Kang-Hee Lee

Ubiquitous Robot: A New Paradigm for Integrated Services

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

Genetic Representation for Evolvable Artificial Creature

This paper proposes a genetic representation method to evolve artificial creatures personality by using artificial genome and evolutionary generative algorithm. The genome consists of computer-coded chromosomes. Based on the internal architecture, the chromosomes are designed for the genetic representation. They are composed of the fundamental genes, internal state related genes, and behavior related genes as essential components, which represent the personality and are used for the animal-like evolution in the simulated environment. To get a desired personality (genome), a proper fitness function is designed and genetic operators are applied to the population (genomes). The artificial creature, Rity, is developed in a virtual world of PC to test the effectiveness of this representation scheme.

Multi-Layer Architecture of Ubiquitous Robot System for Integrated Services

Ubiquitous robot consists of various software and hardware platforms with various functions with different interfaces. In practical sense, it is impossible for software agents to hold all information related to other sensors or mobile robots. This makes it difficult to develop software agents and, at the same time, implement both modularity and scalability for the entire system. This paper proposes a novel multi-layer architecture to address the problems of interoperability between different hardware and software platforms in an ubiquitous environment offering services to the user regardless of space or time constraints. The proposed architecture is composed of five layers, which are classified according to device and environment independency, for modularity, scalability and interoperability between different hardware and software platforms. To show the general feasibility of the proposed architecture, this paper presents case studies in a simplified environment by computer simulation and experiments.

Evolutionary Generative Process for an Artificial Creature's Personality

In this paper, an artificial creature is designed to have its own genome in which a specific personality is encoded. The genome is composed of 14 chromosomes each of which consists of three kinds of genes such as fundamental genes, internal-state-related genes, and behavior-related genes. To represent various types of personality, a large number of genes are needed. In this case, if gene values are assigned manually for the individual genome, it becomes increasingly difficult and time-consuming to generate a desired personality reliably and consistently. Considering this problem, this paper proposes an evolutionary process that generates a genome encoding a specific personality of an artificial creature. The process evolves a population of genomes such that it customizes the genome, which meets a simplified set of personality traits desired by the user. The evaluation procedure for each genome of the population is carried out in a virtual environment using a tailored perception scenario and a dedicated fitness function. An artificial creature, Rity, is developed in the virtual 3-D world created in a PC to demonstrate the effectiveness of the proposed process.

Evolutionary multi-objective optimization for generating artificial creature’s personality

This paper proposes the evolutionary generation of an artificial creatures personality by using the concept of multi-objective optimization. The artificial creature has its own genome and in which each chromosome consists of many genes that contribute to defining its personality. The large number of genes allows for a highly complex system, however it becomes increasingly difficult and time-consuming to ensure reliability, variability and consistency for the artificial creatures personality while manually assigning gene values for the individual genome. Moreover, there needs users preference to obtain artificial creatures personality by using evolutionary generation. Preference is strongly depend on each user and most of them would have difficulty to define their preference as a fitness function. To solve this problem, this paper proposes multi-objective generating process of an artificial creatures personality. Genome set is evolved by applying strength Pareto evolutionary algorithm (SPEA). To facilitate the individuality of generated artificial creature, complement of (1-k) dominance and pruning method considering deviation are proposed. Obtained genomes are tested by using an artificial creature, Rity in the virtual 3D world created in a PC.

Ubiquitous robot S/W platform and its application: AnyRobot Studio and AnyKids Service

The standardized data may easily move within a network and connect to other systems without any time or geographical limitations. This concept is fundamental to the idea of the ubiquitous robot. But the definitions of the ubiquitous robot or networked robot appear in different forms all over the world. This paper discusses those definitions briefly including the approach of Samsung Electronics Co., Ltd (SEC). Here we present a ubiquitous robotic S/W platform, AnyRobot Studio which covers all the aspects of this ubiquitous robot system. Based on the concepts of RUPI, URC, and Web 2.0, AnyRobot Studio aims to standardize the platforms and protocols, and to strongly encourage the participation of users and contents providers (CPs). AnyKids Service is made to test the feasibility of the AnyRobot based on the AnyRobot Studio platform.

Evolutionary Generation of Artificial Creature’s Personality for Ubiquitous Services

Ubiquitous robot systems represent the state-of-the-art in robotic technology. This paradigm seamlessly blendsmobile robot technology (Mobot) with distributed sensor systems (Embot) and overseeing software intelligence (Sobot), for various integrated services. The wide scope for research in each component area notwithstanding, the design of the Sobot is critical since it performs the dual purpose of overseeing intelligence as well as user interface. The Sobot is hencemodeled as an Artificial Creature with autonomously driven behavior. This chapter discusses the evolutionary generation of an artificial creature’s personality. The artificial creature has its own genome in which each chromosome consists of many genes that contribute to defining its personality. The large number of genes also allows for a highly complex system. However, it becomes increasingly difficult and time-consuming to ensure reliability, variability and consistency for the artificial creature’s personality while manually assigning gene values for the individual genome. One effective approach to counter these problems is the Evolutionary Generative Process for an Artificial Creature’s Personality (EGPP) which forms the focus of this chapter. EGPP evolves a genome population such that it customizes the genome, meeting a simplified set of personality traits desired by the user. An evaluation procedure for each genome of the population is carried out in a virtual environment using tailored perception scenarios. Effectiveness of this scheme is demonstrated by using an artificial creature Sobot, ‘Rity’ in the virtual 3D world created in a PC, designed to be a believable interactive software agent for human–robot interaction.

Ubiquitous robot S/W platform, AnyRobot Studio and its demonstration, AnyKids Service

The standardized data may easily move within a network and connect to other systems without any time or geographical limitations. This concept is fundamental to the idea of the ubiquitous robot. Here we present a ubiquitous robot S/W platform, AnyRobot Studio which covers all the aspects of this ubiquitous robot system. Based on the concepts of RUPI, URC, and Web 2.0, AnyRobot Studio aims to standardize the platforms and protocols, and to strongly encourage the participation of users and contents providers (CPs). AnyKids Service is made to test the feasibility of the AnyRobot based on the AnyRobot Studio platform.

Evolutionary algorithm for a genetic robot’s personality

This paper proposes a new concept of the genetic robot which has its own robot genome, in which each chromosome consists of many genes that contribute to defining the robotpsilas personality. The large number of genes also allows for a highly complex system, however it becomes increasingly difficult and time-consuming to ensure reliability, variability and consistency for the robotpsilas personality while manually initializing values for the individual genes. To overcome this difficulty, this paper proposes an evolutionary algorithm for a genetic robotpsilas personality (EAGRP). EAGRP evolves a gene pool that customizes the robotpsilas genome so that it closely matches a simplified set of features desired by the user. It does this using several new techniques. It acts on a 2 dimensional individual upon which a new masking method, the Eliza-Meme scheme, is used to derive a plausible individual given the restricted preference settings desired by the user. The proposed crossover method allows reproduction for the 2-dimensional genome. Finally, the evaluation procedure for individuals is carried out in a virtual environment using tailored perception scenarios.

Evolving Personality of a Genetic Robot in Ubiquitous Environment

This paper discusses the personality of genetic robot and its evolving algorithm within the purview of the broader ubiquitous robot framework. Ubiquitous robot systems blends mobile robot technology (Mobot) with distributed sensor systems (Embot) and overseeing software intelligence (Sobot), for various integrated services. The Sobot is a critical question since it performs the dual purpose of overseeing intelligence as well as user interface. The Sobot is hence modelled as an artificial creature with autonomously driven behavior. The artificial creature has its own genome and in which each chromosome consists of many genes that contribute to defining its personality. This paper proposes evolving the personality of an artificial creature. A genome population is evolved such that it customized the genome satisfying a set of personality traits desired by the user. Evaluation procedure for each genome of the population is carried out in a virtual environment. Effectiveness of this scheme is demonstrated by using an artificial creature, Rity in the virtual 3D world created in a PC.