System Introspection for System Analysis on Mobile Devices

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the developer to control elements on the probe (e.g. change the detail of datato be published).Several components of the robot plat<strong>for</strong>m used <strong>for</strong> this thesis were implementedinto the probe. The corresponding views on the client gave a first impressionon the inner processes of the robot. The capabilities of the probe and the clientwhere tested and the results proved that the design can be used <strong>for</strong> observationand to collect in<strong>for</strong>mation of the robot. Only <strong>for</strong> exchanging bigger payloadsbetween probe and clients the underlying communication framework should bereconsidered or the framework should only be used to set up a communication<strong>for</strong> such data provided over other communication tunnels.In the field of robotic a way to observe the inner process of a robot system isquite essential. With the system created in this thesis system introspection ofa robot system is made possible. By observing the inner processes of the robotthe developer can directly see effects of applied changes and make decisionsbased on the data presented.65
9 OutlookGiven this new tool its now possible to think about further extensions whichcould no be applied to the limited amount of time. The currently implementedcomponents on the probe cover only a short range of the components of therobot. Also some of the components implemented can offer more in<strong>for</strong>mationthen already presented. With the system designed all the other componentscan be presented as well and also the style of the presentation can be enhanced.<strong>System</strong> introspection allows to understand and enhance the components of therobot. Every additionally added component view can help the developer tomonitor the systems behavior which can result in faster improvements of therobot system.Some of the components of the robot can not be presented with the currentcommunication framework (e.g. audio transmission). To achieve this an additionalcommunication tunnel should be implemented or the underlying communicationframework should be changed. There are many ideas to improve thedata to be published and how to present these in<strong>for</strong>mation to the developer.There are several use cases <strong>for</strong> the system created. One that is often mentionedwhile the system was created is the observational usage when runningexperiments like human-machine-interaction. At the time of this thesis theinner process of the plat<strong>for</strong>m used could not be monitored without moving towardsthe robot and checking the controlling laptops. Whenever this happensthe collected data may be worthless due to the fact that the appearance ofthe developer can influence the interaction to be observed. Due to internalprocesses that need time to calculate the next step the robot sometimes seemsto stop its current task. When moving towards the robot it can just move onat exact that moment. The system of this thesis allows to get an idea of theinner processes and allows to minimize the need of moving towards the robot.Also the system can be extended to give concrete in<strong>for</strong>mation on the runningexperiment which allows to collect additional data (e.g. presenting the currentstage of the experiment showing the time needed <strong>for</strong> each stage). The systemcan also enhance Human-Robot-Interaction by providing additional communicationqueues. One idea is to extend the probe to be used by the robot asan extended sensor. A client connected to the probe can be seen as externalsensor or actuator. The input of the client can be used <strong>for</strong> classifying objects66
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Bringing System <s
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AbstractSystem <st
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output, so each component is offeri
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of the system and the decisions mad
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created a telelaboratory where two
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Like the telelaboratory there is a
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with a very high frequency which ma
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Due to improving technology the use
Page 19 and 20: Figure 4.1: ToBI platfor</s
Page 21 and 22: Figure 4.3: The architecture behind
Page 23 and 24: Figure 4.5: Typical instant messagi
Page 25 and 26: 5 System DesignThe
Page 27 and 28: Figure 5.2: Message exchange betwee
Page 29 and 30: Figure 5.4: Beacon running between
Page 31 and 32: Figure 5.5: Reading and processing
Page 33 and 34: data and only forw
Page 35 and 36: For example a developer can select
Page 37 and 38: Figure 5.13: Principle of tabbed na
Page 39 and 40: 6.1 The Communication InterfaceThe
Page 41 and 42: 6.2 The Probe - Implementation of t
Page 43 and 44: stop all active processes of the co
Page 45 and 46: is received containing the TAG of t
Page 47 and 48: The selected sensors give a good im
Page 49 and 50: 1 2 4 6 8 Listing 6.2: Example of t
Page 51 and 52: TabConfig - The Status ViewThe TabC
Page 53 and 54: Each view adds a listener to the co
Page 55 and 56: LoginController which also observes
Page 57 and 58: tends the JPanel class. The templat
Page 59 and 60: 7 EvaluationIn the previous chapter
Page 61 and 62: Name Description CharactersSingleli
Page 63 and 64: Figure 7.1: Latency of receiving da
Page 65 and 66: For this thesis only a rough estima
Page 67 and 68: Laptop CPU load without Probe CPU l
Page 69: 8 ConclusionsIn the context of this
Page 74: BibliographyBurrell, A. and A. Soda
Page 77 and 78: 6.10 Main classes of the Java clien
Page 79 and 80: AppendixUse CasesUse Case 1: Connec
Page 81 and 82: Use Case 4: Disconnect from compone
Page 83 and 84: Use Case 9: Sending beacon to keep
Page 85 and 86: Figure 9.4: Latency of receiving da
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System Introspection for System Analysis on Mobile Devices

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