Consensus 2: We will never have one common
reference architecture.• Agreements about what we disagree about: real-
time requirements, run-time platforms, …
Is the RoSta architecture aim ‘mission impossible’??
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 5
Mission impossible??
• The topic of robot reference architectures has been worked on for the last two decades, without successful standards emerging (see list in DoW).
• 15 years ago (workshop Nice 1992) the conclusion was that we need to build more systems
• The world wide web appeared at that time.• Today, Internet applications have good implications
on software principles and hardware cost• State-of-the-art today could fill 1000+ pages, or one
page stating a list of useful ideas, or ..• Open standards and open source, what role?• What/any enablers for a RoSta breakthrough?
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 6
Enabling technologies
Internet, triggering:
• Networked software
• Security measures
• Safe languages
• Semantic web
Key developments in:
• Embedded systems and mechatronics (HW&SW)
• Software business models and open source
Examples of key developments:• XML – RDF – OWL – SPARQL (Jan 2008)
[For merging human-robot interaction modalities in SMErobot]
• Ethernet – IP – XDF – XSL – WSDL – DSSP[Assessed for Plug-and-Produce in SMErobot; Microsoft related]
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 7
Situation
Problems:• Reuse not even the case within a lab• Few shared platforms, hampering scientific values• Industrial development re-implementing controls• Public funding goes to re-implementation• Technologies missing for efficient reuseApproach:• Multiple reuse perspectives (not layers)• Middleware and frameworks in thin layers• Bottom-up definitions and implementations• Separation of mechanism and policy
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 8
Section 2 of draft D2.2 (type Other)
Integration mechanisms for future architectures
1. Metadata and ontology-based integration
2. Perspectives for reuse of knowledge.
3. Self-encapsulated real-time communication
4. Protocol gateway framework
5. Resource-aware components
6. State-machine management
7. Knowledge management for robot intelligence
Technical results in each of these topics, which are candidates for future actions……
WP 2 Architectures 9
Metadata & ontology-based integrationMicrosoft for robotics:• CCR Runtime• DSSP networking based on
SOAP/XML• Schemas and defs partly
hidden; Microsoft lock-in
Microsoft for Media:• Metadata integration• Media → device/service• www.microsoft.com/imm states:
IMM Introduces Powerful Metadata FrameworkInteractive Media Manager introduces a powerful, XML-based metadata model that uses the Resource Description Framework (RDF) and Web Ontology Language (OWL) specifications from the World Wide Web Consortium. This RDF model allows companies to add nuance and intelligence to media management beyond what is possible with traditional metadata. Computers can automatically understand complex relationships between media assets and categories. Potential benefits of this approach include: improved search relevance, enhanced workflow tracking, and automatic transfer of metadata properties to new assets during transcoding. Most importantly, the IMM RDF model overcomes traditional barriers to metadata sharing between external systems.
Annual Assessment, March 27, 2008, Prague
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 10
Perspectives for reuse of robot software
Targeted studies (with Herman B):
• Design of Robotics Software Standards; a bottom-up approach to standardization.
• Task specification principles, with Tomas Olsson (now at ABB Robotics).
• Four levels of perspectives for interfacing and sharing of system components/ knowledge. Each level refers back to the next higher one. Multiple versions permitted except for the ontology that defines the agreed definitions of the domain.
WP 2 Architectures 11
Perspectives and links on the wiki
Section Standardization and Reuse
Reflecting the four perspectives.
For each perspective: data and algorithms.
Applies to the 3 parts:
Task
Environm.Robot
Annual Assessment, March 27, 2008, Prague
WP 2 Architectures 12
Dependability on the wiki
Section Dependability in Robotics
Annual Assessment, March 27, 2008, Prague
WP 2 Architectures 13
Fault tolerance on the wiki
State of the Art on
Robotic Fault Tolerance
and Robustness
Main efforts by FHBRS
Part of D2.1 as an
example of extra-
functional requirements
Annual Assessment, March 27, 2008, Prague
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 14
Outlook and next steps
D2.1 under preparation, draft 0.8 version passed aroundD2.2 under preparation, assessments and implementations key activity
Combining semantic web and embedded control results for robot standards…
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 15
Enabling technologies
Internet, triggering:
• Networked software
• Security measures
• Safe languages
• Semantic web
Key developments in:
• Embedded systems and mechatronics (HW&SW)
• Software business models and open source
Examples of key developments:• XML – RDF – OWL – SPARQL (Jan 2008)
[For merging human-robot interaction modalities in SMErobot]
• Ethernet – IP – XDF – XSL – WSDL – DSSP[Assessed for Plug-and-Produce in SMErobot; Microsoft related]
WP 2 ArchitecturesAnnual Assessment, March 27, 2008, Prague 16
Section 2 of draft D2.2 (type Other)
Integration mechanisms for future architectures
1. Metadata and ontology-based integration
2. Perspectives for reuse of knowledge.
3. Self-encapsulated real-time communication
4. Protocol gateway framework
5. Resource-aware components
6. State-machine management
7. Knowledge management for robot intelligence
Technical results in each of these topics, which are candidates for future actions……