[robotics-worldwide] [Call for Participation] IEEE-RAS Standards Committee Meeting @ IROS'12 (October 8, 2012)

Raj Madhavan madhavan.ieeeras at gmail.com
Tue Sep 25 08:06:16 PDT 2012

IEEE-RAS Standards Committee Meeting @ IROS'12
Monday October 08, 2012 9:00 AM – 5:00 PM

The Standing Committee for Standards Activities (SCSA) under the 
Industrial Activities Board (IAB) of the IEEE Robotics and Automation 
Society (RAS) has been actively working with the research and industrial 
communities and other Standards Developing Organizations (SDOs). The 
standardization efforts are now formally being pursued under two Working 
Groups (WGs) with RAS as the official sponsor. As it has been customary 
the last two years, we will have a full-day meeting dedicated to 
discussing the work of the WGs. The WGs welcome your comments and 
participation in this standardization process. To be involved in the 
activities of the standards committee, neither RAS nor IEEE-SA 
memberships are mandatory. An overview of the work carried out by the 
WGs and an agenda for the meeting are below.

We hope to see you in Vilamoura!

Raj Madhavan, Ph.D.
Chair, Standing Committee for Standards Activities & Vice President, 
Industrial Activities Board
IEEE Robotics and Automation Society

*0900-1230 IEEE-RAS Ontologies for Robotics and Automation Working
Group (ORA WG)* Chairs: Craig Schlenoff, NIST and Edson Prestes, UFRGS

The goal of the IEEE-RAS Ontologies for Robotics and Automation Working
Group is to develop a standard ontology and associated methodology for 
knowledge representation and reasoning in robotics and automation, 
together with the representation of concepts in an initial set of 
application domains. The standard will provide a unified way of
representing knowledge and will provide a common set of terms and
definitions, allowing for unambiguous knowledge transfer among any group
of humans, robots, and other artificial systems. To date, the working
group has over 130 members containing a cross-section of industry,
academia, and government, representing over twenty countries.

It would be extremely difficult to develop an ontology that could cover
the entire space of robotics and automation. Hence, the working group is
structured in such a way as to take a bottom-up and top-down approach to
addressing this broad domain. This group is comprised of four sub-groups
entitled: Upper Ontology/Methodology(UpOM), Autonomous Robots (AuR),
Service Robots (SeR), and Industrial Robots (InR). The InR, AuR, and SeR
sub-groups are producing sub-domain ontologies that will serve as a test
case to validate the upper ontology and the methodology developed by
UpOM. Once initial versions of the ontologies are completed, they will
be integrated into the overall ontology.

Notable recent accomplishments within the ORA group are as follows:
* Special session at IROS "Knowledge Representation and Ontologies for
Robotics and Automation"
* Book chapter to be published in: Bridges between the Methodological 
and Practical Work of the Robotics and Cognitive Systems Communities – 
 From Sensors to Concepts Book, Y. Amirat and A. Chibani, (Eds.), 
Intelligent Systems Reference Library, Springer-Verlag, 2012.
* Workshop at UBICOMP'12 (Pittsburgh, PA) entitled "Smart Gadgets Meet
Ubiquitous and Social Robots on the Web" (Sept. 8, 2012)
* Initial modeling of concepts in (ISO 8373 - Robots and Robotic
Devices – Vocabulary) within our ontology: In this meeting, we will hear 
updates on progress on modeling the ISO 8373 concepts in the ontology, 
hear an update on the progress of the industrial robots group, discuss 
the working group procedures, determine an outline for the standard, and 
decide next steps.

AGENDA (October 8, 2012: 0900-1230)
0900-0915 ORA Overview and Status, Craig Schlenoff
0915-0935 Update on ORA Ontology, Dr. Edson Prestes
0935-1000 Semantic reasoning using standard ORA ontologies for service 
robots: challenges and current progress, Dr. Abdelghani Chibani
1000-1020 Title TBD, Dr. Maki Habib
1020-1040 Update on the Industrial Robot Ontology, Dr. Stephen Balakirsky
1040-1100 Break
1100-1115 Implementation of a Robot Knowledge Systems, Dr. Antti Tikanmaki
1115-1130 Robots for medicine, medicine for robots – the need for 
standards and ontologies, Dr. Tamas Haidegger
1130-1230 Discussion, All

LUNCH 1230-1330

*1330-1700 IEEE-RAS Robot Map Data Representation for Navigation Working 
Group (MDR WG)*
Chairs: Wonpil Yu, ETRI and Geoff Biggs, AIST

* What is the MDR standard?
The MDR standard aims to standardize a common representation and 
encoding for the two-dimensional map data used for navigation by mobile 
robots. The encoding will be used when exchanging map data with other 
components and systems. The standard focuses on interchange of map data 
between components and systems, particularly those that may be supplied 
by different vendors. As well as the encoding, the standard aims to 
specify suitable APIs and protocols for the interchange process so that 
navigation-related components from multiple vendors may inter-operate.

* What does the MDR standard not do?
It does not aim to standardize the format of map data used internally in 
systems, such as for performing navigation calculations, obstacle 
avoidance, or for storage in a database. It also does not place any 
constraints Vendors supplying robot components relevant to navigation 
who choose to conform to the standard may use any encoding they choose 
for internal representation, provided the map data is available in the 
standard encoding when accessed through the standard APIs. The standard 
additionally places no constraints on where map data comes from or how 
it is constructed. A vendor's component is free to construct map data 
online or load it from a database of maps constructed a priori as it 
sees fit.

* What does the standard target?
The MDR standard is aimed at mobile robots capable of movement in two 
dimensions operating in both indoor and outdoor environments. No 
restrictions are placed on the complexity of the environment. 
Applications include, but are not limited to, autonomous road 
navigation, factory logistics systems, defense and rescue robots, and 
household service robots.

* What sorts of maps will be supported?
Most importantly, the standard only considers static maps. Maps with 
dynamic information will not be explicitly supported. Metric maps, 
topological maps, and combined metric/topological maps will all be 
supported equally by the standard. Additionally, no limit is placed on 
geographical scale or sensor modalities.

* Why does the standard matter?
Autonomous robots, operating without guide tracks in uncontrolled 
environments are becoming increasingly common and economically viable. 
One of the most basic requirements for robot navigation is some form of 
map. Complying with a standard for map data representation makes a 
vendor's components more compatible with others and therefore makes 
their products more desirable and more likely to win contracts. 
Standards compliance is particularly important in environments with 
devices from diverse vendors inter-operating, such as factories and 
military environments, where data interchange is a common occurrence. 
Being able to both use and provide the common data being shared amongst 
such devices is essential.

* Recent activities of MDR WG
- IEEE CASE workshop on "Industry Practices on Map Data Representation 
for Robot Navigation"  on Aug. 20, Seoul, Korea
- MDR (Map Data Representation) standard document draft v0.1: Ten 
experts volunteered as an author for writing and reviewing the MDR draft 
so far (2 from Japan, 3 from Korea, 5 from EU)

AGENDA (October 8, 2012: 1330-1700)
1. Welcome and Introductions (15 min)
2. Agree on agenda and add any other business (5 min)
3. Review and approval of minutes from the previous meeting (15 min)
4. WG Update and Reports (15 min)
5. Discussion items
a. MDR draft - overview (sec.1) – 20 min (Wonpil Yu)
b. MDR draft – Normative references (sec. 2) - TBA
c. MDR draft -  Definitions (sec. 3) - TBA
d. MDR draft - abbreviation and acronyms (sec.4) - TBA
e. MDR draft - general description (sec. 5) – 20 min (David Alejandro 
Trejo Pizzo)
f. MDR draft – metric map (sec. 6.1) – 20 min (Francesco Amigoni and 
Matteo Matteucci)
g. MDR draft – topology map (sec. 6.2) - TBA
h. MDR draft – hybrid map (sec. 6.3) - TBA
i. MDR draft – exchange interface (sec. 7) - TBA
j. MDR draft – API (sec. 8) – 20 min (David Alejandro Trejo Pizzo)
k. MDR draft - Use case reports (sec. 9) – 20 min (Tsuyoshi Tasaki)
l. MDR draft – relation to other SDOs (sec. 10) – 20 min (Wonpil Yu and 
Hyungpil Moon)
6. Next meeting (10 min)
7. Adjourn

Raj Madhavan, Ph.D.

Vice President, Industrial Activities Board
Chair, Standing Committee for Standards Activities
Chair, RAS-SIGHT (Special Interest Group on Humanitarian Activities)
IEEE Robotics and Automation Society

Institute for Systems Research, University of Maryland College Park
Intelligent Systems Division, National Institute of Standards and Technology

Tel: (301) 975-2865 Fax: (301) 990-9688
Email: madhavan.ieeeras at gmail.com

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