RobAIR-ICSOC12

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

VIDEO : COMING SOON

WifiBot with geiger counters and toxic gas sensors

WifiBot's Lidar

WifiBot's Lidar Pilot Widget

WifiBot's Camera Pilot Widget

WifiBot's Edge Detection Pilot Widget

WifiBot's Sensors Pilot Widget

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 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 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.

• Geiger counter Sensor
• Gas sensors (Arduino board)
• 133696 HC-SR04 Ultrasonic Sensor Distance Measuring Module (Arduino board)
• Inforad K0 NMEA-0186 GPS Receiver
• Wii Motion Plus I2C Gyroscope (Arduino board)

Extra sensors are

• XBox Kinect for depth images and webcam
• 139741 Arduino Infrared Obstacle Avoidance Detection Photoelectric Sensor for stair/hall detection (Arduino board)
• 135038 Arduino Flame Detection Sensor Module for flame detection (Arduino board)

Extra actuators are

• 135038 Arduino Flame Detection Sensor Module (Arduino board)
• scream out loud - 110dBA fixed tone Siren (controlled by a relay on the Arduino board)

Pilot's Console

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

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/iPOJO for Java/OSGi and iPOPO/Pelix for Python

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.
• 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)