System Introspection for System Analysis on Mobile Devices

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designed in this thesis. Like the setup of the laboratory the designed system canbe used to observe a system by collecting data on the robot side and <strong>for</strong>wardit to a remote side. One difference to the laboratory is the high couplingbetween remote and local side. The remote system <strong>for</strong> the laboratory wasused to control the system. The system designed in this thesis will primarilybe used to observe the system to get an idea of what is processed inside therobot at the current moment. Also the attached system should not directlyinfluence the robot due to the fact that the robot should still behave in anautonomously way.More similar is the setup designed by Lin et al. (2007). Their system controlsa SONY Aibo 1 robot over the internet personal digital assistant(PDA). Therewhere five different servers on the robot side used to control and publish dataof the different components. On the client side according modules were offeredthat were directly connected to their counterpart on the robot. All Componentsare displayed on a graphical user interface on the PDA. With the mobile devicethe user was able to control the movement of the robot and to set the angle ofthe head containing the camera.Figure 2.3: Sony AIBO controlled with a HP iPAQ rx195 2 over the internet- The control software on the device allows to navigatethe robot and monitor the onboard camera [FromLin et al. (2007)]The capability of the system was tested by navigating the robot through apredefined course. While navigating the round-trip time of the data exchangedbetween robot and PDA was measured. The experiment was carried out atdifferent day times and showed that the round-trip time was not constantdue to sharing the network bandwidth with other systems (Figure 2.4). Thissystem offers several services to control the robot and observe several sensors.1 http://www.webcitation.org/5wiCWyImO - SONY Aibo7
Like the telelaboratory there is a high coupling between the remote side andthe robot at the local side. The in<strong>for</strong>mation send to the PDA were presentedinside one screen. On a mobile device the resources and the space to displaydata are limited. For the approach made in this thesis the system presents eachcomponent on a different view and lets the developer choose which componenthe wants to observe. This also helps to minimize latency on exchanging data.By only sending data of requested components the payload of each messagecan be minimized.(a) Course <strong>for</strong> the PDA evaluation(b) Results of the PDA evaluationFigure 2.4: Measuring the capability of the remote control - Imagea shows the course the user has to navigate through.Image b shows the measured average round-trip timesand the traveling times at different day times.[From Linet al. (2007)]A great difference between the systems mentioned and the system created inthis thesis is the part of observation. Other then a pure remote the systemdesigned is attached to a running system and collects data of the componentsof the robot. With this data the internal processes of the robot can be presentedwhich can help to understand what the robot is currently planning andper<strong>for</strong>ming.8
Page 1: Bringing System <s
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Page 11: created a telelaboratory where two
Page 15 and 16: with a very high frequency which ma
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Page 59 and 60: 7 EvaluationIn the previous chapter
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Figure 7.1: Latency of receiving da
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For this thesis only a rough estima
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Laptop CPU load without Probe CPU l
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8 ConclusionsIn the context of this
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9 OutlookGiven this new tool its no
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BibliographyBurrell, A. and A. Soda
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6.10 Main classes of the Java clien
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AppendixUse CasesUse Case 1: Connec
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Use Case 4: Disconnect from compone
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Use Case 9: Sending beacon to keep
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Figure 9.4: Latency of receiving da
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System Introspection for System Analysis on Mobile Devices

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