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Title: Robotic Intelligence Kernel: Architecture

Abstract

The INL Robotic Intelligence Kernel Architecture (RIK-A) is a multi-level architecture that supports a dynamic autonomy structure. The RIK-A is used to coalesce hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a framework that can be used to create behaviors for humans to interact with the robot.

Publication Date:
Research Org.:
Idaho National Laboratory
Sponsoring Org.:
USDOE; US - Atomic Energy Commission; USDOE - Assistant Secretary for Nuclear Energy (NE)
OSTI Identifier:
1231233
Report Number(s):
RIK-A; 002434IBMPC00
CW-09-09
DOE Contract Number:
DE-AC07-05ID14517
Resource Type:
Software
Software Revision:
00
Software Package Number:
002434
Software Package Contents:
Media Directory; Software Abstract; Media includes Source Code;/1 CD ROM
Software CPU:
IBMPC
Open Source:
No
Source Code Available:
Yes
Related Software:
RIK-Driver, RIK-Comms, RIK-Visualization; Mapping libraries (e.g Karto libraries from SRI); libraries from robot manufacturers (e.g. iRobot, Remotec, Segway, Foster-Miller)
Country of Publication:
United States

Citation Formats

. Robotic Intelligence Kernel: Architecture. Computer software. Vers. 00. USDOE; US - Atomic Energy Commission; USDOE - Assistant Secretary for Nuclear Energy (NE). 16 Sep. 2009. Web.
. (2009, September 16). Robotic Intelligence Kernel: Architecture (Version 00) [Computer software].
. Robotic Intelligence Kernel: Architecture. Computer software. Version 00. September 16, 2009.
@misc{osti_1231233,
title = {Robotic Intelligence Kernel: Architecture, Version 00},
author = {},
abstractNote = {The INL Robotic Intelligence Kernel Architecture (RIK-A) is a multi-level architecture that supports a dynamic autonomy structure. The RIK-A is used to coalesce hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a framework that can be used to create behaviors for humans to interact with the robot.},
doi = {},
year = 2009,
month = 9,
note =
}

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  • A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize themore » operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.« less
  • The INL Robotic Intelligence Kernel-Driver is built on top of the RIK-A and implements a dynamic autonomy structure. The RIK-D is used to orchestrate hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a single cognitive behavior kernel that provides intrinsic intelligence for a wide variety of unmanned ground vehicle systems.
  • The INL Robotic Intelligence Kernel-Comms is the communication server that transmits information between one or more robots using the RIK and one or more user interfaces. It supports event handling and multiple hardware communication protocols.
  • The INL Robotic Intelligence Kernel-Visualization is the software that supports the user interface. It uses the RIK-C software to communicate information to and from the robot. The RIK-V illustrates the data in a 3D display and provides an operating picture wherein the user can task the robot.
  • It is now common practice for engineers to use PC software to design and evaluate oilfield services. Rapidly changing technology in PC software has made it necessary for organizations to release new applications quickly to remain competitive. The authors designed a plug-and-play kernel for the computer aided design and evaluation (CADE) applications to reduce development time and time to market. The paper discusses the kernel used in the CADE software in detail.

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