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IPT – Java Robotics and IoT

Trayan Iliev, profile picture
Trayan Iliev

The document outlines a presentation given by Trayan Iliev on building robots with Java. It discusses various robotics platforms that can be used like Lego Mindstorms, Raspberry Pi, Arduino, and shows example Java code for controlling motors and sensors on a Lego robot using the LeJOS library. The code sample moves the robot forward until detecting an obstacle based on color sensor readings, then backs up and turns to repeat the process in a loop.

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IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 1 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Java Robotics & IoT How many tasks must a PiBot spell Before you call him intellect How many threads must JVM propel Before you make it understand Trayan Iliev tiliev@iproduct.org http://iproduct.org
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 2 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ About me ... Trayan Iliev Assistent Professor at Sofia University & CEO of IPT – Intellectual Products & Technologies an IT Education Company specialized in Java™ and Java EE and Web trainings Oracle®, Java™ and JavaScript™ are trademarks or registered trademarks of Oracle and/or its affiliates. Other names may be trademarks of their respective owners.
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 3 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Disclaimer All slides in this presentation reflect only my own personal preferences and current understanding and have not received any endorsement or approval by IPT - Intellectual Products and Technologies or any third party. They should not be used for any purchasing (or other) decisions. The information presented here may be incorrect or incomplete. It is provided "as is", without warranty of any kind, express or implied, including but not limited to the warranties of merchantability, fitness for a particular purpose and noninfringement. In no event shall the author or copyright holders be liable for any claim, damages or other liability, whether in an action of contract, tort or otherwise, arising from, out of or in connection with the information in this presentation or the use or other dealings in this information.
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 4 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ ... and Java™ Robotics
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 5 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ How to Build a Robot with Java™?
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 6 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ How to Build a Robot with Java™?
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 7 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ How to Build a Robot with Java™?
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 8 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License … and Why? A great way to learn Java™ - why not? Multithreading Event driven and asynchronous programming Actually reactive programming Java 8 Lambdas and Streaming Serial and network communication (Web Sockets are great :) and much, much more ...
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 9 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Low Level GPIO Programming is Fun :) public class MotorDemo01 { public static void main(String[] args) throws InterruptedException { // initialize wiringPi library Gpio.wiringPiSetupGpio(); // Motor direction pins Gpio.pinMode(5, Gpio.OUTPUT); Gpio.pinMode(6, Gpio.OUTPUT); // SoftPwm.softPwmCreate(12, 0, 100); Gpio.pinMode(12, Gpio.PWM_OUTPUT); Gpio.pinMode(13, Gpio.PWM_OUTPUT); Gpio.pwmSetMode(Gpio.PWM_MODE_MS); Gpio.pwmSetRange(480); Gpio.pwmSetClock(2); Gpio.pwmWrite(12, 460); Gpio.pwmWrite(13, 460); Gpio.digitalWrite(5, 0); Gpio.digitalWrite(6, 1); Thread.sleep(5000); System.out.println("Running motors forward accelerating");
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 10 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ How to Build a Robot with Java™?
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 11 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Low Level GPIO Programming is Fun :) public class MotorDemo01 { public static void main(String[] args) throws InterruptedException { // initialize wiringPi library Gpio.wiringPiSetupGpio(); // Motor direction pins Gpio.pinMode(5, Gpio.OUTPUT); Gpio.pinMode(6, Gpio.OUTPUT); // SoftPwm.softPwmCreate(12, 0, 100); Gpio.pinMode(12, Gpio.PWM_OUTPUT); Gpio.pinMode(13, Gpio.PWM_OUTPUT); Gpio.pwmSetMode(Gpio.PWM_MODE_MS); Gpio.pwmSetRange(480); Gpio.pwmSetClock(2); Gpio.pwmWrite(12, 460); Gpio.pwmWrite(13, 460); Gpio.digitalWrite(5, 0); Gpio.digitalWrite(6, 1); // SoftPwm.softPwmWrite(12, i); Thread.sleep(5000); System.out.println("Running motors forward accelerating");
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 12 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License The Platforms Lego® Mindstorms® - http://www.lego.com/en-us/mindstorms Raspberry Pi™ - https://www.raspberrypi.org/raspberry-pi-2- on-sale/ Banana Pi® - http://www.bananapi.org/p/product.html SparkFun® pcDuino v2 & v3 - https://www.sparkfun.com/products/12856 BeagleBone - http://beagleboard.org/bone ODROID – http://www.hardkernel.com/main/main.php Arduino (Sorry no Java™ here – YET) & all the clones PINGUINO = similar to Arduino but on PIC microcontrollers LEGO® is a registered trademark of LEGO® Group. Programs of IPT are not affiliated, sponsored or endorsed by LEGO® Education or LEGO® Group. Raspberry Pi™ is a trademark of Raspberry Pi Foundation. Other names may be trademarks of their respective owners.
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 13 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Lego® Mindstorms® Pros: Easy to use – even for children, using graphical editor Ready made hardware components – no need to solder and drill :) There is a Java on Lego project – LeJOS (www.lejos.org/) Cons: Too easy to use – the graphical editor is not my personal favourite when programming more complex algorithms, or if integration is needed with other libraries (easy with LeJOS) Custom sensors or Arduino integration may be harder to do Limited computational capabilities , LEGO® is a registered trademark of LEGO® Group. Programs of IPT are not affiliated, sponsored or endorsed by LEGO® Education or LEGO® Group. Raspberry Pi™ is a trademark of Raspberry Pi Foundation. Other names may be trademarks of their
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 14 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Raspberry Pi™ Pros: Much better computational power for only 35$ - 900MHz quad- core ARM Cortex-A7 CPU, 1GB DR2 SDRAM, compatibility with Raspberry Pi 1 Cons: You have to build everything in your robot yourself ... ... but it can be fun :) There is a 40 pin GPIO available, there are motor drivers, servos, sensors for Pi
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 15 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License The Platforms LeJOS, Java for Lego® Mindstorms®, The Pi4J Project – Connecting Java to Raspberry Pi™, Arduino.
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 16 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License SparkFun® pcDuino v3 $59.95, CPU: AllWinner A20 SoC 1GHz ARM Cortex A7 Dual Core GPU: OpenGL ES2.0, OpenVG 1.1 Mali 400 Dual Core 1GB DRAM Onboard Storage: 4GB Flash, microSD card (TF) slot for up to 32GB Arduino-Style Peripheral Headers SATA Host Socket
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 17 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License The Platforms LeJOS, Java for Lego® Mindstorms®, The Pi4J Project – Connecting Java to Raspberry Pi™, Arduino.
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 18 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Arduino and the Clones Open hardware and software project Low level and real time microcontroller programming Easy to program using Arduino IDE New: Plugin for Eclipse under development! There is a big variety of boards Even very cheap ones < 15$ Pulolu A-Star Micro/Mini
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 19 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ But Lets See Some Code: Lego a
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 20 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License But Lets See Some Java Code: LeJOS public class MotorDemo07 { public static void main(String[] args) { final EV3 ev3 = (EV3) BrickFinder.getLocal(); TextLCD lcd = ev3.getTextLCD(); Audio audio = ev3.getAudio(); //Color sensor EV3ColorSensor colorSensor = new EV3ColorSensor(SensorPort.S3); SensorMode color = colorSensor.getRGBMode(); float[] colorSample = new float[color.sampleSize()]; playMessage(audio);
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 21 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (2) EV3TouchSensor touchSensor = new EV3TouchSensor(SensorPort.S1); SensorMode touch = touchSensor.getTouchMode(); float[] sample = new float[touch.sampleSize()]; RegulatedMotor mA, mB, mC; mA = new EV3LargeRegulatedMotor(MotorPort.A); mB = new EV3LargeRegulatedMotor(MotorPort.B); mC = new EV3LargeRegulatedMotor(MotorPort.C); mB.setSpeed(120);// 2 RPM mC.setSpeed(120);
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 22 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (3) mB.synchronizeWith(new RegulatedMotor[] { mC }); long startTime = System.currentTimeMillis(); long duration; int lastColorId = Color.NONE; for (int i = 0; i < 4; i++) { // go forward mB.startSynchronization(); mB.forward(); mC.forward(); mB.endSynchronization();
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 23 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (4) // go until not obstacle do { duration = System.currentTimeMillis() - startTime; touch.fetchSample(sample, 0); color.fetchSample(colorSample, 0); lcd.drawString("" + colorSample[0], 0, 3); lcd.drawString("" + colorSample[1], 0, 4); lcd.drawString("" + colorSample[2], 0, 5); } while (duration < 60000 && mB.isMoving() && mC.isMoving() && sample[0] == 0 && isReflecting(colorSample));
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 24 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (5) mB.startSynchronization(); // go back mB.backward(); mC.backward(); mB.endSynchronization(); mB.startSynchronization(); // turn back mB.rotate(1000, true); mC.rotate(-1000, true); mB.endSynchronization(); while (mB.isMoving() && mC.isMoving()) Thread.yield(); }
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 25 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (6) mB.flt(); mC.flt(); mA.close(); mB.close(); mC.close(); } private static void playMessage(final Audio audio) { audio.playSample(new File("pozdrav_01.wav"), 100); }
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 26 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (7) You have to adjust the thresholds by trial and error :) private static boolean isReflecting(float[] colorSample){ return colorSample[0] > 0.015 || colorSample[1] > 0.015 || colorSample[2] > 0.015; }
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 27 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J – Java Low Level GPIO (I2C, SPI, Serial) for Raspberry Pi General-purpose input/output (GPIO) – allow digital (and Analog on Arduino) input and output Allows listeners to be registered for events connected with the signal Supports I²C (Inter-Integrated Circuit) – slower but uses only two pins for bidirectional data transmission with many devices (different addresses). Serial Peripheral Interface (SPI) – much faster but requires additional wires See for more details IPT repository @ GitHub: https://github.com/iproduct/course-social-robotics/wiki/Lectures
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 28 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (1) – GPIO Initialization public class MotorDemo01 { public static void main(String[] args) throws InterruptedException { // initialize wiringPi library using Broadcom pin numbering scheme Gpio.wiringPiSetupGpio();
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 29 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (2) - Setup // Motor direction pins Gpio.pinMode(5, Gpio.OUTPUT); Gpio.pinMode(6, Gpio.OUTPUT); // Motor speed pulse width modulated (PWM) pins Gpio.pinMode(12, Gpio.PWM_OUTPUT); Gpio.pinMode(13, Gpio.PWM_OUTPUT); Gpio.pwmSetMode(Gpio.PWM_MODE_MS); Gpio.pwmSetRange(480); Gpio.pwmSetClock(2);
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 30 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (3) – Turning Left / Right System.out.println("Turning left"); //setting motor directions Gpio.digitalWrite(5, 1); Gpio.digitalWrite(6, 0); //setting speed Gpio.pwmWrite(12, 460); // speed 460 of 480 max Gpio.pwmWrite(13, 460); // turn duration Thread.sleep(3000);
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 31 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (4) – Accelerating / Decelerating System.out.println("Motors forward accelerating"); for (int i = 0; i <= 480; i++) { //setting motor directions Gpio.digitalWrite(5, 1); Gpio.digitalWrite(6, 1); //setting speed Gpio.pwmWrite(12, i); Gpio.pwmWrite(13, i); Thread.sleep(40); }
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 32 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (5) – Finishing Politely // turning the motors off Gpio.digitalWrite(5, 0); Gpio.digitalWrite(6, 0); Gpio.pwmWrite(12, 0); Gpio.pwmWrite(13, 0); System.out.println("End of the demo."); } }
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 33 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J – Java Low Level GPIO (I2C, SPI, Serial) for Raspberry Pi (2) More programming examples – on the Pi :)
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 34 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Question How many of you have heard that Internet of things (IoT) is the next major revolution comparable in effect with the Internet itself?
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 35 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Source: http://commons.wikimedia.org/wiki/File:Internet_of_things_signed_by_the_author.jpg, Author: Wilgengebroed on Flickr (https://www.flickr.com/photos/wilgengebroed/8249565455/), License: GenericAttribution-NonCommercial 2.0 Generic (CC BY-NC 2.0) - https://creativecommons.org/licenses/by-nc/2.0/
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 36 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Internet of Things (IoT) Today computers—and, therefore, the Internet—are almost wholly dependent on human beings for information. Nearly all of the roughly 50 petabytes (a petabyte is 1,024 terabytes) of data available on the Internet were first captured and created by human beings—by typing, pressing a record button, taking a digital picture, or scanning a bar code. ... The problem is, people have limited time, attention and accuracy—all of which means they are not very good at capturing data about things in the real world. ... We're physical, and so is our environment ... If we had computers that knew everything there was to know about things ... we would be able to track and count everything, and greatly reduce waste, loss and cost. We would know when things needed replacing, repairing or recalling, and whether they were fresh or past their best. The Internet of Things has the potential to change the world, just as the Internet did. Maybe even more so. — Kevin Ashton, 'That 'Internet of Things' Thing', RFID Journal, July 22, 2009
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 37 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Internet of Things (IoT) Perspectives According to Gartner, there will be nearly 26 billion devices on the Internet of Things by 2020. [Gartner, 2013-12-12, http://www.gartner.com/newsroom/id/2636073] According to ABI Research, more than 30 billion devices will be wirelessly connected to the Internet of Things by 2020 (Internet of Everything) [ABI Research, https://www.abiresearch.com/press/more-than-30- billion-devices-will-wirelessly-conne] It's expected to be a 19 Trillion USD market [John Chambers, Cisco CEO, http://www.bloomberg.com/news/2014- 01-08/cisco-ceo-pegs-internet-of-things-as-19-trillion-market.html]
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 38 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ IoT and Need for Standards "Basket of remotes" problem – we'll have hundreds of applications to interface with hundreds of devices that don't share protocols for speaking with one another [Jean-Louis Gassée, Apple initial alumni team, and BeOS co-founder, http://www.mondaynote.com/2014/01/12/internet-of-things-the-basket-of- remotes-problem/] Only IPv6 addresses are not enough – IoT devices should be also easily and directly accessible for users and [their] agents In read/write mode Preferably using a standard web browser Even behind firewalls
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 39 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Web Socket Based Communication Architecture Proxies: HTTP CONNECT – Tunnelling HTTP/S can be used WebSockets over SSL (wss:// scheme)
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 40 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Intelligent Agent – Basic Architecture
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 41 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Three Basic Paradigms in AI Robotics Hierarchical paradigm – the planning approach [STRIPS, http://en.wikipedia.org/wiki/STRIPS] Reactive paradigm [Brooks, Subsusmtion Architecture] Hybrid paradigm [INTERRAP]: Reacting Planning Social communication and interaction
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 42 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Subsumption Architecture [Brooks, 1986 &1991] Rodney A. Brooks, MIT AI Lab — paper "Elephants Don't Play Chess", 1986 Behavioral approach to AI – Behavior-Based Robotics (BBR). BBR robots act based on multiple independent, simple behaviors, which can be hierarchicaally subsumed. Behaviors have a triger (sensor percept) and action (using an effector). When there is a conflict between two behaviors – the conflict is resolved by a third component called Arbitrator. Overall intelligent behavior is not just a sum of different simple component behaviors, but it is dynamically emerging from them.
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 43 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Subsumption Architecture [Brooks, 1986 &1991] Situatedness Embodiment Intelligence Emergence "Subsumption Architecture Abstract Diagram" by KodoKB - Own work. Licensed under CC0 via Wikimedia Commons - http://commons.wikimedia.org/wiki/File:Subsumption_Architecture_Abstract_Diagram.png#/media/ File:Subsumption_Architecture_Abstract_Diagram.png
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 44 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Теория на игрите RoboCup 2013 – Eindhoven by Albert van Breemen [https://www.flickr.com/photos/robocup2013/10151792836] License: Attribution-NonCommercial-ShareAlike 2.0 Generic (CC BY-NC-SA 2.0) https://creativecommons.org/licenses/by-nc-sa/2.0/
IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 45 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License More Information about Java™ Robotics: https://github.com/iproduct/course-social- robotics/wiki/Lectures
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 46 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ References Social Robotics Lectures (Github wiki) – https://github.com/iproduct/course-social-robotics/wiki/Lectures Iliev, T., Ontology Based Multi-Agent Architecture for Adaptive Courseware Delivery, Int. Workshop on Interactive Computer-aided Learning ICL'2003, Villach, Austria, September 24-26, 2003 Internet of Things (IoT) in Wikipedia – http://en.wikipedia.org/wiki/Internet_of_Things Brooks, R.: A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 2(1), 1986, pp. 14-23 Brooks, R., Intelligence without representation, Artificial Intelligence, 47, 1991, pp.139-159
IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 47 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Thanks for Your Attention! Questions?

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IPT – Java Robotics and IoT

  • 1. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 1 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Java Robotics & IoT How many tasks must a PiBot spell Before you call him intellect How many threads must JVM propel Before you make it understand Trayan Iliev tiliev@iproduct.org http://iproduct.org
  • 2. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 2 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ About me ... Trayan Iliev Assistent Professor at Sofia University & CEO of IPT – Intellectual Products & Technologies an IT Education Company specialized in Java™ and Java EE and Web trainings Oracle®, Java™ and JavaScript™ are trademarks or registered trademarks of Oracle and/or its affiliates. Other names may be trademarks of their respective owners.
  • 3. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 3 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Disclaimer All slides in this presentation reflect only my own personal preferences and current understanding and have not received any endorsement or approval by IPT - Intellectual Products and Technologies or any third party. They should not be used for any purchasing (or other) decisions. The information presented here may be incorrect or incomplete. It is provided "as is", without warranty of any kind, express or implied, including but not limited to the warranties of merchantability, fitness for a particular purpose and noninfringement. In no event shall the author or copyright holders be liable for any claim, damages or other liability, whether in an action of contract, tort or otherwise, arising from, out of or in connection with the information in this presentation or the use or other dealings in this information.
  • 4. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 4 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ ... and Java™ Robotics
  • 5. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 5 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ How to Build a Robot with Java™?
  • 6. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 6 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ How to Build a Robot with Java™?
  • 7. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 7 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ How to Build a Robot with Java™?
  • 8. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 8 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License … and Why? A great way to learn Java™ - why not? Multithreading Event driven and asynchronous programming Actually reactive programming Java 8 Lambdas and Streaming Serial and network communication (Web Sockets are great :) and much, much more ...
  • 9. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 9 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Low Level GPIO Programming is Fun :) public class MotorDemo01 { public static void main(String[] args) throws InterruptedException { // initialize wiringPi library Gpio.wiringPiSetupGpio(); // Motor direction pins Gpio.pinMode(5, Gpio.OUTPUT); Gpio.pinMode(6, Gpio.OUTPUT); // SoftPwm.softPwmCreate(12, 0, 100); Gpio.pinMode(12, Gpio.PWM_OUTPUT); Gpio.pinMode(13, Gpio.PWM_OUTPUT); Gpio.pwmSetMode(Gpio.PWM_MODE_MS); Gpio.pwmSetRange(480); Gpio.pwmSetClock(2); Gpio.pwmWrite(12, 460); Gpio.pwmWrite(13, 460); Gpio.digitalWrite(5, 0); Gpio.digitalWrite(6, 1); Thread.sleep(5000); System.out.println("Running motors forward accelerating");
  • 10. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 10 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ How to Build a Robot with Java™?
  • 11. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 11 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Low Level GPIO Programming is Fun :) public class MotorDemo01 { public static void main(String[] args) throws InterruptedException { // initialize wiringPi library Gpio.wiringPiSetupGpio(); // Motor direction pins Gpio.pinMode(5, Gpio.OUTPUT); Gpio.pinMode(6, Gpio.OUTPUT); // SoftPwm.softPwmCreate(12, 0, 100); Gpio.pinMode(12, Gpio.PWM_OUTPUT); Gpio.pinMode(13, Gpio.PWM_OUTPUT); Gpio.pwmSetMode(Gpio.PWM_MODE_MS); Gpio.pwmSetRange(480); Gpio.pwmSetClock(2); Gpio.pwmWrite(12, 460); Gpio.pwmWrite(13, 460); Gpio.digitalWrite(5, 0); Gpio.digitalWrite(6, 1); // SoftPwm.softPwmWrite(12, i); Thread.sleep(5000); System.out.println("Running motors forward accelerating");
  • 12. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 12 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License The Platforms Lego® Mindstorms® - http://www.lego.com/en-us/mindstorms Raspberry Pi™ - https://www.raspberrypi.org/raspberry-pi-2- on-sale/ Banana Pi® - http://www.bananapi.org/p/product.html SparkFun® pcDuino v2 & v3 - https://www.sparkfun.com/products/12856 BeagleBone - http://beagleboard.org/bone ODROID – http://www.hardkernel.com/main/main.php Arduino (Sorry no Java™ here – YET) & all the clones PINGUINO = similar to Arduino but on PIC microcontrollers LEGO® is a registered trademark of LEGO® Group. Programs of IPT are not affiliated, sponsored or endorsed by LEGO® Education or LEGO® Group. Raspberry Pi™ is a trademark of Raspberry Pi Foundation. Other names may be trademarks of their respective owners.
  • 13. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 13 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Lego® Mindstorms® Pros: Easy to use – even for children, using graphical editor Ready made hardware components – no need to solder and drill :) There is a Java on Lego project – LeJOS (www.lejos.org/) Cons: Too easy to use – the graphical editor is not my personal favourite when programming more complex algorithms, or if integration is needed with other libraries (easy with LeJOS) Custom sensors or Arduino integration may be harder to do Limited computational capabilities , LEGO® is a registered trademark of LEGO® Group. Programs of IPT are not affiliated, sponsored or endorsed by LEGO® Education or LEGO® Group. Raspberry Pi™ is a trademark of Raspberry Pi Foundation. Other names may be trademarks of their
  • 14. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 14 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Raspberry Pi™ Pros: Much better computational power for only 35$ - 900MHz quad- core ARM Cortex-A7 CPU, 1GB DR2 SDRAM, compatibility with Raspberry Pi 1 Cons: You have to build everything in your robot yourself ... ... but it can be fun :) There is a 40 pin GPIO available, there are motor drivers, servos, sensors for Pi
  • 15. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 15 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License The Platforms LeJOS, Java for Lego® Mindstorms®, The Pi4J Project – Connecting Java to Raspberry Pi™, Arduino.
  • 16. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 16 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License SparkFun® pcDuino v3 $59.95, CPU: AllWinner A20 SoC 1GHz ARM Cortex A7 Dual Core GPU: OpenGL ES2.0, OpenVG 1.1 Mali 400 Dual Core 1GB DRAM Onboard Storage: 4GB Flash, microSD card (TF) slot for up to 32GB Arduino-Style Peripheral Headers SATA Host Socket
  • 17. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 17 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License The Platforms LeJOS, Java for Lego® Mindstorms®, The Pi4J Project – Connecting Java to Raspberry Pi™, Arduino.
  • 18. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 18 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Arduino and the Clones Open hardware and software project Low level and real time microcontroller programming Easy to program using Arduino IDE New: Plugin for Eclipse under development! There is a big variety of boards Even very cheap ones < 15$ Pulolu A-Star Micro/Mini
  • 19. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 19 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ But Lets See Some Code: Lego a
  • 20. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 20 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License But Lets See Some Java Code: LeJOS public class MotorDemo07 { public static void main(String[] args) { final EV3 ev3 = (EV3) BrickFinder.getLocal(); TextLCD lcd = ev3.getTextLCD(); Audio audio = ev3.getAudio(); //Color sensor EV3ColorSensor colorSensor = new EV3ColorSensor(SensorPort.S3); SensorMode color = colorSensor.getRGBMode(); float[] colorSample = new float[color.sampleSize()]; playMessage(audio);
  • 21. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 21 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (2) EV3TouchSensor touchSensor = new EV3TouchSensor(SensorPort.S1); SensorMode touch = touchSensor.getTouchMode(); float[] sample = new float[touch.sampleSize()]; RegulatedMotor mA, mB, mC; mA = new EV3LargeRegulatedMotor(MotorPort.A); mB = new EV3LargeRegulatedMotor(MotorPort.B); mC = new EV3LargeRegulatedMotor(MotorPort.C); mB.setSpeed(120);// 2 RPM mC.setSpeed(120);
  • 22. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 22 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (3) mB.synchronizeWith(new RegulatedMotor[] { mC }); long startTime = System.currentTimeMillis(); long duration; int lastColorId = Color.NONE; for (int i = 0; i < 4; i++) { // go forward mB.startSynchronization(); mB.forward(); mC.forward(); mB.endSynchronization();
  • 23. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 23 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (4) // go until not obstacle do { duration = System.currentTimeMillis() - startTime; touch.fetchSample(sample, 0); color.fetchSample(colorSample, 0); lcd.drawString("" + colorSample[0], 0, 3); lcd.drawString("" + colorSample[1], 0, 4); lcd.drawString("" + colorSample[2], 0, 5); } while (duration < 60000 && mB.isMoving() && mC.isMoving() && sample[0] == 0 && isReflecting(colorSample));
  • 24. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 24 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (5) mB.startSynchronization(); // go back mB.backward(); mC.backward(); mB.endSynchronization(); mB.startSynchronization(); // turn back mB.rotate(1000, true); mC.rotate(-1000, true); mB.endSynchronization(); while (mB.isMoving() && mC.isMoving()) Thread.yield(); }
  • 25. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 25 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (6) mB.flt(); mC.flt(); mA.close(); mB.close(); mC.close(); } private static void playMessage(final Audio audio) { audio.playSample(new File("pozdrav_01.wav"), 100); }
  • 26. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 26 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License LeJOS (7) You have to adjust the thresholds by trial and error :) private static boolean isReflecting(float[] colorSample){ return colorSample[0] > 0.015 || colorSample[1] > 0.015 || colorSample[2] > 0.015; }
  • 27. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 27 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J – Java Low Level GPIO (I2C, SPI, Serial) for Raspberry Pi General-purpose input/output (GPIO) – allow digital (and Analog on Arduino) input and output Allows listeners to be registered for events connected with the signal Supports I²C (Inter-Integrated Circuit) – slower but uses only two pins for bidirectional data transmission with many devices (different addresses). Serial Peripheral Interface (SPI) – much faster but requires additional wires See for more details IPT repository @ GitHub: https://github.com/iproduct/course-social-robotics/wiki/Lectures
  • 28. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 28 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (1) – GPIO Initialization public class MotorDemo01 { public static void main(String[] args) throws InterruptedException { // initialize wiringPi library using Broadcom pin numbering scheme Gpio.wiringPiSetupGpio();
  • 29. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 29 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (2) - Setup // Motor direction pins Gpio.pinMode(5, Gpio.OUTPUT); Gpio.pinMode(6, Gpio.OUTPUT); // Motor speed pulse width modulated (PWM) pins Gpio.pinMode(12, Gpio.PWM_OUTPUT); Gpio.pinMode(13, Gpio.PWM_OUTPUT); Gpio.pwmSetMode(Gpio.PWM_MODE_MS); Gpio.pwmSetRange(480); Gpio.pwmSetClock(2);
  • 30. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 30 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (3) – Turning Left / Right System.out.println("Turning left"); //setting motor directions Gpio.digitalWrite(5, 1); Gpio.digitalWrite(6, 0); //setting speed Gpio.pwmWrite(12, 460); // speed 460 of 480 max Gpio.pwmWrite(13, 460); // turn duration Thread.sleep(3000);
  • 31. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 31 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (4) – Accelerating / Decelerating System.out.println("Motors forward accelerating"); for (int i = 0; i <= 480; i++) { //setting motor directions Gpio.digitalWrite(5, 1); Gpio.digitalWrite(6, 1); //setting speed Gpio.pwmWrite(12, i); Gpio.pwmWrite(13, i); Thread.sleep(40); }
  • 32. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 32 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J (5) – Finishing Politely // turning the motors off Gpio.digitalWrite(5, 0); Gpio.digitalWrite(6, 0); Gpio.pwmWrite(12, 0); Gpio.pwmWrite(13, 0); System.out.println("End of the demo."); } }
  • 33. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 33 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Pi4J – Java Low Level GPIO (I2C, SPI, Serial) for Raspberry Pi (2) More programming examples – on the Pi :)
  • 34. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 34 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Question How many of you have heard that Internet of things (IoT) is the next major revolution comparable in effect with the Internet itself?
  • 35. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 35 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Source: http://commons.wikimedia.org/wiki/File:Internet_of_things_signed_by_the_author.jpg, Author: Wilgengebroed on Flickr (https://www.flickr.com/photos/wilgengebroed/8249565455/), License: GenericAttribution-NonCommercial 2.0 Generic (CC BY-NC 2.0) - https://creativecommons.org/licenses/by-nc/2.0/
  • 36. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 36 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Internet of Things (IoT) Today computers—and, therefore, the Internet—are almost wholly dependent on human beings for information. Nearly all of the roughly 50 petabytes (a petabyte is 1,024 terabytes) of data available on the Internet were first captured and created by human beings—by typing, pressing a record button, taking a digital picture, or scanning a bar code. ... The problem is, people have limited time, attention and accuracy—all of which means they are not very good at capturing data about things in the real world. ... We're physical, and so is our environment ... If we had computers that knew everything there was to know about things ... we would be able to track and count everything, and greatly reduce waste, loss and cost. We would know when things needed replacing, repairing or recalling, and whether they were fresh or past their best. The Internet of Things has the potential to change the world, just as the Internet did. Maybe even more so. — Kevin Ashton, 'That 'Internet of Things' Thing', RFID Journal, July 22, 2009
  • 37. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 37 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Internet of Things (IoT) Perspectives According to Gartner, there will be nearly 26 billion devices on the Internet of Things by 2020. [Gartner, 2013-12-12, http://www.gartner.com/newsroom/id/2636073] According to ABI Research, more than 30 billion devices will be wirelessly connected to the Internet of Things by 2020 (Internet of Everything) [ABI Research, https://www.abiresearch.com/press/more-than-30- billion-devices-will-wirelessly-conne] It's expected to be a 19 Trillion USD market [John Chambers, Cisco CEO, http://www.bloomberg.com/news/2014- 01-08/cisco-ceo-pegs-internet-of-things-as-19-trillion-market.html]
  • 38. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 38 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ IoT and Need for Standards "Basket of remotes" problem – we'll have hundreds of applications to interface with hundreds of devices that don't share protocols for speaking with one another [Jean-Louis Gassée, Apple initial alumni team, and BeOS co-founder, http://www.mondaynote.com/2014/01/12/internet-of-things-the-basket-of- remotes-problem/] Only IPv6 addresses are not enough – IoT devices should be also easily and directly accessible for users and [their] agents In read/write mode Preferably using a standard web browser Even behind firewalls
  • 39. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 39 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Web Socket Based Communication Architecture Proxies: HTTP CONNECT – Tunnelling HTTP/S can be used WebSockets over SSL (wss:// scheme)
  • 40. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 40 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Intelligent Agent – Basic Architecture
  • 41. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 41 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Three Basic Paradigms in AI Robotics Hierarchical paradigm – the planning approach [STRIPS, http://en.wikipedia.org/wiki/STRIPS] Reactive paradigm [Brooks, Subsusmtion Architecture] Hybrid paradigm [INTERRAP]: Reacting Planning Social communication and interaction
  • 42. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 42 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Subsumption Architecture [Brooks, 1986 &1991] Rodney A. Brooks, MIT AI Lab — paper "Elephants Don't Play Chess", 1986 Behavioral approach to AI – Behavior-Based Robotics (BBR). BBR robots act based on multiple independent, simple behaviors, which can be hierarchicaally subsumed. Behaviors have a triger (sensor percept) and action (using an effector). When there is a conflict between two behaviors – the conflict is resolved by a third component called Arbitrator. Overall intelligent behavior is not just a sum of different simple component behaviors, but it is dynamically emerging from them.
  • 43. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 43 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Subsumption Architecture [Brooks, 1986 &1991] Situatedness Embodiment Intelligence Emergence "Subsumption Architecture Abstract Diagram" by KodoKB - Own work. Licensed under CC0 via Wikimedia Commons - http://commons.wikimedia.org/wiki/File:Subsumption_Architecture_Abstract_Diagram.png#/media/ File:Subsumption_Architecture_Abstract_Diagram.png
  • 44. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 44 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License Теория на игрите RoboCup 2013 – Eindhoven by Albert van Breemen [https://www.flickr.com/photos/robocup2013/10151792836] License: Attribution-NonCommercial-ShareAlike 2.0 Generic (CC BY-NC-SA 2.0) https://creativecommons.org/licenses/by-nc-sa/2.0/
  • 45. IPT – Intellectual Products & Technologies Trayan Iliev, http://www.iproduct.org/ BG OUG Meeting – Hisarya June 13, 2014 Slide 45 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License More Information about Java™ Robotics: https://github.com/iproduct/course-social- robotics/wiki/Lectures
  • 46. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 46 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ References Social Robotics Lectures (Github wiki) – https://github.com/iproduct/course-social-robotics/wiki/Lectures Iliev, T., Ontology Based Multi-Agent Architecture for Adaptive Courseware Delivery, Int. Workshop on Interactive Computer-aided Learning ICL'2003, Villach, Austria, September 24-26, 2003 Internet of Things (IoT) in Wikipedia – http://en.wikipedia.org/wiki/Internet_of_Things Brooks, R.: A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 2(1), 1986, pp. 14-23 Brooks, R., Intelligence without representation, Artificial Intelligence, 47, 1991, pp.139-159
  • 47. IPT – Intellectual Products & Technologies Trayan Iliev, http://product.org/ BG OUG Meeting – Plovdiv June 12, 2015 Slide 47 Licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. In the presentation are used materials from https://openclipart.org/ Thanks for Your Attention! Questions?