Artificial Intelligence and Robotics
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Transcript of Artificial Intelligence and Robotics
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© 2005 EU-MOP Consortium
Athens, June 2006
EU-MOP
Artificial Intelligence and Robotics
Dennis Fritsch
Fraunhofer-Institutefor Manufacturing Engineering andAutomation (IPA)
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© 2005 EU-MOP Consortium
Introduction
• The EU-MOP robots should be able to response to oil spills autonomously.
• Autonomously means that each unit will have an energy system and an oil skimming device as well as that the EU-MOP units will make its own decisions how to response to the oil spill.
• Thus, each unit needs (artificial) intelligence, which will be given to the units with the help of sensors and control systems.
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© 2005 EU-MOP Consortium
Control of the EU-MOP units
• In order to achieve an highly robust and flexible oil response system the swarm intelligence approach has been selected as control paradigm for the EU-MOP robots.
• Thus, the EU-MOP swarm is a homogeneous group of robots without any hierarchies or central control system.
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© 2005 EU-MOP Consortium
Control of the EU-MOP units
• Example: Oil spill in a harbour, several very small patches of oil have to be recovered:
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© 2005 EU-MOP Consortium
Control of the EU-MOP units
• Strategy of each robot:
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© 2005 EU-MOP Consortium
Control of the EU-MOP units
4 following robots1 robot moving random paths
pier
oil
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© 2005 EU-MOP Consortium
Control of the EU-MOP units
obstacle occurs
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© 2005 EU-MOP Consortium
Control of the EU-MOP units
swarm 1:1 following robots1 robot moving random paths
swarm 2:2 following robots1 robot moving random paths
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© 2005 EU-MOP Consortium
Control of the EU-MOP units
swarm 1 and swarm 2merge, but the “leading” robot has a malfunction.
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© 2005 EU-MOP Consortium
Control of the EU-MOP units
swarm will again be split into two swarms with
each 1 “leading” robot and 1 following robot.
Thus, the EU-MOP system will be very flexible and fault-tolerant.
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© 2005 EU-MOP Consortium
Sensors for the EU-MOP robots
• Nevertheless, the EU-MOP robots will need several sensors, e.g.:
- for the detection of oil or the measurement of the thickness of the oil spill,
- for absolute or relative positioning of itself, its neighbours, all other units, the mother ship, etc.,
- for the detection of collisions with other units, shipwrecks, debris etc.,
- for winds, currents, etc.,
- for the internal state of the unit (malfunction, full of oil, energy low etc.)
- as well as a communication system for communication with other units, with the mother ship and with a human operator.
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© 2005 EU-MOP Consortium
Sensors for the EU-MOP robots
• Sensors might increase the performance of the robots, nevertheless, sensors also have disadvantages, e.g.:
- increased costs
- increased weight and volume
- increased consumption of power
- increased amount of information that has to be processed
• Thus, the question is: What is the best sensor configuration for the EU-MOP robots? And related to that: What are the best strategies in order to response to the oil spill.
• These questions will be answered with the help of the simulation technique.
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Architecture of the simulation
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Oil Fate model
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Robot / Swarm Simulation
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Visualisation
water
oil slick
harbour
coast
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Visualisation
1 unit
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Visualisation
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Visualisation
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Visualisation
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Visualisation
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Visualisation
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Comparison of two types of swarms:
- swarm A consists of units without oil sensor
- swarm B consists of units with oil sensor.
type B:will be able to move
intelligent
type A:will not be able to move intelligent
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© 2005 EU-MOP Consortium
Simulation of the EU-MOP robots
• Comparison of two types of swarms:
• Conclusion (for this scenario)
- The larger the swarm the better the recovery time.
- The better the sensor configuration the better the recovery time.
- Nevertheless, the swarm without oil sensors reaches for large swarm sizes more or less the same recovery time as the swarm with oil sensor.
Swarm size (N) 1 2 3 4 5 10 20
Recovery time of swarm A
52627 20496 16843 14170 13207 5564 2905
Recovery time of swarm B
37293 14416 11360 9132 8134 4026 2860
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© 2005 EU-MOP Consortium
Conclusion
• The simulation will be able to determine
- the recovery time,
- the energy consumption,
- the quantity of recovery oil
- the quantity of oil that polluted the coast,
- etc.
• These date will be the basis
- for an assessment of the EU-MOP units, and
- for a cost-benefit-analysis.
• Thus, this proceeding will ensure that the EU-MOP consortium will develop a highly effective, flexible and robust oil response system.