Distributed Intelligence for Robotic Systemskvasnicka/Seminar_of_AI/Sincak... · Distributed...

Distributed Intelligence for Robotic Systems

Prof. Peter Sinčák & Mária Virčíková, MSc. Center for Intelligent Technologies Department of Cybernetics and AI,

Faculty of EE & Informatics, TU Košice, Slovak Rebublic , EU

10. 3. 2013 Center for Intelligent Technologies,

www.ai-cit.sk 1

www.ai-cit.sk

Founded : September

Center for Intelligent Technologies

Research in selected areas of AI

Application potential for AI

Computational Intelligence and

contribution to InT.

Demonstration and benchmarking for InT

Education – InS-Bc, AI-Ing., AI-PhD.

Intelligent Technologies

Our Primary Focus Areas

Our Global Challenge

Evolving Learnable Distributed Framework for Companion

Robotic Systems

Our Global Challenge

• Evolving & Learnable

• Distributed Framework

• Companion Robotic Systems

Our Reserach Challenges • Teleoperation as a kick-off start towards assisted teleoperation and mission

autonomy is the important part of Intelligent Robotics, for various robots including monitoring of remote robots, standardization for various robots around the GLOBE, learn-able , incremental ,

• Make a pilot study of networked Robotic Systems able to learn in incremental way

• Human Robot Interaction towards resreach in Emotional Technologies for HCI are focused

• Improve MF ARTMAP neural network for dynamic feature space in sense of Wald sequential classification for distributed environment

• Get model of human behavior in interactive Evolutionary computation to return to Evolutionary Computation.

Staff & equipment

• One professor

• 4 assistent professors

• 7 PhD students

• 20 MSc. Students

• 20 BSc. Students

10. 3. 2013 Center for Intelligent Technologies, www.ai-

cit.sk 7

15 NAO Robots, 2 Stereo-heads, 2 AIBO Robots …

3/10/2013 8

Remote CIT Lab concept

Theoretical Introduction

cit.sk 9

Slovakia … where Czech writer Karel Čapek and his brother Jozef invented word “ROBOT”

Trenčianske Teplice,SK, Hotel PAX

Our approach …

(Robot is not a Toy !!!)

Robot NAO for CIT is a research and technological tool to make envision a future Collaboration of mankind and technology and discover new possibilities of using

Robot and other technology in Era of Cloud Computing and Internet of things

(Robot Nao is a serious Guy !!! :) ) (other Robots on the way, Hanson Robotics, Qbo Robots, NordStrom, ASIMO, HRP4, ICUP,

Japaness robots, Korean robots..) 3/10/2013 10

cit.sk 11

What is Artificial Intelligence ?

Many definitions ... Simplified view to AI :

AI – takes labour from HUMAN and gives it to Machine

HUMAN MACHINE

From Simply to very complex

- Remote control

- ABS, Rain Detector in the car ....

- Autonomous Systems

SUPERVISION

Machine IQ – theory

MIQ is IQ is in correlation of the „amount“

of Labor taken from Human and given to Machine during particular TASK (T) .

GIQ-T = HIQ-T + MIQ-T

HIQ-T and MIQ-T are from interval <0,1> and

GIQ-T is constant 1

MIQ-T via Autonomity

IF MIQ-T is 0 – HIQ-T must be 1 – human is doing a T

IF MIQ-T is 1 – HIQ-T must be 0 – human is only supervising

Machine is Autonomous Machine Autonomity Index : MAI-T = MIQ-T / HIQ-T MAI-T = O ??? – manual process MAI-T = infinity – Autonomous process

Bad news ...

How to define/compute a HIQ for TASK ????

How to define/compute MIQ for particular TASK ?????

Can be determined in the selected domian –

CAR – Interaction CAR – DRVIVER

IEEE Standart committee

WCCI 2010 – discussion

Take labor from humans „simulate“ a human behavior.... How ...????

Full-embodied Intelligence Distributed Incremental Intelligence

Role of CI and hybrid systems 16

Very important for Robot

applications …….

many Technological

challenges

3/10/2013 17

Qua Vadis Intelligent Robotics ???

Distributed Image processing

cit.sk 18

The Fundamental approach to categorization inspiration by prof. Bezdek and Pal

Distributed AI (cloud Robotics ?) WILKI – World Incremental Learning Knowledge Integrator

Family #2

Family #1

WILKI Servers

3/10/2013 19

Neural networks for knowledge identification

2 main options in Supervised mode

• Pure supervised mode NN with BP – discrimination hyper-planes in feature space

(not suitable for incremental learning )

• Clustering with supervised approach – ARTlike

Clusters can be revealed

(good for incremental learning )

Problem : Feature space ? Static or Dynamic dimensions ?

cit.sk 20

MF ARTMAP neural network

Membership Function ARTMAP

1. Feature space consist of data – clusters of data

2. Clusters are considered – fuzzy sets – fuzzy clusters

3. Fuzzy class – consist of fuzzy sets

4. The membership of unknown object to each trained object is calculated

5. Similarities and homogenity / heterogenity of classes can be revealed

10. 3. 2013

Center for Intelligent Technologies, www.ai-cit.sk

Membership function of X to class i - 𝜇𝑖(X) – fuzzy clusters

cit.sk 22

𝑓 𝑥1, 𝑥2, … , 𝑥𝑠 =1

2𝜋 𝑠 𝐶𝑒12 𝑥−𝜇 𝑇𝐶−1 𝑥−𝜇 ,

s - is feature space dimensions , C is covariance matrix related to data in the clusters, 𝜇 is mean Value of the cluster data . We do calculate it for each fuzzy cluster and that means for each fuzzy class.

MF-Artmap NN topology

cit.sk 23

Principles of MF-ARTMap processing

cit.sk 24

Trained MF ARTMAP

𝜇𝑖(x) = 1

𝜇𝑗(x) << 1

𝜇𝑗(y) = 1

𝜇𝑖(y) << 1

j-trained class

i-trained class

y-input

x-input

z-input 𝜇𝑖(z) << 1

𝜇𝑗(z) << 1

Classes i, j are trained

Jeffers/Matussita distance

• The JM distance between two classes is given to be:

𝐽𝑖𝑗 = 2(1 − 𝑒−𝛼)

• where α is the Bhattacharyya distance:

𝛼 =1

8𝜇𝑖 − 𝜇𝑗

𝑇 𝐶𝑖+𝐶𝑗

−1𝜇𝑖 − 𝜇𝑗 +

2𝑙𝑛

𝐶𝑖+𝐶𝑗

2 𝐶𝑖 𝐶𝑗

cit.sk 25

Intra and Inteclass Analysis of data

Using Jeffers Matusista distance we are able using MF ARTMAP … to get analysis of clases …

cit.sk 26

Class house is strong homogenous with membership (0.02).

Class house is homogenous with membership (0.1).

Class house is heterogenous with membership (0.9).

Class door is a minor subclass of Class(es) house with membership (0,05).

Class door is a medium subclass of Class(es) house with membership (0,96).

Class door is a major subclass of Class(es) house with membership (0,04).

Class door is a minor subclass of Class(es) house with membership (0,05).

Class door is a medium subclass of Class(es) house with membership (0,96).

Class door is a major subclass of Class(es) house with membership (0,04).

Results of classification in distributed sense

cit.sk 27

MASS server future

Resulst on test data

cit.sk 28

Circle1* Circle 2*

Circle 1 97.99% 2.01%

Circle 2 1.198% 98.802%

Circle1* Circle2*

Circle1 88.31% 11.69%

Circle2 6.827% 93.173%

Quo Vadis MF-ARTMAP

We want work in the close future

1. to implement MF ARTMAP for fully distributed sense

2. To port it as software as a service for Cloud service

3. To design a feature and knowledge database on cloud

4. there are many challenges and domain oriented approach seems to be a first step…

cit.sk 29

Teleoperation and remote diagnostics – WHY ????

• Remote monitoring of NAO joins, sensors, … video, ….. • Remote Tele - assistance – Tele – advice (autism) • Tele-operation with learning …. Mission Autonomy …

NAO learns …. Global knowledge… • Tele-operation with Integration, fusion of

sources….camera, sensors, …. (Robot ready environment – Intelligent Space )

• Remote soccer …. Virtual Remote Coach • Remote commercial center … pre-purchase testing ,

remote renting service ….on-line Nao shows … • Remote rehabilitation services....

10. 3. 2013

3/10/2013 31

Importance of the problem

Our approach to the problem

cit.sk 32

INTERFACE – middleware …

Monitoring

Experience with Middle-wares in robotics

• Re-usable components

• Interconnection with existing systems

• International standards

• RT Middleware, OPC UA, ROS

3/10/2013 33

TeleScope Remote device monitoring network

http://telescope.cherrysro.com/

cit.sk 34

Are we ready … to have e.g. 50 000 Naos … ??? Customer service – help lines.. – …. Our system should be ready to monitor up to 3000 Naos … security is under control...

Areas of interest

• Monitoring / Diagnostic

• Pre-Sale activity

• Interface standardization

• Tele-activity ...

cit.sk 35

Functionality

• Remote monitor & control

• For “any” device

• Web service

• Multi user control (even for one device)

10. 3. 2013

What is Important?

• Pre-sale product experience

• Simple interface

• Simple accessibility

• Device condition monitoring

cit.sk 37

Dataflow in TeleScope

Event server

Device

Event server

cit.sk 38

Security issue

Infrastructure

cit.sk 39

TeleScope Interface

cit.sk 40

TeleScope - Senzors

cit.sk 41

The Road Ahead

Working prototypes

Video stream implementation

More devices and partners

Improve visualization

cit.sk 42

Smart Tele-operating system – STS v.1.0

3/10/2013 43

Interface….. Different sources…

3/10/2013 44

NAO…from overhead camera 1

3/10/2013 45

Task … to move … Manual control using PlayS-controler

3/10/2013 46

Action to move … path following control..

3/10/2013 47

Visual control of automatic procedure - replay

3/10/2013 48

Possible involvement of Dron image info about Nao

3/10/2013 49

What influence have distributed approach …

Technologies are changing core methods ……

recognition can be changes to powerfull searching

Will the Robot be able to think ? Will be ever have consciousness ?

Rather …. Find a question , Ontologies , self-protecting … eternal

systems , Internet of THINGS – important for ROBOTICS

cit.sk 50

Other activities of Center for Intelligent Technologies

• Collaboration with companies in Robotic Slovakia, new companies Aldebaran, Nordstrom

• Support for interaction between ART people and Robotics Towards Robotics ART – new media ART - towards Emotional technology for Computers and Robotics for benefit of mankind

cit.sk 51

Emotions for Human Computer/Robot Interation for Human Comfort and high performance

Some recent publications • Mária Virčíková ... [et al.] - 2012. Neural Approach for Personalised Emotional Model in

Human-Robot Interaction - In: WCCI 2012 : IEEE World Congress on Computational Intelligence : June 10-15, Brisbane, Australia. - [Brisbane] : IEEE, 2012 P. 970-977. - ISBN 978-1-4673-1489-3 Brisbane

• P. Smolar, P. Sincak, M. Virčíková : Intelligent Image Categorization Object Categorization with Artmap Neural Networks, Saarbrucken : LAP Lambert Academic Publishing - 2012. - 181 p.. - ISBN 978-3-659-24795-8.

• Mária Virčíková, Zlatko Fedor, Peter Sinčák : Design of Verbal and Non-Verbal Human-Robot Interactive System In: Humanoids 2011: 2011 11th IEEE-RAS International Conference on Humanoid Robots: 26. - 28.10.2011: Bled, Slovenia. - Bled, Slovenia : IEEE, 2011 S. 87–92. - ISBN 978-1-61284-867-9

• Stanislav Kmet - Peter Sincak - Peter Stehlik : Artificial neural network for creep behaviour predictions of a parallel-lay aramid rope under varying stresses, Strain, An International Journal for experimental Mechanics, ISSN: 1475-1305 , CC-indexed , 2010

• Marek Bundzel, and Peter Sinčák: Combining gradient and evolutionary approaches to the artificial neural networks training according to principles of support vector machines, 2006 IEEE World Congress on Computational Intelligence : international Joint Conference on Neural Networks : Vancouver, Canada, July 16 -21, 2006. - : IEEE, 2006. - - ISBN 0-7803-9489-5. - P. 4070-4076.

cit.sk 52

Some older publications

• http://www.amazon.com/Intelligent-Technologies-Theory-Applications-Intelligence/dp/1586032569/ref=sr_1_2?ie=UTF8&s=books&qid=1275315367&sr=1-2

• http://www.amazon.com/State-Art-Computational-Intelligence-Proceedings/dp/3790813222/ref=sr_1_3?ie=UTF8&s=books&qid=1275315367&sr=1-3

• http://www.amazon.com/Machine-Intelligence-Advances-Systems-Applications/dp/981238751X/ref=sr_1_4?ie=UTF8&s=books&qid=1275315367&sr=1-4

• http://www.amazon.com/Quo-Vadis-Computational-Intelligence-Approaches/dp/3790813249/ref=sr_1_6?ie=UTF8&s=books&qid=1275315367&sr=1-6

10. 3. 2013

We would be happy if…

We would be excited using network to Exchange experience Bussines & networking meetings, Innovation Seminars … Create a Network of International seminars using tele-conferencing We are open for video-connections and Remote lecturing and discussions

to create Invitation & Inspiraton & Invention network

Thank you for your time !!!

We are proud that Kosice, Slovakia in 2013 is European Capital of Culture…

Melina Mercury Prize

3/10/2013 55

Distributed Intelligence for Robotic Systemskvasnicka/Seminar_of_AI/Sincak... · Distributed...

Documents

Mechanical rationality decision making and emotionskvasnicka/Seminar_of_AI/Mechanical rationality... · Mechanical rationality, decision making and emotions Olga Markič University

10482M Robotic BHSF FA11 · robotic surgery. Robotic surgery has transformed gynecologic care at South Miami Hospital. Robotic technology allows our surgeons to relieve painful, potentially

Robotic & C-Track Cables - Mueller Groupmuellergroup.net/02 - Robotic Cable Catalog.pdf · Robotic & C-Track Cables . Robotic & C-Track Contents PVC 200 EXTRAFLEX - PVC Extra-Flexible

Robotic Potato Palletizing Systems - JMCjmcpackaging.com/.../uploads/...robotic-potato-palletizing-system.pdf · JMC Turnkey Robotic Palletizing Systems ... Robotic Potato Palletizing

Peter Sincak Hyun Myung Robot Intelligence …download.e-bookshelf.de/download/0007/7427/10/L-G-0007742710... · Robot Intelligence Technology and Applications 4 ... Conference on

Example of Robotic Technology forExample of Robotic ...kiss.caltech.edu/.../presentations/02b_Rovers_Burdick.pdf · Example of Robotic Technology forExample of Robotic Technology

Introducing Robotic Automation Softwarevirtual-operations.com/.../Introducing-Robotic-Automation_Virtual...Introducing Robotic Automation Software ! ... into rapidly assembled business

Robotic Ice Palletizing Systems - JMCjmcpackaging.com/assets/uploads/...robotic-ice-palletizing-system.pdf · Wicketted Baggers Robotic Palletizers Hot Air Sealers Master Balers Robotic

Polaris ALPHA iQ+ Robotic Cleaner€¦ · POLARIS® ROBOTIC Cleaners Polaris ALPHA iQ Robotic Cleaner Polaris ALPHA iQ+ Robotic Cleaner Polaris ALPHA™ iQ Robotic Cleaner • Connects

Neural Approach for Personalized Emotional Model in Human-Robot Interaction Mária Virčíková, Martin Pala, Peter Smolar, Peter Sincak Technical University

Connectionist modeling of sentence comprehension as mental ...kvasnicka/Seminar_of_AI/Farkas... · – operates on 'higher' level: using amodal reps Our (object) microworld – max

Singapore Robotic Games 2020 Singapore Robotic Games

PCAG Robotic Prostatectomy in England - BAUS · commissioning of robotic surgery, and particularly robotic prostatectomy in England. An increasing number of robotic systems have been

Cell phone controlled robotic vehicleCell Phone Controlled Robotic Vehicle

Dance Choreography Design of Humanoid Robots using ...kvasnicka/Seminar_of_AI/Vircikova_paper.pdf · Dance Choreography Design of Humanoid Robots using Interactive Evolutionary Computation

CoControl of ntrol of SSpace Robotic pace Robotic

Construction of Near-optimal Vertex Clique Covering for ...kvasnicka/Seminar_of_AI/... · 10/14/2013 · 1996) - repeated construction of solutions by a greedy algorithm combined

Satellite Atmospheric Robotic Arms Robotic Components · Robotic Components HAtm-5.0 Atmospheric Robotic Arm FEATURES n High reliability of > 10 million MCBF n 3-axis servo motion

Alleged Unapproved Acquisition of a Robotic Surgical ... · Approved robotic surgery programs may have more than one robotic surgical system. VHA purchased 84 robotic surgical systems

ROBOTIC INDUSTRIALIZATION - Assetsassets.cambridge.org/97811070/76396/frontmatter/9781107076396_front... · ROBOTIC INDUSTRIALIZATION Automation and Robotic Technologies for Customized