FIWARE Global Summit - Standard Data Models for the Integration of FIWARE and Robotic Systems

Copyright © 2019 TIS Inc. All rights reserved.
TIS Inc.
FIWARE Global Summit 2019
23/Oct./2019
Strategic Technology Center
Technology & Innovation SBU
Kazuki Urabe
Standard data models for the integration of FIWARE
and robotic systems

Agenda
• About us
• Our activities
• Standard data models in Robotics Domain
• Next steps for data model definition
2

About us

Copyright © 2018 TIS Inc. All rights reserved. 4
TIS is System Integration company
TIS has been developing systems in a wide range of industries.
Members of R&D sectors have several research themes, such as
Immersive technology, Biometric Device and Service robotics.
Immersive Technology
Service Robotics
Post ML
Admin Shell
Biometric Device

Our activities

RoboticBase
A platform for collaboration among Robots, People and Environments

Architecture
RoboticBase consist of FIWARE GEs managed by Kubernetes
We verified heterogeneous robots are collaborated on
RoboticBase during experiment

Experiment with University of Aizu (2018)
We and University of Aizu performed an experiment to guide a
visitor by collaborating with heterogeneous robots, IoT devices and
people through our Robot Platform on 6th - 8th Nov. 2018.

Standard data models in Robotics Domain

It is required for collaboration with FIWARE and Robots
When a robot send the data of location, developers need to consider
to:
Consideration for data structure
{
latitude: 1.0,
longitude: 2.0,
altitude: 3.0
}
{
lat : 1.0,
lon : 2.0,
alt : 3.0
}
{
xy_pair: [1.0, 2.0],
z: 3.0
}
{
coordinates: [1.0, 2.0, 3.0]
}
{
x: 1.0,
y: 2.0,
z: 3.0
}
or
or
Which attribute name is used?
In abbreviation?
What kind of structure?
At present, lack of standard data models is an issue
{
X: 1.0,
Y: 2.0,
Z: 3.0
}
Upper or lower?

1. robot developers to define new data models with reference to
standard data models
• need to consider original parts only
2. data scientists to utilize the robot context data from
heterogeneous robots
{
latitude: 1.0,
longitude: 2.0,
altitude: 3.0
battery state{…}
}
enable:
TIS is working to define the standard data model for robots.
{
latitude: 1.0,
longitude: 2.0,
altitude: 3.0
}
Standard data models
{
latitude: 1.0,
longitude: 2.0,
altitude: 3.0,Reference to
New data models
Integration AnalysisLearning
Developers can use the data for various ways
FIWARE
Context Broker Business Logic

Data models are composed of several building blocks
We believe that the data model used Robotics Domain can be realized
by combining various building blocks according to its use cases.
Common block A
…
location
Special block α
…
…
Mapping
Data
Degrees
Joint Trajectory
Common block B Special block β
A concrete data model
according to a use case
Data models should be define of various building blocks

Experiment with University of Aizu (2019)
Automation of logistics system by collaborating between Inventory
management systems and Autonomous mobile robots(AMRs)
13
2) AMRs pick up baggages in warehouse
3) AMRs deliver baggages to destinations
1) AMRs receive command
from a cloud server
TIS starts with defining the data model based on the scenario of
the experiment

For Autonomous mobile robots
1. Normal Command & Response
– Normal command includes coordinates of
all waypoint
2. Emergency Command & Response
3. Periodic state message
14
Normal command
Return message
FIWARE
Context Broker
Emergency command
Return message
Periodic state message
{
}
{ x, y, z, roll, pitch, yaw},
{ x, y, z, roll, pitch, yaw},
…

15
1. Command & Response
• Command AMR to move waypoints
Name Type Description
id string Unique ID of the robot
type string Entity name
time string
Send date(YYYY-MM-
DDThh:mm:ss.sssZ)
cmd string
Command:
["navi", "standby“, “refresh”]
waypoints array Positions of waypoints
point object Coordinates of each waypoint
x number x-coordinate
y number y-coordinate
z number z-coordinate
angle_optional object Angles of each waypoints
valid boolean Validate assignment of angle
angle object Angles of each waypoint
roll number Roll
pitch number Pitch
yaw number Yaw
• The return message from AMR
time string
Send date
(YYYY-MM-DDThh:mm:ss.sssZ)
received_time string
Received date
(YYYY-MM-DDThh:mm:ss.sssZ)
received_cmd string
Received command:
["navi", "standby“, “refresh”]
received_waypoints array Received positions of waypoints
point object Coordinates of each waypoint
angle_optional object Angles of each waypoints
angle object Angles of each waypoint
roll number Roll
pitch number Pitch
yaw number Yaw
result string
Result for the command:
["ack", "ignore", "error"]
errors array Lists of errors

16
2. Emergency command & Response
• Emergency command AMR to stop
time string Send date(YYYY-MM-DDThh:mm:ss.sssZ)
emergency_cmd string Emergency command: [“stop"]
time string Send date(YYYY-MM-DDThh:mm:ss.sssZ)
received_time string Received date(YYYY-MM-DDThh:mm:ss.sssZ)
received_emergency_cmd string received emergency command: ["stop"]
result string
Result for the emergency command["ack",
"error"]
• The return message from AMR

17
3. Periodic state message
• State message from AMR
time string
Send date(YYYY-MM-
DDThh:mm:ss.sssZ)
mode string
Status of the robot: ["navi",
"standby", "error"]
pose object Current position
point object Current coordinates
angle object Current angles
roll number Roll
pitch number Pitch
yaw number Yaw
destination object Current destination
point object Coordinates of current destination
angle_optio
nal
object Angles of current destination
angle object Angles
roll number Roll
pit
ch
number Pitch
ya
w
number Yaw
covariance array
Error covariance matrix
minItems:36, maxItems:36
battery object Battery state
voltage number Voltage
current_opti
onal
object Current s
valid boolean Validate assignment of current
current number Current

Next steps for data model definition

Next steps for data model definition
19
2019 2020
Oct. Nov. Dec. Jan. Feb. Mar. Apr. May
Events
TIS Inc.
Members
of
Robotics
FIWARE
Tech
Roadmap
WG
▲
FIWARE
Global
Summit
▲
FIWARE
Global
Summit
▲
PoC(UoA)
▲
Web
Conf.
development of Data models
▲
Web
Conf.
▲
Web
Conf.
▲
Web
Conf.
FeedbackVerification of DMsReport the progress
▲
Draft2
▲
Release
Report
Robotics FIWARE Tech Roadmap WG
• Members
FIWARE Foundation
Atos
eProsima
Fraunhofer IML
TIS
▲
Web
Conf.
• Goals
Position paper on Robotics and FIWARE
Identify areas of potential collaboration
Identify areas of potential standardization
(e.g., data models)

Summary
RoboticBase is a platform among Robots, People and
Environment
TIS have been developed a platform to collaborate robot with people.
TIS verified collaboration of heterogeneous robots during experiment in
2018.
Consideration for data structure is required for collaboration
with FIWARE and Robots
TIS are concerned that robots have difficulty collaborating other robots via
FIWARE because standard data models for robots do not exist
TIS is defining the models for robots focused on Autonomous mobile
robots based on use case of experiment in 2019.
We will contribute our models to FIWARE data models until March.
20

RoboticBase is open sourced
https://github.com/RoboticBase/core

FIWARE Global Summit - Standard Data Models for the Integration of FIWARE and Robotic Systems

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