04-04-2011, 10:36 AM
[attachment=11640]
UBIQUITOUS ROBOT
-THE THIRD GENERATION OF ROBOTICS
ABSTRACT
This paper introduces ubiquitous robot (Ubibot) as a third generation of robotics, incorporating three forms of robots: software robot (Sobot), embedded robot (Embot) and mobile robot (Mobot), which can provide us with various services by any device through any network, at any place anytime in a ubiquitous space.
Sobot is a virtual robot, which has the ability to move to any place through a network. Embot is embedded within the environment or in the Mobot.
Mobot provides integrated mobile services, which are seamless, calm and context-aware. A Sobot, Rity, is introduced to investigate the usability of the proposed concept. Rity is a 3D synthetic character which exists in the virtual world, has a unique IP address and interacts with human beings through an Embot implemented by a face recognition system using a USB camera.
To show the possibility of realization of Ubibot by using the current state of the art technologies, two kinds of successful demonstrations are presented.
Also robot genome is proposed to implement a genetic robot, which is to investigate “The Origin of Artificial Species.”
To implement the robot genome, artificial chromosome is introduced. This paper shows the personality of genetic robots is decided by their genome.
1. INTRODUCTION
This paper is to investigate the feasibility of implementation of ubiquitous robot (Ubibot) by using the current state of the art technology, which can be defined as a third generation of robotics. Also it is to define genetic robot to investigate “The Origin of Artificial Species.” The genetic robot can be considered as an artificial creature created by artificial chromosome.
In a ubiquitous era we will be living in a world where all objects such as electronic appliances are networked to each other and a robot will provide us with various services by any device through any network, at any place anytime.
This robot is defined as a ubiquitous robot, Ubibot, which incorporates three forms of robots: Sobot, Embot and Mobot. The Ubibot is following the paradigm shift of computer technology. The paradigm shift of robotics is motivated by ubiquitous computing and the evolution of computer technology in terms of the relationship between the technology and humans.
Considering the evolution of robot technology, the first generation was in which personal robots are becoming widespread these days, and as a third generation in the near future, Ubibot will appear. Comparing the paradigm change between the personal robot and ubiquitous robot eras, the former is based on individual robot systems and the latter will be employing multiple robot systems using real time broadband wireless network based on IPv6.
The Ubibot has been developed based on the robot technology and the concept of ubiquitous computing. In the future we will live in a ubiquitous world where all objects and devices are networked. In this ubiquitous space, u-space, an Ubibot will provide us with various services anytime, at any place, by any device, through any network.
Following the general concepts of ubiquitous computing, Ubibot will be seamless, calm, context-aware, and networked. Most of robot researchers have been devoted to develop and improve functionalities of robot such as intelligence, human-robot interaction, and mobility, without mentioning the essence of the robot as an artificial creature.
This paper introduces a new concept of artificial chromosome as the essence to define the personality of a genetic robot and to pass on its traits to the next generation, like a genetic inheritance. It is an essential component for simulated evolution, which necessarily defines “The Origin of Artificial Species.”
If we think the origin in terms of the essence of the artificial creatures, the essence should be a computerized genetic code, which determines a genetic robot’s propensity to “feel” happy, sad, angry, sleepy, and hungry or afraid.
The first part of this paper presents the definition and basic concepts of Ubibot incorporating three forms of robots; Sobot, Embot, and Mobot.
A Sobot, called Rity. Rity is a 3D synthetic character which exists in the virtual world, has a unique IP address and interacts with human beings through an Embot implemented by a face recognition system using a USB camera.
Rity is an autonomous agent which behaves based on its own internal states, and can interact with a person in real-time. It can provide us with an entertainment or a help through various interactions in real life. To realize this, it needs an autonomous function, artificial emotional model, learning skill, sociable ness, and its own personality. It can be used as a character on a game or a movie or for the purpose of education. Architecture of Rity can be divided into five modules: perception module, internal state module to implement motivation, homeostasis, and emotion behavior selection module, interactive learning module and motor module.
To show the possibility of realization of Ubibot, two kinds of demonstrations are carried out by using the current state of the art technologies. In the second part, Rity is considered as an artificial creature living in a virtual world of a PC. It is a genetic robot which has its own genetic information. Rity is employed to test the world’s first robotic “chromosomes,” which is a set of computerized DNA (Deoxyribonucleic acid) code for creating genetic robots that can think, feel, reason, express desire or intention, and could ultimately reproduce their kind, and evolve as a distinct species.
Using this concept, a way to build artificial chromosomes is proposed for genetic robots that would be capable of human-style evolution. Thus, the genetic code should be designed to represent all the traits and personality of artificial creature: a manner of response to stimuli, the desire to avoid unpleasantness, to achieve intimacy and control, to satisfy curiosity or greed, and to prevent boredom, feelings of happiness, sadness, anger and fear to stimuli, and states of fatigue, hunger, drowsiness and so on, in order to imbue the artificial creature with “life.” It can react emotionally to its environment, learns and makes reasoned decisions, based on an individual personality.
The programmed genetic code is modeled on human DNA, though equivalent to a single strand of genetic code rather than the complex double helix of a real chromosome. The main functions of the genetic code are reproduction and evolution.
2. UBIQUITOUS ROBOT: UBIBOT
Ubibot is a general term for all types of robots incorporating Sobot, Embot, and Mobot which exist in a u-space. Ubibot exists in the u-space which provides physical and virtual environments.
2.1. U-space and Ubibot
Ubiquitous space (u-space) is an environment in which ubiquitous computing is realized and every device is networked. The world will be composed of millions of u-spaces, each of which will be closely connected through ubiquitous networks. A robot working in a u-space is defined as an Ubibot and provides various services through any network by anyone at anytime and anywhere in a u-space.
Ubibot in a u-space consists of both software and hardware robots. Sobot is a type of a software system whereas Embot and Mobot are hardware systems, Figure 1. Embots are located within the environment, human or otherwise, and are embedded in many devices. Their role is to sense, analyze and convey information to other Ubibots. Mobots are mobile robots. They can move both independently and cooperatively, and provide practical services.
Each Ubibot has specific individual intelligence and roles, and communicates information through networks. Sobot is capable of operating as an independent robot but it can also become the master system, which controls other Sobots, Embots and Mobots residing in other platforms as slave units. Their characteristics are summarized in the following.
2.2. Software Robot: Sobot
Since Sobot is software-based, it can easily move within the network and connect to other systems without any time or geographical limitation. It can be aware of situations and interact with the user seamlessly. Sobot can be introduced into the environment or other Mobots as a core system. It can control or, at an equal level, cooperate with Mobots. It can operate as an individual entity, without any help from other Ubibots. Sobot has three main characteristics, such as self-learning, context-aware intelligence, and calm and seamless interaction.
2.3. Embedded Robot: Embot
Embot is implanted in the environment or in Mobots. In cooperation with various sensors, Embot can detect the location of the user or a Mobot, authenticate them, integrate assorted sensor information and understand the environmental situation.
An Embot may include all the objects which have both network and sensing functions, and be equipped with microprocessors. Embots generally having three major characteristics, such as calm sensing, information processing, and communication.
2.4. Mobile robot: Mobot
Mobot is able to offer both a broad range of services for general users and specific functions within a specific u-space. Operating in u-space, Mobots have mobility as well as the capacity to provide general services in cooperation with Sobots and neighboring Embots. Mobot has the characteristics of manipulability by implementing arms and mobility which can be implemented in various types, such as wheel and biped. Mobot actions provide a broad range of services, such as personal, public, or field services.
3. IMPLEMENTATION OF SOBOT
Sobot is a software robot which recognizes a situation by itself, behaves based on its own internal state, and can interact with a person in real-time. Sobot should be autonomous; it must be able to select a proper behavior according to its internal state such as motivation, homeostasis and emotion. Also, Sobot should be adaptable; it should adapt itself to its environment. For the purpose of achieving above functions easily and efficiently, Sobot mimics an animal which is an autonomous and adaptable agent in nature. Fig. 2 shows an internal architecture of the proposed Sobot, Rity, where necessary modules are defined as follows:
1) Perception module, which perceives environment through virtual and physical sensors,
2) Internal state module, which includes motivation, homeostasis and emotion,
3) Behavior selection module, which selects a proper behavior,
4) Learning module, which learns from the interaction with a people, and
5) Motor module, which executes a behavior and expresses emotion.
