| Space 2006

1. |Space 2006 Mo-Yuen Chow, Senior Member, IEEE Kevin Sergott, Le Xu , Manas Talukdar, Rachana A Gupta, Rangsarit Vanijjirattikhan, Tao Hong, Zhe Liu and Zheng Li, Student Members, IEEE Advanced Diagnosis, Automation and Control Lab Department of Electrical and Computer Engineering North Carolina State University Raleigh, NC 27695-7911, USA http://www.adac.ncsu.edu adac_lab@ncsu.edu

2. iSpace – Intelligent Space Human-machine interaction in iSpace • Intelligent Space (iSpace) is a concept to effectively use distributed sensors, actuators, robots, computing processors, and information technology over a physically and/or virtually connected space. E.g. a room, a corridor, a hospital, an office, or a planet. • iSpace fuses global information within the space of interest to make intelligent operation decision such as robot navigation, remote surgery etc. Star trek Enterprise ship ADAC, NC State University

3. iSpace – The Concept ADAC, NC State University

4. iSpace - Advantages and Applications Advantages • Not limited by the physical space. (Tele-operation, Tele-presence) • Fuse global information for global optimal solutions. • Scalability - Easy to add sensors and actuators with little incremental cost and without heavy structural changes. Applications • Manufacturing plant monitoring • Nursing homes or hospitals • Tele-robotics & Tele-Medicare etc ADAC, NC State University

5. ADAC iSpace - Prototyping project Johnny6 plays fetch Game rules • The space with obstacles is continuously monitored by a webcam. • An Unmanned Ground Vehicle, (UGV) is to be controlled to go from its current location to a specific destination chosen by a user in a remote computing interface as quickly as possible while avoiding collisions with obstacles. Johnny5 ADAC, NC State University

6. Modules on Main controller Template matching Quadratic curve fitting path tracking controller Fast marching for path planning avoiding obstacles ADAC, NC State University

7. Time delay issue • Network delay component • Sensor to controller delay (Image Acquisition) • Controller to actuator delay (Commands from controller to the UGV) • Processing or computational delay component • Non-real time Computational delay (Initial image processing, path planning) • Real time Computational delay (continuous image processing, motion control) Histogram of network delay The mean is 0.129 second, the median is 0.01 second Image Acquisition delay • Average ~ 0.2 seconds Image Processing delay • Non-real time ~ 1.2 s, real time ~ 0.02 s ADAC, NC State University

8. Network-based control and GSM Raleigh, USA to Tokyo, Japan • Gain Scheduler Middleware (GSM) is a technology developed in ADACthat allows the communication network to be transparent to controller and remote system, alleviating the adverse effects of network delay. ADAC, NC State University

9. Goal point chosen, shown as the small red dot Edge Detection iSpace research @ 2006Network based integrated navigation system An efficient and generic, vision based UGV navigation system, integrating different modules. Obstacle information Goal seeking with Harmonic Potential Field Path planning with HPF HPF with motion controller ADAC, NC State University

10. iSpace with HPF Actual workspace images with different backgrounds, different obstacle shapes and sizes. Red line is actual path and white line is the ideal path. ADAC, NC State University

11. Resource Allocation • Adaptive multiple sampling rate scheduling (AMSRS) • Maximizing information transmission through resource limited network • e.g., bandwidth limited IP based Ethernet • Preventing signal aliasing by analyzing its frequency domain characteristics • e.g., measurements of UV’s wheel rotation speed (right figures) • Real-time allocation (scheduling) decision making • low computation overhead optimization ADAC, NC State University

12. Petri-Net Modeling of iSpace • Petri Nets • a mathematical & graphical tool for process modeling • can be applied to several research areas • Discrete event system design • Fault detection and diagnosis • Process scheduling • Example Robot’s serving process • Moving a plate from A to B; • Putting a cup on the plate (done by people); • Moving a plate from B to A. ADAC, NC State University

13. Network Delay Generator • Network Delay Generator (NDG) can be used to • simulate real network delay • provide controllable network delay • provide various types of delay • verify experiment results Real network (random & uncontrollable delay) NDG (controllable delay) ADAC, NC State University

14. iSpace -Virtual Reality • iSpace simulation in virtual reality. • Allows visualization of simulation results. • Different environments can be simulated and the corresponding virtual worlds generated. • Allows development of better technologies by virtual prototyping. ADAC, NC State University

15. iSpace Summary and Future Research • ADAC iSpace @ 2006 – A network based multi-sensor, multi-actuator, large scale, Mechatronics system • Research and contribution – • Network delay compensation with GSM. • Network based integrated navigation system with edge detection and HPF. • Resource allocation • Applications – • Manufacturing plant monitoring • Nursing homes and hospitals • Tele operations (e.g. space operations, remote surgery) • Military application • Future research • Real time scheduling, Dynamic obstacle avoidance, Collaborative formation control and Network security ADAC, NC State University

16. ADAC Members http://www.adac.ncsu.edu adac_lab@ncsu.edu ADAC, NC State University

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