Robot Technology Middleware Research Articles

Towards Developing a Teleoperation System for a Disaster Response Robot

Standard Disaster Robotics Challenge of World Robot Summit (WRS) aims to test the ability of robots that can be used as disaster response robots. Robot Engineering Lab of the University of Aizu is developing a robotic system to address challenges in the WRS. The competition has five stages, and the teleoperation robotic system had to be developed to satisfy the requirements of each challenge. REL uses a disaster-response robot called Giraffe, which has the capability of traveling in hard terrain. Open Robot Technology Middleware uses to integrate all of the subsystems inside the robot. Each subsystem has different tasks that process video data, RGB depth data, Point Cloud Data, sensor data and, feedback data. The Robotic system includes 6 cameras and NDI Software Developer Kit used to transmit and view video streams remotely. The video stream from each camera can be viewed separately, and it gives wider control over the robot for the operator. The teleoperation robotic system was tested during a robot demonstration held in Fukushima Robot Test Field, and results were analyzed according to the WRS 2018 competition guidelines. The results were at an acceptable level.

Embedded Component-based Framework for Robot Technology Middleware

Embedded Component-based Framework for Robot Technology Middleware

カーロボティクスのためのロボット用ミドルウェア導入に関する研究

カーロボティクスのためのロボット用ミドルウェア導入に関する研究

Control functionality of DAQ-Middleware

DAQ-Middleware is a software framework for a network-distributed data acquisition (DAQ) system that is based on the Robot Technology Middleware (RTM). The framework consists of a DAQ-Component, that is implemented as a data transfer module, a data gather module, a data record module, etc., and a DAQ-Operator, that is implemented as a control module of other components. The basic functionalities, that are necessary as a DAQ system, such as transferring data, starting and stopping the system, etc., are already prepared in the framework. But one of control functionalities, i.e., the functionality of changing parameter values on the DAQ-Components, wasn't provided yet. In order to implement the functionality, the framework has to have the communication method to transfer data from the DAQ-Operator to the DAQ-Component, and the new state to realize the functionality because it should be separated from a normal state to acquire data. Then we developed and added the new functionality in the DAQ-Middleware to transfer data from DAQ-Operator to DAQ-Components in the new state. The new DAQ-Middleware framework allows us to implement easily not only functionality of acquiring data but also that of controlling component modules.

Distributed Intelligent Assistance Robotic System with Sensor Networks Based on Robot Technology Middleware

This paper proposes a distributed intelligent assistant robotic system in order to improve the quality of the elderly people's life in the population aging society. The system is composed of embedded distributed sensor networks and multirobot intelligent platform. In the proposed system, we use SP2ATM (simultaneous path planning and topological mapping) with RBPF (Rao-Blackwellized particle filter) for path planning and localization of mobile robots. In order to perform service tasks, an accurate and reliable 3D environment map is reconstructed by using an effective 3D reconstruction technique from multiview stereo. Besides, the system provides user human tracking services based on multifeature mean shift under the double-layer locating mechanism. To improve the feasibility and reliability of the system, this proposed system is developed based on distributed control technology RTM (robot technology middleware). This paper presents the architecture of the proposed system and the experimental results verify effectiveness of the approaches.

A Middleware-Based Simulation and Control Framework for Mobile Service Robots

A mobile service robot is a complex distributed system integrating various technologies and having large heterogeneity. In order to facilitate component development and system integration of the mobile service robots, a middleware-based simulation and control framework for system integration and application development, as well as the robotic functional component (RFC) framework with a simplified structure and an efficient transmission scheme, is proposed for mobile service robot systems. Designed to implement a distributed modular mechanism for a mobile service robot, the middleware-based framework for simulation and control is comprised of four layers: low-level abstraction layer, communication layer, high-level abstraction layer, and application layer. Common Object Request Broker Architecture (CORBA) and Robot Technology Middleware (RTM) are employed as middleware for the development of RFCs and for system integration. Communication between the components and the graphical programming tool is done by the communication layer (CORBA ORB). The conducted experiments validated the proposed framework in terms of ideal performance of reusability, interoperability, and extensibility, as well as indicated that the proposed RFC framework is simplified and easy enough to perform well in data transmission, which will reduce the costs and the threshold of robot development.

An Effective Method of Sharing Heterogeneous Components of OPRoS and RTM

Heterogeneous components have different component models, which prevents such components from sharing the functionalities of other components based on the different models. As one of methods for linking heterogeneous components, this paper suggests a proxy component to construct a bridge between heterogeneous components of OPRoS (Open Platform for Robotic Service) and RTM (Robot Technology Middleware). The proxy component consists of two types of components called Adaptor and Interceptor, via which the heterogeneous components can exchange data and services easily. The proposed method enables adaptor and interceptor components to directly invoke the services of the latter and the former, respectively, in order to exchange data and services on a real-time basis. The proxy component can be implemented for OPRoS and RT (Robot Technology) component models to connect with RT and OPRoS ones, respectively. It is shown through a simple experiment that the proposed method works well for real-time control.

Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel

Robotic operation is one of the major challenges in the remote maintenance of ITER vacuum vessel (VV) and future fusion reactors as inner operations of Tokamak have to be done by robots due to the internal adverse conditions. This paper introduces a novel remote handling robot (RHR) for the maintenance of ITER-like D-shaped vessel. The modular designed RHR, which is an important part of the remote handling system for ITER, consists of three parts: an omnidirectional transfer vehicle (OTV), a planar articulated arm (PAA), and an articulated teleoperated manipulator (ATM). The task of RHR is to carry processing tools, such as the viewing system, leakage detector, and electric screwdriver, to inspect and maintain the components installed inside the D-shaped vessel. The kinematics of the OTV, as well as the kinematic analyses of the PAA and ATM, is studied in this paper. Because of its special length and heavy payload, the dynamics of the PAA is also investigated through a dynamic simulation system based on robot technology middleware (RTM). The results of the path planning, workspace simulations, and dynamic simulation indicate that the RHR has good mobility together with satisfying kinematic and dynamic performances and can well accomplish its maintenance tasks in the ITER-like D-shaped vessel.

An RTM based Distributed Simulation System for Guide Robot

In order to enhance the robot system integration and development for guide robot, a distributed simulation system was developed in this study using RTM (Robot Technology Middleware) technology, which is an open software platform for robot systems. The RT (robot technology) system of an adapter, a controller and the robot, together with other CORBA objects, was developed to connect the graphical programing interface with 3D simulator to set up an RTM based distributed simulation system. Simultaneously, the application of the distributed simulation system also confirms the controlling of the real robot utilizing the RT system. The proposed distributed simulation system based on RTM can obviously accelerate the software component development as well as the system integration for guide robot, which will certainly lower the cost of the development of new robot application systems.

Map Merging for Multi-robot Systems Based on Hierarchical Topology Structure under RTM Framework

For large-scale unknown environments,a method of topological node matching based on visual feature is presented,and a local scan matching strategy is integrated to realize map merging for multi-robot system under RTM(robot technology middleware) framework.A main-auxiliary structure model of multiple robots is developed,and an improved SP~2ATM algorithm is adopted to incrementally constructing topological map in unknown environments.Based on this,the hierarchical topology structure including SIFT(scale-invariant feature transform) feature information is presented,which is combined with ICP(iterative closest point) algorithm to realize map merging of multi-robot systems.RTM is taken as communication platform to improve the realtime performance,flexibility and robustness of the system.Simulation on USARSim and experimental results in actual environments verify the effectiveness of the proposed method.

An Efficient Simultaneous Localization and Map-Building Technique for Indoor Mobile Robot Navigation

Abstract The paper presents an effective positioning and the Map-Building indoor mobile robot navigation technology foundation, Rao-Blackwellized laser particle filter (specified-matching RBPF). Robot technology middleware technology is used in measuring system developed by the match colors. Use data, developed LRF RTM, mobile robots get components control component, data buffer composition, RBPF components, matching component, local map components and GUI components. Using survey, components can be realized by different programming languages, running on different operating systems, or in the different network connection system-operate.

Performance measurement of DAQ-Middleware

DAQ-Middleware is a software framework of network-distributed data acquisition system. DAQ-Middleware was developed based on Robot Technology Middleware (RT-Middleware), which is an international standard of Object Management Group (OMG) in Robotics. OpenRTM-aist is an implementation of RT-Middleware developed by the National Institute of Advanced Industrial Science and Technology. New implementation of DAQ-Middleware has been done according to the new OpenRTM-aist released early 2010 while DAQ-Middleware has been improved. Then, we measured the performance of the new DAQ-Middleware compared with previous one. We measured the throughput of DAQ-Middleware on several conditions. We observed improvement of performance in the new DAQ-Middleware.

Design and Implementation of Basic Framework for Integration of Robot Technology Elements in Intelligent Space

This paper considers design and implementation of intelligent Space (iSpace) which is a space with many distributed sensors and actuators. iSpace system should have flexibility and scalability so that we can easily change the configuration of embedded devices and switch applications based on the situation. To realize such a system, iSpace framework requirements are discussed and a layered structure which consists of four layers – the sensor node, basic information server, application and actuator layers – is proposed. The structure makes it possible to fuse information extracted by each sensor node effectively and provides system flexibility and scalability. A componentbased iSpace implementation is also addressed. The designed framework is implemented using RT (Robot Technology) middleware.

RTM (Robot Technology Middleware) Based Dynamic Interrupt System for Communication Between Humans and Robots

A dynamic fuzzy interrupt system is proposed to optimize responsiveness of robots in humans-robots communication. The system guarantees a continuous and efficient human-robot interaction by assigning priority to the given instruction and it remains immune to distractions caused by conflicting instructions. The system is embedded in the robot technology components that are able to implement by different programming languages, under the different operating system. Experiments to simulate actions of mascot robot system such as the eye robot, mobile robot, and information retrieval engine involving 10,000 instructions show a 14% improvement in the system responsiveness and a delay time of less than 2 seconds. The implementation of home party scenario between four humans (a host and three guests) and five eye robots shows the affective communication, and confirms to facilitate casual communication between humans and robots with limited interruption.

A DAQ system for CAMAC controller CC/NET using DAQ-Middleware

DAQ-Middleware is a framework for the DAQ system which is based on RT-Middleware (Robot Technology Middleware) and dedicated to making DAQ systems. DAQ-Middleware has come into use as a one of the DAQ system framework for the next generation Particle Physics experiment at KEK in recent years. DAQ-Middleware comprises DAQ-Components with all necessary basic functions of the DAQ and is easily extensible. So, using DAQ-Middleware, you are able to construct easily your own DAQ system by combining these components. As an example, we have developed a DAQ system for a CC/NET [1] using DAQ-Middleware by the addition of GUI part and CAMAC readout part. The CC/NET, the CAMAC controller was developed to accomplish high speed read-out of CAMAC data. The basic design concept of CC/NET is to realize data taking through networks. So, it is consistent with the DAQ-Middleware concept. We show how it is convenient to use DAQ-Middleware.

Development of DAQ-Middleware

DAQ-Middleware is a software framework of network-distributed DAQ system based on Robot Technology Middleware, which is an international standard of Object Management Group (OMG) in Robotics and its implementation was developed by AIST. DAQ-Component is a software unit of DAQ-Middleware. Basic components have been already developed. For examples, Gatherer is a readout component, Logger is a data logging component, Monitor is an analysis component and Dispatcher, which is connected to Gatherer as input of data path and to Logger/Monitor as output of data path. DAQ operator is a special component, which controls those components by using the control/status path. The control/status path and data path as well as XML-based system configuration and XML/HTTP-based system interface are well defined in DAQ-Middleware framework. DAQ-Middleware was adopted by experiments at J-PARC while the commissioning at the first beam had been successfully carried out. The functionality of DAQ-Middleware and the status of DAQ-Middleware at J-PARC are presented.

Specification and Implementation of Open Source Software Suite for Realizing Communication Intelligence

We are presently developing a set of software called Open Source Software Suite for Human Robot Interaction (OpenHRI). OpenHRI has the following characteristics. It is implemented on RT-Middleware, an object management group (OMG)-compliant robot technology middleware specification that can be easily integrated in any robot system. It can perform various functions from audio signal processing to dialog management in a uniform and reconfigurable manner. It not only implements each required function of the components but also defines a meta-level specification to enable the developer to verify whether the structural design of the components is correct. In this paper, we introduce the implementation of OpenHRI, present the architectural design of the system, and provide examples of applications. 1.

Special Issue on Kukanchi Interactive Human – Space Design and Intelligence Dedicated to Dr. Kazuo Tanie

The history of science and technology evolution plays a great role in expanding human ability. Physical enhancement is done by controlling power after invention of steam engines and governor. These lead inventions of various useful machines to improve the productivity of material, food, and many attractive consumer products such as automobiles. Electrics and electronics also provided social infrastructure for industries and individual life. From ancient times, media have been developed to assist in intellectual activities such as characters, clay boards, papers, printing machines to carry knowledge. The accumulation of knowledge was one source of governance power and social movement of the Enlightenment promoted spreading such knowledge to citizens by editing Encyclopedias. This movement opened modern and civilized era. Telecommunication and computer technologies have accelerated to develop tools that help thinking and communication using the enormous knowledge stored in storages distributed worldwide. Kukanchi —Interactive Human-Space Design and Intelligence— enhances human physical boundary limited by its body to its surrounding space adopting and fusing technologies such as robotics, structured information, sensor network, object oriented software, software engineering of Robot Technology (RT) middleware, human–robot–interaction, etc. Kukanchi is expected to provide barrier–free environment and support to maintain QoL of daily life for any kind of handicapped people. This special issue features nine excellent papers from researchers devoting efforts to establishing kukanchi field and concept. This special issue is edited by guest editors, Prof. Makoto Mizukawa (Shibaura Institute of Technology) and four editors, Drs. Kazuhito Yokoi (AIST), Tsutomu Hasegawa (Kyushu University), Shigeki Sugano (Waseda University), Yasushi Nakauchi (University of Tsukuba). We thank the authors for their contributions and reviewers for their time and effort in making this special issue possible. We also thank the JRM Editorial Board for providing the opportunity to take part in this work. In closing, we would like to express our deep gratitude to the late Dr. Kazuo Tanie, who founded the Kukanchi research group.

RT Component Based Network Distributed Monitoring System

Video stream, a typical way of providing the information of visualizations for the robotic system working, the environment of robot system and the state of the age and disabled, is indispensable in order to enable the remote user to get a better understanding of situation. In this paper, a RT Component-based network distributed monitoring system for human assistance robotic system was developed to improve the interaction among the users and local service robotic system. We developed robot system and network monitoring system using QuickCam Orbit cameras and demonstrated them from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. Improvements of network distributed monitoring system using IEEE1394 cameras with high performance and high resolution have been done in order to extend the application of system. We used Robot Technology Middleware (RTM) to develop cameras functional elements as “RT software components” that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. It is also easy to re-use existing modules thus facilitating network-distributed software sharing and improving the cost of writing and maintaining software.

2A1-F14 RTコンポーネントに基づく知能化空間システムの構築(インテリジェント・ロボティックルーム)

In this paper, we present the component based implementation of observation function of smart environments, which are spaces with distributed and networked sensors and actuators. First we discuss the component design of the information acquisition function and the information integration function. The information acquisition part consists of sensor components and data processing components whereas the information integration part is composed of fusion components and database components. The components for sensors such as CCD cameras, laser range finders and a 3D ultrasonic positioning system, and for position and map servers are then implemented using RT (Robot Technology) middleware. The observation system is developed based on these modules.