System Introspection for System Analysis on Mobile Devices

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4 <strong>System</strong> Environment and ToolsThis chapter describes the environment <strong>for</strong> the system implemented in. Itwill give an introduction of the robot plat<strong>for</strong>m used and the interface used bythe plat<strong>for</strong>m <strong>for</strong> connecting hardware components. Also the operating systemof the used mobile device and the communication framework is covered. Thedescription of the environment is given at a higher level and provides no detailson lower functionalities.4.1 Robot Plat<strong>for</strong>ms: BIRON and ToBIIn the context of this thesis the probe and the client where both developed towork with the ToBI plat<strong>for</strong>m (Figure 4.1). ToBI is a project of the CITEC 1Central Lab Facilities at the University of Bielefeld 2 descended from the BielefeldRobot Companion plat<strong>for</strong>m (BIRON). ToBI is the plat<strong>for</strong>m of the Team ofBielefeld used to participate in the Robocup@Home competition(Wachsmuthet al., 2011). The plat<strong>for</strong>m uses several components controlled by two laptops inthe backpack of the robot. With this components and the software developedat the Central Lab ToBI can behave in an autonomous way in an unknownenvironment. For the communication between the software and the hardwareToBI uses the BonSAI interface (see chapter 4.2). Examples <strong>for</strong> the sensorsand actuators integrated on the plat<strong>for</strong>m are the 180 degree laser range finder(SICK 3 ), several cameras <strong>for</strong> visual perception, a Katana-Arm 4 <strong>for</strong> graspingor a stereo microphone <strong>for</strong> voice recognition placed on top of the robot. Atthe Robocup@Home contest ToBI per<strong>for</strong>ms tasks like following persons, navigatingin an unknown environment or grasping objects with its gripper. Theoperation system on both notebooks is Ubuntu Linux and the software behindthe different components is written with the programming languages C++ 5and Java 6 .1 http://www.cit-ec.de/ToBI - ToBI Team of Bielefeld2 http://www.uni-bielefeld.de/ - University of Bielefeld3 http://www.webcitation.org/5wiFVLrFA - SICK Laser Range Finder4 http://www.webcitation.org/5wiFjsR2R - Katana Arm5 http://www.webcitation.org/5xY0pIOYj - C++ Reference6 http://www.webcitation.org/5wuOWGp5I - Java Technology Network by Oracle13
Figure 4.1: ToBI plat<strong>for</strong>m used at the Robocup@Home competition- On the right side the components used: microphone,camera, Swissranger-camera, Katana-Arm andSICK laser range finder [From Wachsmuth et al. (2011)]4.2 Bielefeld Sensor Actuator Abstraction Layer(BonSAI)The BonSAI interface provides an abstract view to the sensors and actuatorson robot plat<strong>for</strong>ms. A Java API allows developers to control actuators orquery sensors from a higher level. The API itself controls the communicationbetween higher and lower levels (see Figure 4.2). BonSAI also providescross-modal sensors that combine several components into one sensor class.One example <strong>for</strong> a cross-modal sensor is the PersonTracker, which combineslaser data with camera images. An example <strong>for</strong> a cross-modal actuator is theNavigationActuator combining components to control the navigation of therobot(e.g. driving, obstacle avoidance, path planning).4.3 Operating <strong>System</strong> on the Mobile DeviceFor mobile devices the operating system of choice used in this thesis is theandroid operation system 7 . Android is a software plat<strong>for</strong>m developed by the7 http://www.webcitation.org/5wiFsqc0j- The Android Operation <strong>System</strong>14
Page 1: Bringing System <s
Page 5 and 6: AbstractSystem <st
Page 7 and 8: output, so each component is offeri
Page 9 and 10: of the system and the decisions mad
Page 11 and 12: created a telelaboratory where two
Page 13 and 14: Like the telelaboratory there is a
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Page 21 and 22: Figure 4.3: The architecture behind
Page 23 and 24: Figure 4.5: Typical instant messagi
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Page 27 and 28: Figure 5.2: Message exchange betwee
Page 29 and 30: Figure 5.4: Beacon running between
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Page 51 and 52: TabConfig - The Status ViewThe TabC
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Page 59 and 60: 7 EvaluationIn the previous chapter
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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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