CLD Project Task Distribution

1
CLD Project Task Distribution

• Semantic Web Work Group
• CLD Robotics Team
• 6 Dec. 2005

2
Participants

• Aksu, Murat
• Ali, Mir Mukkarum
• Apaydin, Asli
• Dikili, Ismail Fatih
• Eker, Necmi
• Hafa, Adil

3
Aksu, Murat

• Communication Layer
• Microcontroller programming (RS232C, )
• Device handling protocols
• Wireless www comm protocols
• Microcontroller (flash) self-programming

4
Ali, Mir Mukkarum

• Semantic Labyrinth Discovery Application
• Discovery of labyrinth search space
• Agent cooperation
• Agent communication
• WS discovery (agent localization)
• WS execution (agent execution)
• Joint Work
• Labyrinth discovery ontology
• Robotic agent ontology (need separately?)
• Knowledge acquisition and representation

Semantic Labyrinth Discovery Appl.
Agent SWS
Fig.- CLD Appl.
5
Apaydin, Asli

• Semantic Robotic Agent Application
• Agent system (SWSs)
• Labyrinth vicinity state space search
• SWS info container (local DB)
• Agent communication
• Joint Work
• Labyrinth discovery ontology
• Robotic agent ontology (need separately?)
• Knowledge acquisition and representation.

6
Dikili, Ismail Fatih

• Object Recognition, Visual Interaction
• Wall recognition (telescopic camera?)
• Robot recognition
• Line crossing / following
• Color region crossing (see figure)
• Micro adjustments (?)

Wall
Color region crossing
7
Eker, Necmi

• Localization
• Path following
• Coordinating with other robots (clash avoidance,
  avoiding visited cells, )
• Measuring the traveled distance
• Sensor-based distance measurement
• Avoiding walls / centering on cell

8
Hafa, Adil

• Robot Interfaces
• Robotic I/O handling programming
• Hardware embedded handling features
• Microcontroller architecture
• Motor control architecture
• Sensor interfacing
• Wireless interfacing

9
Required Parts for Each CLD Agent

• Legend
• ICOP Vortex86-6082LV Tiny Controller
• ICOP Vortex86-6082 WiFi Kit
• 2.55" Botster Brand Robot Wheels, Hitec Servos,
  Encoder Module Combo
• CMUcam2 Pan/Tilt Turret and Servo Combo
• CMUcam2 Camera and DSP
• MR-162 CPU Board
• Lynxmotion Line Tracking Sensor
• Devantech SRF10 Ultra Sonic Ranger Module
• sharp GP2D02 Distance Measuring Sensor
• GLK1223225SM LCD Display
• GM457070 Lithium Polymer Battery
• PST-ML70 Smart Battery Charging and Safety

1
2
6
12
5
11
3
8
3
7
10
Platform

• Agent
• PC104 Wintel
• Win CE/Mobile
• .Net compact
• VS. NET?
• Server
• Wintel
• .Net
• VS .NET.

11
Open Subjects

• Management Console Application
• Inference Engine
• Game plan, policy
• WS composition (strategy / business process
  implementation)
• Interpolation (goal setting and next step
  planning)