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Robot Autonomous Perception Model For Internet-Based Intelligent Robotic System

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

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Robot Autonomous Perception Model For Internet-Based Intelligent Robotic System

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

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

  3. 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

  4. 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

  5. Solution • 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.

  6. 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)

  7. 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.

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

  9. 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

  10. 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.

  11. RAPM Jini Reggie Server

  12. 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

  13. 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

  14. Optimizing Paths based on GA

  15. Experiment • 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

  16. 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

  17. 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

  18. 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

  19. 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

  20. Thank You

  21. Questions?

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