Project
ServRobot Title
Mobile Robot Reconfigurability Details Project Reference:
ServRobot
Client:
Holos S.A.
Document Number:
QREN-ServRobot -006
Version:
1
Date:
28-12-2012
Support: MaisCentro, QREN, FEDER
Document Control Author
Quality
Aproval
Name
Pedro Sousa, Pedro Gomes, Sérgio Onofre, Tiago Ferreira, J. Pamies Teixeira, Bruno Belo, João Paulo Pimentão
Ana Gaspar
Sérgio Onofre
Dat2
28-12-2012
28-06-2012
31-06-2012
Version Version
Date
Reviser
1.0
28-12-2012
Sérgio Onofre
Changes Initial Version
Holos S.A.
Support: MaisCentro, QREN,
FEDER
ServRobot Reference
QREN-ServRobot -006
Date
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INDEX 1. SCOPE AND OBJECTIVES ............................................................................ 3 2. RECONFIGURABILITY ................................................................................ 4 3. REFERENCES .......................................................................................... 7
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1. SCOPE AND OBJECTIVES Co-Financed by QREN, under the scope of the Mais Centro Programme and by the European Union through the European Fund for Regional Development the ServRobot development can be framed in the effort that Holos has been making to promote research and development in all-terrain security Service Robots. The main objective of the project is to create a robot, adaptable to different use cases and environmental conditions. It should be able to collect remote or local sensorial information and act autonomously accordingly to that information. The conception of remote vigilance solutions is desired allowing added-value creation and minimization of human intervention. For example in: Public spaces surveilance; Oil fields and pipelines surveillance, that aside from intrusion problems, may be prone to fires, gas leaks, spills, etc.. The ServRobot may be used, as well, in military scenarios for loads transportation. It’s reconfigurability allows it to adjust behaviour accordingly to the function that it is performing. Uninova – Instituto para o Desenvolvimento de Novas Tecnologias is a National Technological Scientific System entity sub-contracted in this project.
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2. RECONFIGURABILITY Reconfigurability is a concept resulting from a new approach in order to solve society needs, where the product-service concept prevails. This concept [1,2] can be defined has a set of commercial products and services, able to, together, satisfy the consumer/user needs minimizing environmental impact. The key point is that user needs can be more easily accomplished through a service rather than a product. This philosophy in certain domains emphasises the need for an adaptable product in certain circumstances in order to maximize the product usefulness. This leads to the concept of reconfigurability [3]. Reconfigurable systems assume different configurations changing its functional capabilities. These capabilities allow these systems an agility that gives them the ability to keep exploring new uses. Taking into account several scientific studies [4,5] reconfigurability can be broken down in: Mechanical which requires a modular conception such that the system results in the aggregation of several modules giving it specific functionalities; Energetic that will determine distinct available energy management plans that take into account it’s load, work area and context; Systems control as they must be developed in a way that the mechanical modular changes don’t affect performance or reduce functionality. In the ServRobot case the mechanical reconfigurability specifications where based in the need for a modular platform with the ability to evolve according to the customer needs. Starting from a base platform with capability to support requirements from charge and electronics a simple platform was created. In this platform there is a directional frontal axis. To this platform, in a very simple way, new support structures can be added. The ServRobot is able to adapt its behaviour taking into account it’s load, work area and context. The main behavioural change is in the robot speed limits. If the batteries have low charge maximum speed decreases. According to the terrain type speed limits are also adjusted depending on traction and/or vibration that can disrupt the normal operation of the robot. Whenever the reliability level decreases a certain amount, maximum speed is also adjusted. This complies with the energy part of the reconfigurability concept. In the design and development of the ServRobot software platform, the methodology resulting from the ICT AMPLE[7] project (results published in ICT in January of 2010 [8]) were applied. By the use of the Software Product Line development methodology the modularization of software variations was improved. By the use of Aspect-Oriented Software Development (AOSD) techniques, the software modularization was facilitated allowing its variability to be developed in independent aspects thus improving and facilitating the software customization. This allows the existence of a kind of abstraction layer in the software platform that can be connected with different specific software modules for a pre-determined purpose. This results in a dynamic software that helps in its reconfigurability. The software platform developed uses a server based architecture based in internal messaging between software modules (using Player/Stage [6]). Each software module works separately in a blackboard posting method or in a request/response mode. As required in a reconfigurable architecture each software module may be the sole responsible for the communication with a specific hardware. As such if new module is added or removed it doesn’t affect the use of the others. In this sense there is a layer of drivers (software modules) that interface with each hardware module of the system (controller, sensors, etc.). Above this layer there is another where the information is processed or, at a higher level, the system’s reasoning is performed. HOLOS - Soluções Avançadas em Tecnologias de Informação, SA Centro Empresarial de Aveiro – Zona Industrial de Mamodeiro 3810-783 Nª. Srª. de Fátima Telefone: +351-21 043 86 86 | Fax: +351-21 043 86 87 | URL: http://www.holos.pt
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Reasoning
Processing
Driver
Driver
Hardware
Hardware
Figure 1 – Software modules representation and possible connections.
In the future this may lead to an automated detection of the active hardware/software modules resulting in a automated software reconfigurability. Whenever the hardware architecture changes there is a probe that detects this and signals the software platform to reconfigure itself. With the lessons learned from this first approach a study was conducted in order to evolve the mechanical reconfigurability concept. In this sense reconfigurability has to be contextualized regarding ServRobot. The equipment it’s supposed to work beyond normal circumstances and be able to overcome several obstacles. In this sense mechanical simplicity and global traction capacity gains importance against complex sub-systems that can compromise ServRobot’s integrity, reliability and proper functioning.
Figure 2 – New mechanical structure
The ServRobot responds to these requisites by integrating a stringers classical rigid structure suspended in six mechanical springers calibrated for the robots weight. The suspension has a travel range of 100mm that is enough to guarantee an efficient service capacity. Terrain irregularities excite the suspended elements accumulating energy in the springs that expand when the irregularity is overcome. The absence of power dampers favours the architecture as there is no need for a very accurate balance control. These could, even at HOLOS - Soluções Avançadas em Tecnologias de Informação, SA Centro Empresarial de Aveiro – Zona Industrial de Mamodeiro 3810-783 Nª. Srª. de Fátima Telefone: +351-21 043 86 86 | Fax: +351-21 043 86 87 | URL: http://www.holos.pt
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low speed, hurt the elastic elements work stopping them from using all their travel range. In conclusion the ServRobot passively adapts itself continuously to the weight stimulus and to the irregularities in which it operates. For further information contact
[email protected]
HOLOS - Soluções Avançadas em Tecnologias de Informação, SA Centro Empresarial de Aveiro – Zona Industrial de Mamodeiro 3810-783 Nª. Srª. de Fátima Telefone: +351-21 043 86 86 | Fax: +351-21 043 86 87 | URL: http://www.holos.pt
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3. REFERENCES [1] O. Mont, “Clarifying the Concept of Product-Service System”, Journal of Cleaner Produtction, 2002, 10 (3), 237-245. [2] M. Kang, R. Wiemmer, “Product Service Systems as Systemic Cures for obese Consumption and Production”, 2008, 16 (11), 1146-1152. [3] A. Siddiqi, O.L. de Weck, “Modelling Methods and Conceptual Design Principles for Reconfigurable Systems”, J. Mechancial Design, 130 (10), 101102 (15 pages), DOI:10.1115/1.2965598. [4] X.Sun, K. Cheng, “Design of Generic Modular Reconfigurable Platforms (GMRPS) for Product Oriented Micro Manufacturing Systems”, 6th International Conference on Manufacturing Research (ICMR08), Brunelk Univ.(UK),2008. [5] N.P. Suh, ‘Axiomatic design: advances and applications’. Oxford University Press, 2000 [6] http://playerstage.sourceforge.net/ [7] http://www.ample-project.net/ [8] http://cordis.europa.eu/ictresults/index.cfm?section=news&tpl=article&BrowsingType=Features&ID=91122
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