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| lirec_notes [2009-01-06 14:47] – created davegriffiths | lirec_notes [2009-01-06 14:51] – davegriffiths | ||
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| ===Scenarios=== | ===Scenarios=== | ||
| - | =Heriot Watt= | + | ==Heriot Watt== |
| Spirit of the building: | Spirit of the building: | ||
| - | 1. Team buddy, mobile robot, collective memory for a lab team | + | - Team buddy, mobile robot, collective memory for a lab team |
| - | 2. Personal guide - for navigating around a university campus, remember appointments etc | + | |
| - | 3. In the wild - a gossip/chat robot - appears on a large screen in social area | + | |
| - | =INESC-ID= | + | ==INESC-ID== |
| - | 1. Game companion for young children | + | |
| - | 2. Personal trainer (migrate to mobile robot for jogging exercises etc) | + | |
| - | 3. Welcome to the jungle - talk to game characters through a robot, robot can alternate | + | |
| between real and game world | between real and game world | ||
| - | =University of Hertfordshire= | + | ==University of Hertfordshire== |
| - | 1. Fetch and carry, help with physical impairment or convenience | + | |
| - | 2. Cognitive prosthetic - memory aid for tasks etc | + | |
| - | 3. Telepresence card player - robot mediates play | + | |
| - | 4. Teaching Proxemic preferences - robot learns where to be relative to the user in different situations | + | |
| - | 5. Travelling companion - agent migration, to stay with user during home, work, shopping. | + | |
| ===Architecture=== | ===Architecture=== | ||
| Has to: | Has to: | ||
| - | 1. Run on very different platforms | + | - Run on very different platforms |
| - | 2. Reuse code across these platforms | + | |
| - | 3. Support migration at runtime between platforms | + | |
| Platforms can consist of 4 main types, mobile robot, fixed robot, handheld device or fixed graphical system. Each has it's inherent restrictions. | Platforms can consist of 4 main types, mobile robot, fixed robot, handheld device or fixed graphical system. Each has it's inherent restrictions. | ||
| - | =Existing robot architectures= | + | ==Existing robot architectures== |
| In the whole, there is a lack of sharing of this kind of technology. This is partly because generalising is hard in this field, considering all types of robots possible. However, Lirec has to generalise as it's using a wide variety of architectures. | In the whole, there is a lack of sharing of this kind of technology. This is partly because generalising is hard in this field, considering all types of robots possible. However, Lirec has to generalise as it's using a wide variety of architectures. | ||
| NASREM/NIST RCS - NASA + ESA use a generic system with their subcontractors. | NASREM/NIST RCS - NASA + ESA use a generic system with their subcontractors. | ||
| - | =Methodology= | + | ==Methodology== |
| In the past there have been 2 broad approaches to robot design: | In the past there have been 2 broad approaches to robot design: | ||
| - | * Heirarchical, | + | |
| - | * Behavioural approach = less state, local decisions, liable to local minima, opaque to program | + | * Behavioural approach = less state, local decisions, liable to local minima, opaque to program |
| This can be summed up as predictive vs reactive. | This can be summed up as predictive vs reactive. | ||
| Line 45: | Line 45: | ||
| The architecture will consist of 3 layers of abstraction: | The architecture will consist of 3 layers of abstraction: | ||
| - | Level 1 - device layer, architecture dependant | + | * Level 1 - device layer, architecture dependant |
| - | Level 2 - architecture dependant -> logical mappings | + | |
| - | Level 3 - ION, device independant | + | |
| Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all architectures, | Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all architectures, | ||
| Example competencies: | Example competencies: | ||
| - | * Face finding | + | |
| - | * Expression recognition | + | * Expression recognition |
| - | * Text to speech | + | * Text to speech |
| - | * Obstacle avoidance | + | * Obstacle avoidance |
| - | + | ||
| YARP | YARP | ||
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