Differences

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--- lirec_notes [2009-01-12 17:44] – davegriffiths
+++ lirec_notes [2009-01-13 12:19] – davegriffiths
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 ======Architecture======
-The technology developed for Lirec is shared between the research partners, and has to:
+[[Lirec Architecture]]
-  - Run on very different platforms
-  - Reuse code across these platforms
-  - Support migration at runtime between platforms
-====Existing robot architectures====
-In the whole, there has historically been a lack of sharing of this kind of technology. This is partly because generalising is hard, considering all types of robots and implementations possible. However, Lirec has to generalise as it's using a wide variety of platforms and needs to share as much as possible.
-While some existing architectures are available, none of them address the needs of Lirec, given the focus is:
-  - Long term companionship rather than solving a purely technical problem
-  - Working across different platforms
-====Methodology====
-In the past there have been 2 broad approaches to [[robot design]]:
-  * Hierarchical, model based planning = expensive/difficult to maintain an accurate world state model
-  * Behavioural approach = less state, local decisions, but liable to local minima and opaque to program
-This can be summed up as "predictive vs reactive".
-The plan is to use a hybrid approach, example [[http://www.techfak.net/ags/ai/projects/BIRON/welcome.html|BIRON]]. Where the high level predictive element constrains the reactive in order to combine local decisions with a world model.
-The architecture will consist of 3 layers of abstraction:
-  * Level 1 - The device api layer, hardware drivers
-  * Level 2 - Logical mappings of devices into competencies
-  * Level 3 - ION, platform independent
-Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all platforms, and different implementations of the same competency will be needed for different platforms.
-====Competencies table====
-^ Actuation ^^^^ Sensing ^^^^^^
-| **Speech/Sound** | **Visual** | **Movement** | **Object Manipulation** | **Identification** | **Vision** | **Sounds** | **Positioning** | **Distance** | **Internal State** |
-| Text to speech | Gesture execution | Move limb | Grasp/Place object | User recognition | Face detection | Speech recogn | Localization | Obstacle avoidance | Battery status |
-| Non-verbal sounds | Lip sync | Follow person | | Obj recognition | Gesture recognition (simple set) | Non-verbal sounds | Locate person | Locate obj | Competence execution monitoring |
-| | Facial expression | Path planning | | | Emotion recognition (simple set) | | | User proximic distance sensing/control | |
-| | | Gaze/head movement | | | Body tracking | | | | |
-| | | Expressive behaviour | | | | | | | |
-Some competencies are dependant on others, such as facial expression which will require a face detection competency to operate. The computer vision competencies are to be concentrated on at first.
-=====High level - 3=====
-====Appraisal====
-====Coping/Reasoning/Planning====
-====Affective State====
-====Social Relations====
-====Models of others (Theory of Mind)====
-====Long term memory====
-  * Forgetting
-====Short term memory====
 ======Links======
 [[Lirec Work Packages]]
 [[http://eris.liralab.it/yarp/|YARP]] is a good example of sharing code in this way on a Linux platform.