March 7, 2005MOBIKE WG, IETF 621 Mobility Protocol Options for IKEv2 (MOPO-IKE) Pasi Eronen.
A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation,...
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Transcript of A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation,...
![Page 1: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/1.jpg)
A Robotic Middleware
Jagiello, J. , Tay, N., Eronen, M.Defence Science and Technology Organisation, Canberra, Australia
![Page 2: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/2.jpg)
Why robotic middleware?
• Build a framework that allows for multi-robot cooperation and decision making, with supervisory control in distributed environments (NCW)
• Overcome interoperability issues between different vendor specific hardware and software platforms
• Software development and maintenance cost reduction measure
• Allow for portability of software between different vendor platforms
![Page 3: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/3.jpg)
3 Tier Architecture
![Page 4: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/4.jpg)
Robotic Middleware Hosting a Mobile AgentScenario I
Robotic MiddlewareRobotic Middleware
Agent PlatformAgent Platform
Robotic Robotic PlatformPlatform
Robotic Robotic PlatformPlatform
Robotic MiddlewareRobotic Middleware
Agent PlatformAgent Platform
Agent PlatformAgent Platform
Any Platform including Robotic PlatformAny Platform including Robotic Platform
Mobile AgentMobile Agent
![Page 5: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/5.jpg)
Robotic Middleware Hosting a Mobile AgentScenario II
Robotic MiddlewareRobotic Middleware
Agent PlatformAgent Platform
Robotic Robotic PlatformPlatform
Robotic Robotic PlatformPlatform
Robotic MiddlewareRobotic Middleware
Agent PlatformAgent Platform
Agent PlatformAgent Platform
Any Platform including Robotic PlatformAny Platform including Robotic Platform
Mobile AgentMobile Agent
![Page 6: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/6.jpg)
![Page 7: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/7.jpg)
A Simulation Framework
• testing robotic middleware is a time consuming and tedious process
• in order to speed up the development process it was necessary to do preliminary testing outside robotic platforms
• need for high performance ad- hoc simulation and experimentation environment
![Page 8: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/8.jpg)
Rule Controller
Tapestry Controller
Internal Controller
Output Controller
.
.
.Agent M
Agent 1
Repository Store
Sensor Controller
A Simulation Framework - Architectural Model
Output VectorPerceive State Vector
Control Vector
Initial State VectorState Vector
![Page 9: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/9.jpg)
Robotic Middleware and Simulation Framework – Mind Storm Robot Example
![Page 10: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/10.jpg)
Robotic Middleware and Simulation Framework – Game of Tips Example
![Page 11: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/11.jpg)
Physical Security Simulation Example
![Page 12: A Robotic Middleware Jagiello, J., Tay, N., Eronen, M. Defence Science and Technology Organisation, Canberra, Australia email: jerzy.jagiello@dsto.defence.gov.au,jerzy.jagiello@dsto.defence.gov.au.](https://reader035.fdocuments.net/reader035/viewer/2022081520/5697bfed1a28abf838cb8cf1/html5/thumbnails/12.jpg)
Conclusions
• Robotic Middleware is a future and the cost cutting measure for Defence,
• Developed prototype is a contribution to the standard for robotics industry,
• Developed simulation framework for real time robotic applications has been successfully deployed for gaming applications.