Transcript DIOS – A Distributed Intelligent Operating Schema

DIOS – A Distributed Intelligent
Operating Schema
Dr. Reuven Granot and Chad Trytten
Spark Robotics Inc.
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Machines for Risky Intervention
• Autonomous and human supervised
autonomous robots for risky intervention
require intelligent capabilities executed by
machines in a timely fashion.
• Machine intelligence may be achieved by
the interaction of control agents acting in a
dynamic environment.
• Let’s consider an example: Neutralization
of an Improvised Explosive Device (IED).
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Example: Neutralization of a
CBRN-E device.
• The scenario of a terror attack using an IED is
today a major concern in Europe and in the rest
of the world.
– In the near future it may contain Chemical, Biological,
Radiological or Nuclear (CBRN-E ) agents
– It is also reasonable to be used as a tool for threat
and as such may be found before its
activation.
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The Problem
• Unknown structure and design
– As an improvised device presents the human
operator team with unknown and unexpected
situations.
– Needs more accurate technical treatment than
neutralization of usual explosive devices in order to
reduce to zero the possibilities of human error.
• A lot of general information is available
– large variety of information data bases for situation
analysis
– integration of a large variety of tools for sensing or
acting
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The Problem
• The neutralizing device should be assembled and integrated from
several systems.
• Connection to device information databases over the Internet.
• Sensors and actuators required to perform the task should be
handy. However,
– before the incident occurs, only some of the sensors to be used
for analysis, can be allocated.
– while actuators and sensors to be used during the
neutralization phase can be allocated only after the analysis
phase is completed.
– The operating system has to be built on the spot and under
the constraints of a crisis situation, in a timely fashion and with
extremely high quality assurance.
• This is of course a very demanding task.
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The neutralization robot
• Is developed beforehand, but its functionality has to be
flexible enough to be adapted to very different situations.
• From some aspects it should be possible to reintegrate
its components according to the specific scenario.
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The Intelligent Command,
Communication and Control System
• The responsibility to control and monitor
the Global Goal in a very professional and
reliable manner.
• Will perform under a Human Autonomous
Supervisory Control regime.
• Will include numerous agents and
modules
– reliably communicate and exchange
information.
• Enforce
– a reliable fault tolerant system
– trustable communication
– messaging server
– process manager to ensure system
safety
– System Builder tool to integrate the
sub-systems
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Introducing DISTRIBUTED INTELLIGENT
OPERATING SCHEMA: DIOSTM
• The machine has to be capable to integrate into
a working system several different and
frequently new sensors or actuators
– as the existing ones may be replaced by a new
product or an updated version of the same product.
– Assembling a system to be able to deal with complex
situations requires integration of very different
subsystems.
• An Operating Schema to serve as a tool to make
that task doable under the stressed situation of a
crisis is not a luxury, but a necessity.
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TM
DIOS
VISION STATEMENT
ToToenable
the creation
of tool
a new
generation of
be the widely
accepted
for development
of
better
connected,
more
intelligent,
cost
effective,
distributed
systems,
using
application
agents
for
information
in robotic
control robotic
systems
reliable
and ofexchange
on the spot
assembled
and intelligent devices.
vehicles.
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How
TM
DIOS
works
• Hide the details of the specification from the particular
application.
• Does not tie an application to a specific type of hardware.
• Allow Agents to be created in multiple programming
languages
 C for microcontrollers used in Hardware Interface
Modules (HIM),
 C++, Python, and Java (more in the future)
• Automatically generates code to standardize
communication and prevent dependency issues
between Agents
  SPEED UP DEVELOPMENT
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SPECIFICATION
DISTRIBUTED
INTELLIGENT
OPERATING SCHEMA
• Specifies what information can be broadcast/
listened to.
• Does not distinguish between “real world”
components (sensors, actuators) and “virtual
components” in software (behaviors, decisions).
• Real-time requirement for guaranteed message
delivery
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FRAMEWORK
DISTRIBUTED
INTELLIGENT
OPERATING SCHEMA
• Software medium through which all Agents
communicate with each other.
• Invisible to the application developer and end
user.
• Fully distributed – ability to create applications
with no single point of failure.
• Commercial robotics framework developed for
the QNX Real-Time OS.
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AGENTS
DISTRIBUTED
INTELLIGENT
OPERATING SCHEMA
• Units of FUNCTIONALITY
• Perform on behalf of a supervisory unit (agent or
human operator)
• Are
–
–
–
–
Autonomous
Situated (in the environment)
Reactive
Pro-active (make decisions to achieve goals)
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The System Builder
• The purpose is to simplify and automate the task
of
– defining,
– creating,
– maintaining, and
– arranging
Agents for use in a DIOS-enabled system.
• Acts as a repository for all DIOS-enabled
software and the management thereof.
• Projects are comprised of many Agents using
shared Models.
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DIOS™ System Builder
Allows the developer to use whatever
specification it choose.
Works on:
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• The System Builder requires
that the user specify the
information that an Agent
requires in order to function
and complete its task.
• By defining an Agent with the
above properties, the System
Builder then auto-generates
all of the code required for
communication along with the
programming stub for the
Agent.
Agent definition screen of the SystemBuilder running under OSX 10.4 Tiger.
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DIOS™ System Builder
Allow Agents to be created in multiple
programming languages
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• The hierarchal organization of software objects composed
of data-type fields are defined in the "Information Model".
This is necessary to let System Builder connect parts
according to their hierarchy.
The Information Model definition screen of the
SystemBuilder running under Windows 6.0 Vista.
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Using the SystemBuilder
Steps:
1. define agents
2. define information models
3. associate information
models with Agents
4. Generate code (in C++)
for the keyboard driver
5. Use the keyboard driver to
control a simulated robot
6. Show the auto generated
Java keyboard driver
code
7. Show the simulated robot
controlled by the java
driver
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Contact Information
Spark Robotics Technology Inc.
1160 Seymour Street
Vancouver, BC
Canada V6B 3N3
USA
Canada
Israel
Fax
Email
+1-619-955-6675
+1-604-495-1861
+972-4-824-8701
+1-604-648-9544
[email protected]
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www.sparkrobotics.com
January 8, 2008