Robots Unlimited

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Robots Unlimited PHD Summerschool July
2006 Alexander Brändle Marco Combetto
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Agenda

• Who we are?
• Why robotics?
• Activity overview
• Future ideas

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Intelligent Environments Team
Alexander Braendle
Marco Combetto
Pierre-Louis Xech
Andreas Heil (PHD Student)
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Why robotics?

• How will Future Environments look like?
• Challenges/Needs
• Personal Devices, Embedded Devices, Sensors,
  Robots, Appliances?
• Enabling technologies,Programming
  paradigms,Interaction paradigms?
• How will future applications look like?
• Wide range of user types?
• Mixing real and virtual world?

Robots could form a part of it!
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The Robotics Wave

• Service and consumer markets just emerging
• Remote assistance/presence
• Assistive
• Facilities maintenance
• Security
• Education
• Entertainment
• Academic Research
• Complex topic
• Moving from 8/16 to 32 bit
• Lots of hand-coded solutions
• Education and Hobbyist channel
• Still mostly 8 bit, starting to shift
• Strong governmental interest worldwide

EURON roadmap 2015 -gt Its all about software
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Robots!

• Wide range of applications
• Commercial use
• Academic use
• Personal use
• How to program them?
• Challenges
• Complexity
• Reusability
• Reliability
• Resources
• Tools
• Technologies
• Choice
• Sharing
• Transference of skills/experience

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Links

• European Robotics Network (EURON)
• European Robotics Platform (EUROP)
• IEEE RAS Technical Commitee on Programming
  Environments in Robotics and Automation

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Robots, too?

• Software
• Internet Explorer
• Media Player
• MS Agent
• Mobile Phones

Definition A robot is a device, hard- or
software with the capability of sensing and
(re-)acting.
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Robotics at Microsoft Research (Cambridge)
Robots in human environments

• End-user programming
• Developer Tools (Fischertechnik-Demo,
  Scatterweb-Demo)
• Visual Programming (.FUN-Demo)
• End-user debugging
• Microsoft Robotics Studio
• Coding4Fun
• Enabling new applications
• Emotional oriented computing
• Personal robotics
• Self-reconfigurable structures
• Learn from interaction with animals

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The Fischertechnik ROBO Interface

• The in- and outputs
• 8 digital inputs
• 2 digital and analog distance sensors
• 4 analog sensors for resistance and voltage
• 4 motors with 8 different speeds

• The board
• Serial port, COM, RS232
• USB
• Infrared
• R/F module available
• Ethernet for the next hardware revision planned

TSSystemRoot\System32\mstsc.exe
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Adding Control

• Now we want to control the robot
• Lets take another off the shelf product
• Ordinary Joystick

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Coding4Fun

• http//msdn.microsoft.com/coding4fun/

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Integrating Sensors

• Sensors are they eyes and ears of robots
• Increasing Demand for easy robust sensor platform
  from biology, ecology, civil engineering et al.

How to get easy access to Sensor Nodes systems

• A challenge on its own
• Where are sensor node platforms heading?
• Dealing with vast amounts of real-time data
  becoming available

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Sensor Networks in the real world

• Robustness
• WSNs have to work 24/7
• WSNs have to offer uniform APIs
• Long-lived, autonomous networks
• Self-organizing and energy efficient
• Routing
• Data aggregation
• Deployment Setup
• Better development support
• Realistic simulation tools
• Heterogeneous testbeds
• Useful traces
• Tool integration (in well know platforms)
• Development for heterogeneous systems

ScatterWeb/.NET
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Sensors (ScatterWeb) An open and flexible
platform for rapid protoyping implementation of
wireless sensor networks

• Nodes
• with/without sensors
• Sensors
• Luminosity, noise detection, vibration, PIR
  movement detection,
• Microphone/speaker
• IR sender/receiver
• stand-alone/modular
• Acceleration, humidity, temperature, luminosity,
  noise detection, vibration, PIR movement
  detection on demand
• Stand-by 7.6µA, 5 years life-time with AA
  battery and 1 duty-cycle
• Gateways
• WLAN, Ethernet, Bluetooth, GPS, GSM/GPRS, USB,
  RS485 , serial
• Software
• Management, flashing, routing, ns-2 simulation
  models
• TCP/IP, web server (http//193.10.67.150/),
  Contiki, TinyOS,
• Basic functions for energy management, routing

Jochen Schiller,Free University Berlin
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.NET for ScatterWeb

• Extend the .NET tools and architecture to small
  devices

• Sensor world available to every developer
• Easy access to sensor values, events, and
  functions
• Understandable namespaces and interfaces
• Support for IntelliSense and dynamic help
• Well known programming model (events, methods,
  properties)
• Extensibility of the nodes logic (Tiny C) and
  instant IntelliSense-Update
• Development, deployment and debugging within
  Visual Studio

Jochen Schiller,Free University Berlin
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A first step

• Attractive for developers
• End-users?

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.FUN

• A compelling engaging programmable environment
  to play learn for children (introduce children
  to Computing in new ways)
• Make technologies of tomorrow accessible to non
  technical market (children, nurse, elderly,
  machine operator)
• Linking real and virtual world
• Wider market potential of Robotics (Industrial,
  Assistive technology, new consumer products,
  health)

Technical University Berlin
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Next steps

• Keep graphical representation
• Using context data
• Domain specific language
• Changing the paradigm

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Integrating a Context Server 1/2
Raw Sensor Data
Context Events
Context Server
Application(s)
Sensors
DB
Context Requests
Torben Weis, University of Stuttgart
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Integrating a Context Server 2/2
Raw Sensor Data
Context Events
Context Server
Application(s)
Context Simulator
DB
Context Requests
3D Data
Torben Weis, University of Stuttgart
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Torben Weis, University of Stuttgart
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Domain-specific Languages

• Visual N
• Domain-specific
• Graphical language
• Extension of VRDK

Users can switch betweenboth notations

• N
• Domain-specific
• Textual language

Code translator

• C / VB.NET
• General purpose programming language

Torben Weis, University of Stuttgart
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N - A Textual Notationfor Visual N

• ambient MyAmbient _at_ Person
• where filter (1.Age lt 40), filter(1.Location
  "Stuttgart")
• discover Lichter _at_ Light
• where distance(a),
• filter(1.Color "red")
• process OnLampAdd _at_ l Lichter.Added
• l.On()
• process OnLampRemove _at_ l Lichter.Removed
• l.Off()
• a 100

Torben Weis, University of Stuttgart
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Microsoft Robotics Studio
A development platform for robotics community,
supporting a wide variety of users, hardware, and
application scenarios.
Microsoft Robotics Studio

• Simulation Tool
• Visual Programming Language

Authoring Tools

• Samples and tutorials
• Robot services
• Robot models
• Technology services

Runtime
Services and Samples

• Concurrency
• Services infrastructure

• Make it easy to manage asynchronous components
• Avoid need to understand manual threading,
  semaphores, etc.
• Provide a scalable programming model
• Make state observable, easily accessible
• Provide for reusability and failure
• Support component discovery and composition
• Support remote/distributed execution

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Microsoft Robotics StudioKey Runtime Features

• Support standalone and distributed processing
  scenarios

Connected operation (remote execution on PC)
Disconnected autonomous operation (with optional
networked monitoring)
Distributed execution (execution across compute
units)
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Microsoft Robotics Studio

• Extensible to a wide variety of hardware

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Microsoft Robotics StudioServices and Samples

• Over 15 tutorials
• VB.Net, C, JScript
• Support for
• LEGO Mindstorms RCX
• LEGO Mindstorms NXT
• fischertechnik
• MobileRobots Pioneer P3

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Microsoft Robotics StudioOther University Support

• Bryn Mawr College
• Carnegie Mellon University
• Cornell University
• Georgia Tech
• Massachusetts Institute of Technology
• Stanford University
• University of Pennsylvania
• University of Pisa
• University of Southern California
• University of Washington

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Imagine a world

• where Paper is able to understand, what you are
  doing

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Robotics at Microsoft Research (Cambridge)
Robots in human environments

• End-user programming
• Developer Tools (Fischertechnik-Demo,
  Scatterweb-Demo)
• Visual Programming (.FUN-Demo)
• End-user debugging
• Microsoft Robotics Studio
• Coding4Fun
• Enabling new applications
• Emotional oriented computing
• Personal robotics
• Self-reconfigurable structures
• Learn from interaction with animals

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Emotion-Oriented Computing

• General Goal Make interaction between human and
  machine more natural for the humans
• Machine should be able to
• To register human emotions
• To convey and comunicate emotion
• To understand the emotional relevance of the
  event

8/18/2009
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Microsoft Internal Only
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Human Centred, Affects and Emotions

• Enhance communication through compelling, fun and
  emotional interactions with computing (Mobile
  devices, Robotics)
• Seeking to make the process more intuitive,
  interactive and appealing to a wider group of
  people. Experimenting, evolving, evaluate
  emotional models
• Support privacy, intimacy and different level of
  information sharing
• Extending the software as a new medium
• Affective Media and Mobile media (affective loop)
• Participatory creation, exchange, authoring and
  fruition
• Storing the intimacy, the private value of the
  things
• Fusion of different kind of data sensors,
  embodiments,

8/18/2009
Microsoft Internal Only
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Human Centred, Affects and Emotions

• Enhance communication through compelling, fun and
  emotional interactions with computing. Seeking to
  make the process more intuitive, interactive and
  appealing to a wider group of people.
  Experimenting, evolving, evaluate emotional
  models
• Support privacy, intimacy and different level of
  information sharing
• Extending the software as a new medium
• Affective Media and Mobile media (affective loop)
• Participatory creation, exchange, authoring and
  fruition
• Storing the intimacy, the private value of the
  things
• Fusion of different kind of data sensors,
  embodiments,

8/18/2009
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Microsoft Internal Only
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SensingInteraction with Environments

• Some examples

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Affective DiaryDesigning for bodily
expressiveness and self-reflection

• Collecting memories including body memorabilia
  mingled with mobile materials (SMS, MMS,
  photographs, music listened to, video,..
• Offering a diary medium in which those memories
  can be mirrored and organised
• Empowering the user to create meaning and alter
  those representations
• Prototype
• build on TabletPC and Smartphone
• Sensordata (movement, arousal)

8/18/2009
Microsoft Internal Only
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BSP Interactive storytelling in vast location
based

• Pervasive computing Location based games provide
  navigational challenges e.g. Chasing
• Mobile Media A flexible media and framework for
  interaction
• Interactive storytelling Balance linearity with
  user control, believable characters
• The concept of believable environments, and our
  implementation, put a research focus on
  possibilities to
• Enrich pervasive games with location
• dependent narratives
• Design the stage set to improve
• interactive storytelling

8/18/2009
Microsoft Internal Only
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SensingInteraction with Robots

• An example

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Why Robotics?

• Interest about robots is spreading fast
• Reinventing Personal Computing
• New way of interact because the usual ways are
  not enough (keyboard, mouse, etc.)
• We look for new interaction modality? Does Human
  size matter? Social aspects..
• Robots as an embodiment
• How to discover contexts and adapting?
• Technology
• Technology seems to be mature enough to produce
  robots not only for industry
• Software for controlling social robots should be
  robust and should adapt to the changing
  environment
• It seems that control systems theory doesnt
  scale well in this setup

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The mind and the body

• Neurophysiologists suggest that the body plays a
  crucial role in our cognitive process
• The brain experiences the world through the body
• The environment is well known to the brain
• Outside environment is a set of states of inside
• Agents with body (embodied agents) try to mimic
  this schema to produce intelligent behavior
• Dautenhan and Jakobi show that bodys presence
  influences the behavior of software (anything
  already heard?)

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Component structure
Vision Roblet
Knowledge Base
Body Map
Arm Roblet
WiFi Roblet
MotionRoblet
Sensors
Internal perception
Network perception
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Robotics4.net

• Realization of a platform for define the body of
  a robot as a set of agents (Roblets) that acts as
  intermediaries between the devices and the
  reasoning software
• The robot provides a physical body and a set of
  core services to support the development of
  highly autonomous agent situated in both
  cyberspace (e.g Internet, virtual entities) and
  real world
• Definition of an Object Model, an API, a set of
  abstraction that allows
• Portability (on different type of platforms)
• Scalability from small (e.g. Lego) to complex
  systems
• Integration with the MS Development Platform and
  MS OS and Application suites

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Functions implemented

• The platform provide the following base services
  to support the software implementing the roblets
• General purpose functions (I/O)
• Basic motion abilities
• Collision avoidance software
• Vision software for face recognition
• Speech and gesturing recognition
• Positioning and navigation aided by video input
• Network perception
• IM interface
• The Architecture is available as a simple
  Software Development Kit freely downloadable from
  http//www.robotics4.net

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Perception
8/18/2009
Microsoft Internal Only
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Evolving the framework

• Reduce the programming model of Robotics4.NET to
  the one adopted by the Robotics Studio CTP
• Extending the Mind/Body model with
  self-developing tools, model and methods to
  verify the behavior of systems imposing very high
  level constrains and how that can be both
  formally and programmatically verified
• Testing interaction in real scenarios

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Questions