Smart M3-Based Robot Interaction Scenario for Coalition · PDF file Alexander Smirnov, Alexey...

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Transcript of Smart M3-Based Robot Interaction Scenario for Coalition · PDF file Alexander Smirnov, Alexey...

  • August 24-26, 2016. Budapest, Hungary

    Smart M3-Based Robot Interaction Scenario for Coalition Work

    Alexander Smirnov, Alexey Kashevnik, Sergey Mikhailov, Mikhail Mironov, Mikhail Petrov

    St.Petersburg Institute for Informatics and Automation RAS (SPIIRAS), Russia ITMO University, St.Petersburg, Russia

  • Table of Contents

    l Motivation l Introduction l Scenario Description l Proposed Approach l Implementation l Conclusion

    2

  • Motivation

    3

    Source: McKinsey Global Institute, Report MGI “Disruptive technologies: Advances that will transform life, business, and the global economy” (May 2013). http://www.mckinsey.com/insights/business_technology/disruptive_technologies

  • Introduction: Cyber-Physical-Social Systems

    4

    RobotsRobots

    Personal Mobile Devices

    Planning resources

    Physical Space Information

    Space

    People

    Control resourcesControl resources

    Social Space

  • Scenario Description

    5

    Mobile Robot

    Mobile Robot

    Letter 2 Letter 1

    Letter 3

    Letter 4

    ИТМО

    User interface for word specification

    User interface for colors determination

  • Smart-M3 Platform Description

    l Smart-M3 includes: l SIB: Devices and software entities (applications) can publish their

    embedded information for other devices and software entities through simple, shared Semantic Information Brokers.

    l The interface for managing information in the SIB is provided by Knowledge Processors (KP)

    l The understandability of information is based on the usage of the common RDF ontology models and common data formats.

    6

    Smart Space

    SIB

    Knowledge Base

    (RDF Store)

    Application

    Application

    KP

    RDF Ontology

    KP

    RDF Ontology

    l Smart-M3 allows user KP to: l add, l remove, l change, and l subscribe,

    on information in SIB.

    Ontology Matching

    Ontology Matching

  • Approach: Ontology-Based Robots Interaction in Smart Space

    7

    Physical Space

    Social Space

    Mobile Application

    Cyber Space

    Computation Service

    Smart M3 Space

    Robot Control Service

    Robot Control Service

  • 8

    Lego® Mindstorms EV3 Kit

    Large motor

    Large motor

    Main block

    Medium motor

    Ultrasonic sensor

    Touch sensor

    Gyroscopic sensor

    Color sensor

  • Lego Mindstorms Robot Example

    9

    Control block Wi-Fi USB-adapter

    Right-side ultrasonic sensor

    Front ultrasonic sensor

    Large motors for wheels

    Gripper

    Small motor for gripping and picking up

    Pick up mechanism

  • Computation Service Flowchart Diagram

    10

    Main functions: • Get information from smart

    M3 space about letter sequence.

    • Subscribe for the information about the letter found by a robot.

    • Calculate and share with smart M3 space information about the letter destination.

  • Robot Control Service

    11

    Main functions: • Control robot movements • Control gripping of letters • Share information with smart M3 space about the letter found. • Get information from smart M3 space about destination for letter found.

    Finding Letter Using ultrasonic sensor (example for letter “M”)

  • Mobile Application

    12

    Main functions: • Share with smart M3 space information about letter sequence. • Share with smart M3 space information about correspondence between a

    letter and a color.

    ИТМО

  • 13

  • Conclusion

    l The paper presents mobile robot interaction scenario for coalition work.

    l Scenario aims at word from letter formation. l Robots are based on Lego® Mindstorms EV3 Kit. Letters

    have been developed using 3D printer. l Implementation is based on Smart-M3 information sharing

    platform that provides possibilities of information sharing based on Semantic Web.

    14

  • Thank you for Attention. Questions are Welcome

    15

    Alexey Kashevnik, PhD St. Petersburg, Russia, E-mail: [email protected]