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NRPla .on:KojiKamei(JARA/ATR)Co- ma.onDay,Burlingame,Dec.11,2012

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Introduc.ontoRobo.cLocaliza.onService(RLS- RobotLocaliza.onService(RLS- ATR

ula.onandhuman- ‐robotinterac.on.Copyright(c)2012JARA/ATR

Challengingissuesintheexample Somesensorsonlyprovidepar.alloca.oninforma.on.– readercanonlyprovideproximityinforma.on. Sensoroutputsarenotalwayscorrect.– nmissit. efforts.– .Copyright(c)2012JARA/ATR

RLSFeatures prefix)– sage.– BasedonthewidespreadGISstandards.(ISO/TC211) Architecturepackage(RoLoarchitecture)– robo.cusage.– onsforposeoriden.tyinforma.on.– Structuresforrepresen.ngerrores.ma.on. DataFormatpackage(RoLoformat)– Dataformatsforforma ngandexchangingresul.nglocaliza.ondata. Interfacepackage(RoLoservice)– – orma.on.Copyright(c)2012JARA/ATR

10- ‐02- ‐03)2011/06:finalreportfromRLS1.1- ed.(formal/2012- ‐08- 2012JARA/ATR

ChangesinRLSversion1.1 Bugfixes Poserepresenta.onextended– forma.on.– dinthenextversion(incoordina.onwithISO/TC211). Iden.ty(ID)Informa.onextended– esentedinnumericalvaluesandsymbolicvalues UsageexamplesextendedCopyright(c)2012JARA/ATR

Introduc.ontoRobo.cInterac.onService(RoIS- ‐1.0)Specifica.onSu- ‐YoungChi(ETRI),Young- Copyright(c)2012ETRI,AIST,JARA/ATR

ServiceRobotsinOurLivingEnvironment Possiblerobo.cservices:– Recep.onserviceattheentrance– Guideserviceinmuseums– Homesecurity– Childcare/Nursingrobots– Elderlycarerobots,etc. (c)2012ETRI,AIST,JARA/ATR

DtagDetec.onlegcontrol Recep.on Guide Homesecurity Childcare TRI,AIST,JARA/ATR Humandetec.on Facedetec.onandrecogni.on Speechrecogni.on Humantrackingandfollowing Soundsourcelocaliza.onetc.

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InterfacesdefinedinRoISFramework SystemInterface– onandHRIEngine. EventInterface– changesinHRI- ‐Enginestatus. QueryInterface– forma.onitholds. CommandInterface– ngine.Copyright(c)2012ETRI,AIST,JARA/ATR

HRIfunc.onsforRobo.cServices Robo.cservicesrequireHuman- ‐RobotInterac.onfunc.ons– Tounderstandthesurroundings,suchas Persondetec.on,Personiden.fica.on, Sounddetec.onand Speechrecogni.on,Sensor- ‐relatedfunc!ons Speechsynthesis, Reac.on, Naviga.onandFollow.Actuator- ‐relatedfunc!ons– Toprovideservices,suchas TRI,AIST,JARA/ATR

15BasicHRIComponentsSensor- ‐relatedComponentsActuator- ‐relatedComponents名称機能名称機能System InformationAcquire the system statusSpeech SynthesisGenerates robot speechPerson DetectionDetect number of person(s)ReactionPerforms specifiedreactionNavigationMoves to specified targetlocationFollowFollows a specified targetobjectMoveMoves to specifieddistance or curvePerson LocalizationDetect position of peoplePerson IdentificationIdentify person(s)Face DetectionDetect number of face(s)Face LocalizationDetect position of face(s)Sound DetectionDetect number of soundsourcesSound LocalizationLocalize sound source(s)Speech RecognitionRecognize spokenlanguageGesture RecognitionRecognize iders)canprovideHRIfunc.onsnotlistedhereasUser- ight(c)2012ETRI,AIST,JARA/ATR

/08:RoIS1.0Beta1published.(dtc/2011- ‐08- ge)2012/09:RoIS1.0Beta2published.(dtc/2012- ‐06- pyrightTokyo/(c)U2niversityoJfARA/ATRTsukuba

UNRPla ormasojwarepla c)2012JARA/ATR

NetworkedRobotSystem(2004- ‐2009)Unconscious- ‐typeRobotssensorsembeddedinenvironmentsVirtual- ‐typeRobotsagentsinvirtualspacesVisible- inreal-worldenvironmentsCopyright(c)2012JARA/ATR

3)One location(NR)Multiple locations (UNR)Hospital,Rehabilita!oncenter, Human- ‐RobotInterac.on2004- ‐2009Ｍｕｌｔｉ- singhome, Oneloca.ontoMul.- ‐loca.onUbiquitousNetworkRobotsPlaIormTele- ppingmall,Sta!on,

2012JARA/ATR

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UNRPla orm plica.ons. tsinavarietyofplaces. neachother.Copyright(c)2012JARA/ATR

UNRPla PLATFORMServiceCue・・・High RoIS)RobotRegistryOperatorRegistryHigh RROBOT(e.g.implementedbyRTM)・・・

Two- ‐LayerPla ormArchitectureRobotic ServicePla ormRobotic ServiceSpa.alMasterComponents/ServicesRobotic Service Management(Global (multi-area) Integration)Local Platform（Location B）Robot Registry (global)Service Registry (global)Resource ManagementService RegistryLocal Platform（Location A）Map RegistryUser RegistryStatus: 4W Who/When/Where/WhatNetwork ype RobotsCopyright(c)2012JARA/ATR

Standardiza.onRobotic ServicePla ormRobotic LRobotic Service Management(Global (multi-area) Integration)Local Platform（Location B）Robot Registry (global)Service Registry (global)Resource ManagementNR- ‐PFNR- ‐PFService RegistryLocal Platform（Location A）RLSMap RegistryUser RegistryStatus: 4W Who/When/Where/WhatNetwork irtual-Type RobotsCopyright(c)2012JARA/ATR

OGCCityGML OGC:OpenGeospa.alConsor.um CityGML:CityGeographyMarkupLanguage– AnopendatamodelandXML- itymodels– CityGML1.0(2008/08) org/files/?ar.fact id 47842Copyright(c)2012JARA/ATR

ITU- ‐TSG16/Q25F.USN- ‐NRP Func.onalrequirementsforNetworkRobotPla orm ITU- ‐TSG16Q25(USN:UbiquitousSensorNetwork) OriginallyproposedasNRP(NetworkRobotPla orm)thenexpandedtomul.- ‐loca.onUNRarchitecture. )2012JARA/ATR

Robo.cServices-Shop guidanceShopping supportTouring ht(c)2012JARA/ATRHealthcare

.3,pp.28- inghfp://dx.doi.org/10.1109/MNET.2012.620121331

UNRPla ormAlphaRelease URL– hfp://www.irc.atr.jp/std/UNR- ‐Pla orm.html AlphaReleaseincludes – Pla ormSystem– Spa.alMasterDatabaseSystem– SamplePrograms SampleComponentandService SampleScenarioforComponentAlloca.onOpenSource– Documents UserGuide(Howtosetupandexecutesampleprograms) ProgrammingGuide(HowtouseAPIlibraries) pyright(c)2012JARA/ATR

Cloud%Networked%Robo.cs 31. May%2012% Special%Issue%on%Machine%and%Robo.c%Networking hfp://dx.doi.org/10.1109/MNET .