RobAIR-ICSOC12: Difference between revisions

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[[Image:wifibot-configuration.jpg|200px|thumb|right|WifiBot configuration]]
⚫
<h1>A Dynamic SCA-based System for Smart Homes and Offices</h1>
⚫
Authors: Thomas Calmant, Joao Claudio Américo, Didier Donsez and Olivier Gattaz


⚫
DEMO PROPOSAL FOR ICSOC 2012 http://www.icsoc.org

[[Image:wifibot-with-geiger-gas.jpg|200px|thumb|right|WifiBot with geiger counters and toxic gas sensors]]
[[Image:wifibot-with-geiger-gas.jpg|200px|thumb|right|WifiBot with geiger counters and toxic gas sensors]]
[[Image:Wifibot_hokuyo_lidar.jpg|200px|thumb|right|WifiBot's Lidar]]
[[Image:Wifibot_hokuyo_lidar.jpg|200px|thumb|right|WifiBot's Lidar]]
[[Image:Wifibot_spherewebcam.jpg|200px|thumb|right|WifiBot's PTZ Webcam]]
[[Image:sparkfungeiger.jpg|200px|thumb|right|Onboard USB geiger counter]]
[[Image:UltrasonicScanner.jpg|200px|thumb|right|Three HC-SR04 Ultrasonic Sensors on a tilt bracket]]
[[Image:upnp.robair.png|200px|thumb|right|RobAIR UPnP Device]]
[[Image:Wifibot-lidar.png|200px|thumb|right|WifiBot's Lidar Pilot Widget]]
[[Image:Wifibot-lidar.png|200px|thumb|right|WifiBot's Lidar Pilot Widget]]
[[Image:Wifibot-cam.png|200px|thumb|right|WifiBot's Camera Pilot Widget]]
[[Image:Wifibot-cam.png|200px|thumb|right|WifiBot's Camera Pilot Widget]]
[[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]]
[[Image:Wifibot-sensors.png|200px|thumb|right|WifiBot's Sensors Pilot Widget]]
[[Image:Wifibot-sensors.png|200px|thumb|right|WifiBot's Sensors Pilot Widget]]

⚫
<h1>A Dynamic SCA-based System for Smart Homes and Offices</h1>
⚫
Authors: Thomas Calmant, Joao Claudio Américo, Didier Donsez and Olivier Gattaz


⚫
DEMO PROPOSAL FOR ICSOC 2012 http://www.icsoc.org

[[Media:FlyerICSOC12A4.pdf]]
[[Media:PosterICSOC12A3.pdf]]




==Summary==
==Summary==
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Wifibot' nuiltin sensors are
Wifibot' nuiltin sensors are
* PTZ webcam[http://www.logitech.com/en-us/38/3480 Logitech QuickCam® Orbit AF] ou [[Logitech Quickcam Sphere AF]]
* PTZ webcam[http://www.logitech.com/en-us/38/3480 Logitech QuickCam® Orbit AF] ou [[Logitech Quickcam Sphere AF]]
* Hokuyo [[Lidar]] ([http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html URG-04LX-UG01])
* Hokuyo [[Lidar]] ([http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html URG-04LX-UG01] [http://www.hokuyo-aut.jp/02sensor/07scanner/download/products/urg-04lx-ug01/data/URG_SCIP20.pdf communication protocol spec.])
* Infrared sensors (left and right)
* Infrared sensors (left and right)
* Battery level sensors
* Battery level sensors
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* [[Geiger counter]] Sensor
* [[Geiger counter]] Sensor
* Arduino board with:
* Arduino board with:
** LPG gas sensor ([https://www.sparkfun.com/products/9405 MQ-6])
** Gas sensors
** Methane gas sensor ([https://www.sparkfun.com/products/9404 MQ-4])
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** [[135038 Arduino Flame Detection Sensor Module]] for flame detection
** Carbon monoxyde gas sensor ([https://www.sparkfun.com/products/9403 MQ-7])
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** [[133696 HC-SR04 Ultrasonic Sensor Distance Measuring Module]]
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** [[135038 Arduino Flame Detection Sensor Module|Flame Detection Sensor]] for flame detection
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** [[133696 HC-SR04 Ultrasonic Sensor Distance Measuring Module|Ultrasonic Distance Sensor]]
** [[Wii Motion Plus]] I2C Gyroscope
** [[Wii Motion Plus]] I2C Gyroscope
* Inforad K0 [[NMEA-0186]] GPS Receiver
* Inforad K1 [[NMEA 0183]] GPS Receiver


Extra sensors are
Extra sensors are
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==Software==
==Software==
===Component architecture===
===Component architecture===
The robot's embedded software and the pilot's console are developed using 2 SCA composites. Inner components are developped in Python and in Java/OSGi. Components and Composites are bound using four types of SCA bindings : direct reference, local socket, UPnP, XMPP/Jingle (and SIP/Simple but not in this demonstration).
The robot's embedded software and the pilot's console are developed using 2 [http://www.oasis-opencsa.org/sca/ SCA] composites. Inner components are developped in Python and in Java/OSGi. Components and Composites are bound using four types of SCA bindings : direct reference, local socket, UPnP, XMPP/Jingle (and SIP/Simple but not in this demonstration).
The SCA containers are : NaSCAr/iPOJO for Java/OSGi and [http://ipopo.coderxpress.net iPOPO/Pelix] for Python.
The SCA containers are : NaSCAr/iPOJO for Java/OSGi and [http://ipopo.coderxpress.net iPOPO/Pelix] for Python. iPOPO components wraps C/C++ native libraries ([[Robot Operating System|ROS]]) and scripts ([[Urbi|Urbiscript]]).


===Services and API===
===Services and API===
====XMPP/JINGLE====
⚫
The UPnP SCA Binding implements 1 UPnP device profile and 5 UPnP service types.
We have modified a GTalk-compliant user-agent ([[JISI]]) according to the robot and the pilot requirements.
====UPnP Profiles====
The Robot publishes 1 UPnP device profile and 6 UPnP service types.
* Robot1.xml ([[UPnP-Robair-Robot|file]])
* Robot1.xml ([[UPnP-Robair-Robot|file]])
** Chassis1.xml ([[UPnP-Robair-Chassis1|file]]) for driving the chassis
** Chassis1.xml ([[UPnP-Robair-Chassis1|file]]) for driving the chassis
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** IM1.xml ([[UPnP-Robair-IM1|file]]) for Instant Message and Visioconferencing
** IM1.xml ([[UPnP-Robair-IM1|file]]) for Instant Message and Visioconferencing
''Remark: The Robot1.xml device profile embeds optionally a device with the standardized [http://upnp.org/specs/ha/digitalsecuritycamera/ Digital Security Camera Profile (DCP)] for each on-board webcam (or Kinect).''
''Remark: The Robot1.xml device profile embeds optionally a device with the standardized [http://upnp.org/specs/ha/digitalsecuritycamera/ Digital Security Camera Profile (DCP)] for each on-board webcam (or Kinect).''
====SCA Binding====
OASIS had already specified SCA bindings for main stream protocols used in B2B and EAI.
Our goal is to defined SCA bindings for protocols widely accepted in SOHO (Small Office Home Office) networks (ie UPnP) and in videoconferencing (ie XMPP/Jingle and SIP/SIMPLE).
=====UPnP SCA Binding=====
⚫
The UPnP SCA Binding implements 1 UPnP device profile and 6 UPnP service types.

=====IM Binding=====
The IM SCA Binding implements the session establishment for XMPP/Jingle.


==Video==
==Video==
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==References==
==References==
* Calmant, T., Américo, J.C., Gattaz, O., Donsez, D., and Gama, K.: A dynamic and service-oriented component model for Python long-lived applications. In Proceedings of the 15th ACM SIGSOFT Symposium on Component-Based Software Engineering (2012) pp. 35–40.
* Calmant, T., Américo, J.C., Gattaz, O., Donsez, D., and Gama, K.: A dynamic and service-oriented component model for Python long-lived applications. In Proceedings of the 15th ACM SIGSOFT Symposium on Component-Based Software Engineering (2012) pp. 35–40. website http://ipopo.coderxpress.net/
* Américo, J.C., and Donsez, D.: Service Component Architecture Extensions for Dynamic Systems. Accepted for the 10th Int’l Conference on Service-Oriented Computing (2012)
* Américo, J.C., and Donsez, D.: Service Component Architecture Extensions for Dynamic Systems. Accepted for the 10th Int’l Conference on Service-Oriented Computing (2012)
* Source repository : https://github.com/tcalmant/robair

==Gallery==
[[Image:icsoc2012-demo-a.jpg|300px|Joao demonstrating RobAIR @ ICSOC 2012]] [[Image:icsoc2012-demo-b.jpg|300px|Joao demonstrating RobAIR @ ICSOC 2012]]

Latest revision as of 10:43, 3 December 2012

WifiBot configuration
WifiBot with geiger counters and toxic gas sensors
WifiBot's Lidar
WifiBot's PTZ Webcam
Onboard USB geiger counter
Three HC-SR04 Ultrasonic Sensors on a tilt bracket
RobAIR UPnP Device
WifiBot's Lidar Pilot Widget
WifiBot's Camera Pilot Widget
WifiBot's Edge Detection Pilot Widget
WifiBot's Sensors Pilot Widget

A Dynamic SCA-based System for Smart Homes and Offices

Authors: Thomas Calmant, Joao Claudio Américo, Didier Donsez and Olivier Gattaz


DEMO PROPOSAL FOR ICSOC 2012 http://www.icsoc.org

Media:FlyerICSOC12A4.pdf Media:PosterICSOC12A3.pdf


Summary

We demonstrate the interoperability and the dynamism capabilities in SCA-based systems in the context of robotic for 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 Adaptation, Smart Habitats, Service Robotic

Hardware

Robot

RobAIR (Robot for Ambient Intelligent Room) 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 under Linux (Kubuntu 10.04) or under Windows CE.

Wifibot' nuiltin sensors are

For the demonstration, we have plugged several additionnal sensors on the available USB ports (remark: USB hubs are not correctly managed by the current OS distribution). Several analog and digital sensors are soldered on an Arduino shield piggybacked on an Arduino UNO board.

Extra sensors are

Extra actuators are

Pilot's Console

  • PC with USB game controller ou Nunchuck+Arduino UNO
  • Android phone or tablet

Software

Component architecture

The robot's embedded software and the pilot's console are developed using 2 SCA composites. Inner components are developped in Python and in Java/OSGi. Components and Composites are bound using four types of SCA bindings : direct reference, local socket, UPnP, XMPP/Jingle (and SIP/Simple but not in this demonstration). The SCA containers are : NaSCAr/iPOJO for Java/OSGi and iPOPO/Pelix for Python. iPOPO components wraps C/C++ native libraries (ROS) and scripts (Urbiscript).

Services and API

XMPP/JINGLE

We have modified a GTalk-compliant user-agent (JISI) according to the robot and the pilot requirements.

UPnP Profiles

The Robot publishes 1 UPnP device profile and 6 UPnP service types.

  • Robot1.xml (file)
    • Chassis1.xml (file) for driving the chassis
    • Sensor1.xml (file) for analog sensors
    • CompositeSensor1.xml (file) for multiple value analog sensors
    • DistanceSensor1.xml(file) for Lidar, IR and Ultrasonic distance sensors
    • PositionSensor1.xml (file) for GPS
    • IM1.xml (file) for Instant Message and Visioconferencing

Remark: The Robot1.xml device profile embeds optionally a device with the standardized Digital Security Camera Profile (DCP) for each on-board webcam (or Kinect).

SCA Binding

OASIS had already specified SCA bindings for main stream protocols used in B2B and EAI. Our goal is to defined SCA bindings for protocols widely accepted in SOHO (Small Office Home Office) networks (ie UPnP) and in videoconferencing (ie XMPP/Jingle and SIP/SIMPLE).

UPnP SCA Binding

The UPnP SCA Binding implements 1 UPnP device profile and 6 UPnP service types.

IM Binding

The IM SCA Binding implements the session establishment for XMPP/Jingle.

Video

COMING SOON

Acknowledgement

  • Olivier Aycard


References

  • Calmant, T., Américo, J.C., Gattaz, O., Donsez, D., and Gama, K.: A dynamic and service-oriented component model for Python long-lived applications. In Proceedings of the 15th ACM SIGSOFT Symposium on Component-Based Software Engineering (2012) pp. 35–40. website http://ipopo.coderxpress.net/
  • Américo, J.C., and Donsez, D.: Service Component Architecture Extensions for Dynamic Systems. Accepted for the 10th Int’l Conference on Service-Oriented Computing (2012)
  • Source repository : https://github.com/tcalmant/robair

Gallery

Joao demonstrating RobAIR @ ICSOC 2012 Joao demonstrating RobAIR @ ICSOC 2012

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