An overview of Mobile Robotic Architectures including an

An overview of: Mobile Robotic Architectures (including an introduction to JAUS) IRIS Laboratory Presentation June 21, 2005 Tom Wilson University of Tennessee Department of Electrical and Computer Engineering Imaging, Robotics, & Intelligent Systems Laboratory

Overview Remotec Andros i. Robot Packbot Mesa Robotics Matilda Allen-Vanguard MKII Foster-Miller Talon 2

Overview • Unmanned systems reduce exposure of personnel to harmful environments, perform tasks not possible for humans, and provide cost effective solutions to repetitive tasks. • As a result, a large number of unmanned system products are being introduced to the market. • Many of these systems are characterized as task dependent and non-interoperable. 3

Overview • Issue: The selected robotic systems specially built – none of them can be interchanged! are all • E. g. , we can’t take a Foster-Miller manipulator and put it on a Remotec Andros… 4

Overview To resolve these issues: • A standard open architecture is needed that is designed to support the rapid and cost-effective development of unmanned systems. 5

Overview • What does an “open architecture” provide? Interoperable Control: The selected robotic systems must have a standard by which they can be (interchangeably) controlled! • Solution: Implement 4 D/RCS and the “system architecture. ” JAUS into Note: 4 D/RCS and JAUS will be implemented in the Modular Robotic System designed in the IRIS Lab. 6

Presentation Overview • Background - Review of Fundamental Mobile Robotic Operational Architecture. • How does JAUS fit in the overall schema of robotic architectures? • Definition of the scope of the Joint Architecture for Unmanned Systems (JAUS). 7

Architectures - Background Types of Architecture and their integration The three (3) types of architectures for mobile robotic systems are: • Operational Architectures - OA • Technical Architectures – TA • Systems Architectures - SA 8

Architectural Overview Types of Architecture and their integration Operational Architectures Technical Architectures System Architectures 9

Architectural Overview Operational Architectures - (OA) • • • Tasks Operational Units, and Information Flows required to accomplish a mission. 10

Architectural Overview Operational Architectures => Hierarchies, e. g. , military, business organizational structure… • Tasks - search the vehicle undersides for threat objects • Operational Units – EOD squad, Military Police platoon, Command Control (HQ) unit … • Information Flows – SOP information networks, event -driven protocols … (a distributed hierarchy) 11

Architectural Overview Technical Architectures (TA) should contain a set of rules governing the: • • • Organization, Interaction, and Interdependence of the system components. This is to facilitate interoperability when the system’s or system-of-system’s components conform to the specification. TA specifies conceptual paradigms of the processing, database, and communication. TA also specifies standards and data dictionary. 12

Architectural Overview Systems Architectures - (SA) • Systems Architectures describe physical system components and interconnections that integrate for particular missions. • The systems architecture is constructed to satisfy operational architecture requirements per standards defined in the technical architecture. • The system architecture developed in the IRIS Laboratory is a modular systems approach – Thus the name Modular Robotic System 13

Architectural Overview Generic Organization of Mobile Robotic Architecture Operational Architectures Technical Architectures System Architectures 14

Architectural Overview Operational Architecture Technical Architecture 4 D/RCS JAUS Modular Robotic Systems Architecture 15

4 D/RCS Real-time Control System (RCS) => A methodology for conceptualizing, designing, engineering, integrating, and testing intelligent systems software for vehicle systems with any degree of autonomy. 16

4 D/RCS Sense Plan Value Judgment Changes and Events Sensory Perception Simulated Plans perception, focus of attention World Modeling Knowledge Database Observed Input plans, state of action Task Goals Behavior Generation Act Commanded Actions A schematic representation of the RCS Reference Architecture 17

4 D/RCS Sensory Output Status RCS Node VJ Value Judgment Perceived Object & Events Peer Input Output Commanded Task (Goal) SP Sensory Processing Operator Interface Plan Evaluation WM World Modeling Update Plan Predicted Input State BG Behavior Generation Knowledge Database KD Sensory Input Observed Input Status Commanded Actions (Sub-goals) 18

4 D/RCS Sensory Output Status to Superior Outputs to Peers Command from Superior Operator Input RCS Node Inputs from Peers Sensory Inputs Status to Operator Status from Subordinates Commands to Subordinates 19

4 D/RCS integrates the function elements, knowledge representations, and flow of information so that intelligent systems can analyze the past, perceive the present and plan for the future. It enables systems to assess the cost, risk, and benefit of past events and future plans, and make intelligent choices among alternative courses of action. 20

4 D/RCS – mass customization SP WM BG SHOP Plans for the next day Batches SP WM BG CELL Plans for the next hour SP WM BG Trays of parts and tools Objects SP WORKSTATION MACHINE E-MOVE PRIMITIVE Plans for the next 5 minutes – tasks to be done on tray of parts Plans for the next 30 seconds – task to be done on one object Operator Interface Orders SERVO Sensors and Actuators 21

4 D/RCS – mass customization Objects SP WM BG MACHINE Plans for the next 30 seconds – task to be done on one object E-MOVE Surfaces Inspection SP WM Communication SP BG WM BG Part Handling SP WM Tool Motion BG SP BG WM PRIMITIVE Lines SP 3 second plans – Subtask on object part Obstacle-free paths WM BG SP WM BG 0. 3 second plans – Tool Trajectory SERVO Points 0. 03 second plans – Actuator Output Sensors and Actuators 22

4 D/RCS – DARPA XUV III Battalion Formation Section Formation Objects of Attention WM BG Surrogate Battalion SP WM BG Surrogate Platoon SP WM BG SP Surrogate Section Vehicle Subsystem Primitive Plans for the next 24 hours Plans for the next 2 hours Plans for the next 10 minutes – tasks to be done on tray of parts Plans for the next 30 seconds – task to be done on one object Operator Interface Platoon Formation SP Servo Sensors and Actuators 23

4 D/RCS – DARPA XUV III Objects SP WM BG MACHINE Plans for the next 30 seconds – task to be done on objects of attention E-MOVE Surfaces RSTA SP WM Communication Mission Package Locomotion SP BG WM BG SP BG WM 5 second plans – Subtask on object surface Obstacle-free paths PRIMITIVE Lines SP WM BG 0. 5 second plans – Steering, Velocity SERVO Points 0. 05 second plans – Actuator Output Sensors and Actuators 24

4 D/RCS In conclusion: RCS defines interfaces to the conceptual and semantic level. But, not to the syntactic, message, and transport levels (JAUS). RCS is a highly detailed hybrid-hierarchical architecture that does not specify how messages are passed or which communication protocols must be used. 25

JAUS – Joint Architecture for Unmanned Systems JAUS is a technical architecture that is concerned with the data structure of unmanned systems which are comprised of software elements, the externally visible properties of those elements, and the relationships among them. 26

JAUS is a common language consisting of well -defined messages, enabling internal and external communication between unmanned systems. 27

JAUS System Topology 28

JAUS A component is the lowest level of decomposition in the JAUS hierarchy. A component is a cohesive software unit that provides a well-defined service or set of services. Generally speaking, a component is an executable task or process. 29

JAUS One of the principal goals of JAUS is to provide a level of interoperability between intelligent systems that has been missing in the past. Towards this end, JAUS defines functional components with supporting messages, but does not impose regulations on the systems engineer that govern configuration. 30

JAUS To achieve the desired level of interoperability between intelligent computing entities, all messages that pass between JAUS defined components (over networks or via airwaves), shall be JAUS compatible 31

JAUS GOA Stack Application SW Class 4 L XOS Services Class 3 L Class 4 D -> System Services Operating System Services Class 3 X Other Nodes or Operational Subsystems Class 3 D -> Resource Access Services Class 2 L Physical Resources Class 1 L Class 2 D -> Class 1 D -> External Environment Interface 32

JAUS GOA Stack Application SW Class 4 L XOS Services Class 3 L Class 4 D -> System Services Operating System Services Class 3 X JAUS defines messages and data formats for application layer components, as well as XOS services for message handling Other Nodes or Operational Subsystems Class 3 D -> Resource Access Services Class 2 L Physical Resources Class 1 L Class 2 D -> Where other organizations define standards, JAUS does not interfere (e. g. , JTA, IEEE, SAE, etc. ) Class 1 D -> External Environment Interface 33

JAUS Subsystem Remote Controller Mobility Platform Wireless System JAUS Compliant Message Format Sensor Brick Node Component Wireless System 34

JAUS Subsystem Remote Controller Mobility Platform Sensor Brick Node ? Component Wireless System 35

JAUS Subsystem Remote Controller Mobility Platform Sensor Brick Node Component Wireless System JAUS Compliant Message Format Concept of Inter. Operability Alternative Controller 36

JAUS In conclusion: • Support all Classes of Unmanned Systems - JAUS should ensure platform independence • Rapid Technology Insertion - JAUS should not impose a specific technical approach • Interoperable Operator Control Units (OCU) - JAUS should allow for the interoperability of operator control units • Interchangeable/Interoperable Payloads - JAUS should allow technical advancements while not imposing specific hardware or software implementations • Interoperable Unmanned Systems - JAUS should allow for communication between unmanned systems independent of platform type 37

Research Focus Sense Plan Value Judgment Changes and Events Sensory Perception Sensors task goals Simulated Plans + World Modeling perception, Knowledge focus of Database attention Behavior Generation plans, state of action Act commanded actions Observed Input Intelligent Systems Real-time Control System (RCS-4) Mobility Platforms = MRS Thesis Chapter 8 Modular Robotic System + JAUS 38

Conclusion 1. Modular Robotic System is JAUS compatible. 2. Compliant with 4 D/RCS – expanding the system to include multiple mobility platforms. 3. Conforms to the key concept of (being capable of) interoperability! 39

Questions? 40

References 1. Robotic Architecture Standards Framework in the Defense Domain with Illustrations Using the NIST 4 D/RCS Reference Architecture, Hui-Min Huang 1, James Albus 1, Jeffery Kotora 2, and Roger Liu 3. 1 – National Institute of Standards and Technology 2 – Chair, JAUS Working Group, Titan Systems, Huntsville, Alabama 3 – Army Systems Engineering office (ASEO), Fort Monmouth, New Jersey 2. Joint Robotics Program Master Plan FY 2004, published by Office of the Undersecretary of Defense (Acquisition, Technology & Logistics) Defense Systems/Land Warfare and Munitions 4. 4 – 3090 Pentagon, Washington, DC 20301 -3090 3. Engineering of Mind: An Introduction to the Science of Intelligent Systems, James S. Albus 5 and Alexander M. Meystel 6 (2001). 5 – Senior NIST Fellow, Intelligent Systems Division, Manufacturing Engineering Laboratory, National Institute of Standards and Technology 6 – Professor of Electrical and Computer Engineering, Drexel University, Guest Researcher NIST 41

References 4. Volume I: JAUS Domain Model (DM) 5. Volume II: JAUS Reference Architecture (RA) 42