and cyber-physical systems in the adream...
TRANSCRIPT
Michel Diaz LAAS-CNRS
Toulouse, September 2013
Internet of the Things
and Cyber-Physical Systems
in the ADREAM project
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Research Domains
MINAS : Micro and Nano Systems
MOCOSY : System Modelling, Optimisation and Control
RIS : Robots and autonomous systems
NCCS : Networks and Computing critical systems
LAAS-CNRS (750 p)
Understand, model and design complex systems : aeronautics, space, energy, telecommunications,
production, biotechnological,…
LAAS
Architectures for Dynamic Reconfigurable
Embedded Autonomous and Mobile
systems
Architectures Dynamiques Reconfigurables
pour systèmes Embarqués
Autonomes Mobiles
Project defined in 2006 for the
French Call « CPER » 2007-2013 3 LAAS
The ADREAM project
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The
RESEARCH
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ADREAM
MAIN OBJECTIVES
Started to prepare the massive and intelligent
interconnection of instrumented autonomous artefacts
Goal : Develop Cyber-physical systems to link
The information world (virtual)
And the physical world (real)
Using Hierarchies of communicating cooperative
sensors-actuators-processors systems (from embedded
microsystems to networks of robots)
GLOBAL APPROACH
To Design, Validate and Experiment Future
Embedded Systems
Integrate 2 of our important research domains
1. Embedded Systems
2. Internet of the Things
And Extend them by adding our work in
4. Smart Sensors
5. Companion Robots
6. Photovoltaic Energy
Research Levels
Level 1. Components, Objects et Artefacts
Level 2. Systems Components
Level 3. Systems of
Interconnected Systems
Or Distributed
Cyber-Physical Systems
Output
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Research Level 1
Level 1. Components, Objects et Artefacts
Micro-devices & Microsystems
Sensors
Actuators
Wireless Communication
Energy Harvesting
Distributed Intelligent Sensors
Robots and Fleets of robots
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LAAS
Level 2. Systems as Components
2.1 Monitoring Systems Acquisition & Filtering Services
Interpretation & Diagnosis Services
2.2 Communication Systems Mesh and ad-hoc Multi-networks
Strong constraints : QoS, Security and Energy
2.3 Energy Management Systems Energy multi-sources production
Production and Consumption optimisation
2.4 Decision Systems Identification, planification and control
Interacting with human
9 LAAS
Research level 3
Level 3. Design global Methodology
Multi-System Interoperability
Behaviour, QoS and Performances
Security & Resilience
Inter-Systems Adaptibility
e.g. Reaction to Energy variations
Models and Tools
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Ex of
Output
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Ex : From Energy to Network
NORMAL MODE
BACK UP
MODE
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In Cyber-Physical Systems
???
The Experimental support :
A new
Advanced BUILDING
ADREAM
The Experimental Support
Experimental Support : BUILDING
Fully Instrumented
Intelligent
Energy-aware
Providing a set of integrated global services
Site for Experimentation and Evaluation
13 LAAS
The ADREAM BUILDING
PROVIDE NEW COMPUTING SERVICES
PRODUCE ELECTRICITY
and OPTIMISE GLOBAL BEHAVIOUR
by
Having a Semantical Model of itself
Able to do Autonomous actions
and
Dedicated to help PEOPLE
Tested by its members of LAAS
Formal Opening in July 2012
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Global view
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(with 100 kWp of electricity production)
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Energy in the
ADREAM building
Storage Capability
Ventilation Center
Geothermical
probes
Heat
Pumps
Canadian well
The KUKA Arms
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=> Complex manipulations
The PR2 ROBOTS
Intelligent Decision and Planning
Interactions between Robots and with Humans
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Sensors and Sensors networks
Sensors : 6000 mesurements every 1 to 5 mn
Heating-Cooling-AirConditionning
Electricity - Lighting
Photovoltaique Electricity Production
Energy Consumption - Energy Storage
Environment (temperatures, wind, solar lighting,…)
Presence - Vision - Movement understanding
Network Sensors :
WiFi, ZigBee, Modbus, DALI, LONWORKS, KNX, IEEE,
… LAAS-CNRS 19
BASIS: M2M COMMUNICATION
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Applications
M2M
Service
M2M
Networks
Sensors
and Networks
Ubiquitous M2M Service Networks
ITEA USENET project (2007-2010)
Project Objectives
• Enable communication over heterogeneous
M2M networks
• Develop universally applicable
Service concepts f
• Develop advanced M2M services
for smart usages
Business Value • ETSI M2M standardization
• Boost adopting the Internet
• New business model
Results • Generic M2M service concept proved
• Application domain specific use cases done : experiments & demos
Autonomic services in M2M Networks
ITEA2 A2NETS project (2011-2014)
Project Objectives • Novel technical smart M2M services to
solve the complexity problem
• Interoperability between M2M
and services
• Save resources by enabling use of
horizontal technical components
(Expected) Results : New
• Specification for autonomic, scalable
M2M
• Generic M2M horizontal architecture
• Experimental demos
http://www.etsi.org/technologies-
clusters/technologies/m2m
Horizontal M2M based on common
application infrastructure
ETSI M2M hierarchical resource structure
http://www.etsi.org/technologies-clusters/technologies/m2m
(EUROPE)
(USA)
(JAPAN)
(CHINA) (KOREA)
(JAPAN)
(USA)
OneM2M organisation
To avoid competing M2M standards
the 7 most important telecom Standards Developing Organizations
launched on July 24, 2012 the oneM2M Global Initiative
To Develop one globally agreed M2M Specification
with initial focus on Service Layer
ETSI TC M2M Europe
The USA
China
Japan, …
will give up individual work
and
join their efforts
to create a single M2M standard
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FUTURE RESEARCH :
INTERNET of the CYBER-SYSTEMS
1. M2M COMMUNICATION
Determinism, Bounded values (Max delay, Min bandwidth,…)
Multiple cooperative applications–aware communications
2. INTELLIGENT DEVICES AND ROBOTS
Integrate Movements/Communications in Motion Planning
Analysis, Understanding, Decision in Open Contexts
3. ENERGY OPTIMISATION
Optimise the triple Production-Storage-Consumption
Multi-level Decision & Control : building, village, city, country
FUTURE : Hierarchy of
Autonomic “Pseudo-Local” Software Buses
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ASB: semantic-enabled, group-wide, secured e2e
ubiquitous and autonomic service bus
Communication Services:
routing and transmission
protocols, Event services
(CEP, DDS, AMQP)
Sensing/actuating Services:
meters (temp, pressure,
energy), switches (light,
pumps), detectors (mouv.)
Automated management models:
Structure (graph grammars, graphs),
behavior (Petri Nets), function (Z),
performance (queue models),
semantic (ontology)
Infrastructure-level
services: monitoring,
diagnostic,
reconfiguration
System-level services:
self-protection (RBAC,
SAML), reliability,
optimization
Communicating objects:
robots, smart devices
(phones, lumps,
meters), other
machines (heating
pumps, doors,
sunblind,..), gateways
Dynamic discovery Dynamic adaptation Dynamic composition
CONCLUSION
Handling Multi-Systens Multi-Technologies is the Key
Strong Experimental Supports are needed
The Future will be the Internet of the Cyber-Systems
Generic TIC support will exist
As applicative domains will be different, we need to
Evaluate different solutions
Develop a large set of Cooperations
Oct. 2012 LAAS-CNRS 30
Jan. 2010 LAAS 32
La plate-forme Robotique
10 robots
The challenge of Robots
with Ambient Intelligence
Integration of robotics and applications with ambient
physical environnements:
Home, Offices, Public places
Institutions (e.g., for Rehabilation, Elderly people care, …)
Robots communicate with many systems
« Smart » objects (RFID, smartphones, ..)
Distributed High level Sensors (e.g., cameras, ..)
From available specific services to Internet services
Robots can « use » and « be used » by the networks
The teammate robots
Models for natural, human-
aware motions, and for task
constraints
Learning and interpretation
of human activities by the
robots
Anytime cost-space (re-
)planning algorithms
With
Robust, deformable plans
that account for the human
co-workers
http://www.saphari.eu
SAPHARI :
A customizable generic MAPE-K loop
RECENT & CURRENT PROJECTS
Rackham A robotic guide - ROBEA
Cogniron - FET
Interaction, manipulation PHRIENDS, CHRIS, DEXMART - FP6-7
Robots in the city URUS, COMMROB – FP6
The robotic assistant ASSIST – ANR
The robotic co-worker ICARO - ANR
Human robot intervention teams ROSACE - RTRA STAE
Multi-robot cooperation ACTION - PEA DGA
First cooperative free-flying robot system for assembly
and structure construction ARCAS
Conclusion and Challenges
Multilevel system understanding
Interplay of functional, symbolic and
geometrical reasoning and of effective
learning capabilities
Importance of contingency and uncertainties
due to the dynamics of objects and people
Global architecture of the ADREAM systems
The building: an Open Experimental Platform Defined to support real implementations and evaluations
Very complex, so many different collaborations are welcome
Oct. 2012 LAAS-CNRS 38
COGNIRON20
07
http://www.cogniron.org
Participating labs:
LAAS, Toulouse
EPFL, Lausanne
IPA, Stuttgart
KTH, Stockholm
U. Karlsruhe
U. Bielefeld
U. Hertfordshire
U. Amsterdam
VU. Brussels
Many bases come
from this FET project Funded by the
EU FP6 -IST- FET
“Beyond Robotics” Program
The companion robot
The robotic assistant
Development of the autonomous robot
Equipped with two manipulator arms and a vision system
To Help handicapated people for
everyday usual manipulation tasks :
Bring a glass of water, pick up an object
ASSIST: Design of a mobile two
arms manipulator for assisting
people
LAAS, LIRMM Montpellier, LISIF Ivry sur
seine, CEA-LIST, Clinique Union Mutualiste
PROPARA
Projets en cours pour les expérimentations
Caractérisation de la production PV
Réseaux de capteurs sans fil. Applications à l’aéronautique
Communication machine à machine dans un environnement ubiquitaire au service des
utilisateurs de l’internet des objet
Navigation coordonnée Homme-Robot dans un environnement instrumenté.
Surveillance d'environnement par un ensemble de robots terrestres et aériens
Modélisation et exploitation des modèles du bâtiment ADREAM
Planification et exécution de déplacements avec prise en compte explicite des hommes
Manipulation d'objets interactive homme-robot
Un robot proactif pour la manipulation
Dialogue situé homme-robot
Analyse de traces de mobilités avec privacy
Mobilité sociale, mobilité spatiale : capture et analyse des schémas de mobilité et
d'interaction sociale dans les foules
1. M2M Communication
Design, implement and manage the appropriate
Horizontal Coordination for Openness and
Vertical Coordination for cross-levels Consistency
Ex : How to avoid over-reactions or opposite
reactions between Levels, e.g.,
At the same time
Application degrades the video codec or Application
disconnect video
And
Network increases the resources for the video connection
(bandwidth, QoS,…)
Oct. 2012 LAAS-CNRS 42
M2M Communication Architecture
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Applications
M2M Service
Platform
M2M Network
(comm proxys)
M2M
Physical Networks
(comm between
and with assets)
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