RobAIR-ICSOC12: Difference between revisions
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[[Image:Wifibot-edge.png|200px|thumb|right|WifiBot's Edge Detection Pilot Widget]] |
[[Image:Wifibot-edge.png|200px|thumb|right|WifiBot's Edge Detection Pilot Widget]] |
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[[Image:Wifibot-sensors.png|200px|thumb|right|WifiBot's Sensors Pilot Widget]] |
[[Image:Wifibot-sensors.png|200px|thumb|right|WifiBot's Sensors Pilot Widget]] |
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==Summary== |
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We demonstrate the interoperability and the dynamism |
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capabilities in SCA-based systems in the context of smart habitats. These capabilities |
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are due to two developed tools: a Python-based OSGi runtime and service-oriented |
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component model (Pelix and iPOPO, respectively) and a tool to publish |
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SCA services as OSGi services (NaSCAr). By this, we have developed a robot service |
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and a pilot' user-agent, which can dynamically add and remove sensors and |
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widgets. This use case follows and responds to the ubiquitous computing trend |
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and the runtime adaptivity needed in such systems. |
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Keywords: SCA, Service-Oriented Architectures, Component-Based Design, Dynamic |
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Adaptability, Smart Habitats |
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==Hardware== |
==Hardware== |
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Revision as of 15:02, 9 August 2012
DEMO FOR ICSOC 2012 http://www.icsoc.org
VIDEO : COMING SOON
Summary
We demonstrate the interoperability and the dynamism capabilities in SCA-based systems in the context of smart habitats. These capabilities are due to two developed tools: a Python-based OSGi runtime and service-oriented component model (Pelix and iPOPO, respectively) and a tool to publish SCA services as OSGi services (NaSCAr). By this, we have developed a robot service and a pilot' user-agent, which can dynamically add and remove sensors and widgets. This use case follows and responds to the ubiquitous computing trend and the runtime adaptivity needed in such systems.
Keywords: SCA, Service-Oriented Architectures, Component-Based Design, Dynamic
Adaptability, Smart Habitats
Hardware
RobAIR is based on the Wifibot robot. The Wifibot had a chassis with 4 wheels geared by 4 DC motors with hall encoders. The Wifibot is controlled by an Atom D510 main board running Linux (Ubuntu) or Windows CE.
Wifibot' nuiltin sensors are
- PTZ webcamLogitech QuickCam® Orbit AF ou Logitech Quickcam Sphere AF
- Hokuyo Lidar (URG-04LX-UG01)
- Infrared sensors (left and right)
- Battery level sensors
- Odometer
For the demonstration, we have plugged several sensors on the available USB ports (remark: USB hubs are not correctly managed by the current OS distribution)
- Geiger counter Sensor
- Gas sensors (Arduino board)
- 133696 HC-SR04 Ultrasonic Sensor Distance Measuring Module (Arduino board)
Extra sensors are
- XBox Kinect for depth image and webcam
- 139741 Arduino Infrared Obstacle Avoidance Detection Photoelectric Sensor for stair/hall detection
- 135038 Arduino Flame Detection Sensor Module
Extra actuator
- 135038 Arduino Flame Detection Sensor Module (Arduino board)
- scream out loud - 110dBA fixed tone Siren (controlled by a relay on the Arduino board)
Software
The robot's embedded software and the pilot's console are developed using SCA components in Python and in Java/OSGi. The SCA components containers are : NaSCAR for Java/OSGi and iPOPO/Pelix for Python