Techniques for Web Telerobotics - Australia's Telerobot on the Web ...

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x LIST OF FIGURES 4.7 Types of error during a move . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.1 Conceptual layers of TCP/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 5.2 The windowing protocol used by TCP/IP . . . . . . . . . . . . . . . . . . . . . . 83 5.3 Time taken to establish a connection between a client and server . . . . . . . . . 87 5.4 The effect of application message size on round trip delay . . . . . . . . . . . . . 88 5.5 Effect of packet size on round trip time <strong>for</strong> UDP packets . . . . . . . . . . . . . 90 5.6 Distribution of failure rate <strong>for</strong> UDP packets . . . . . . . . . . . . . . . . . . . . 91 5.7 The effect of packet size on failure rate . . . . . . . . . . . . . . . . . . . . . . . 91 5.8 Network characteristics <strong>for</strong> different hosts . . . . . . . . . . . . . . . . . . . . . 92 5.9 Network characteristics <strong>for</strong> different hosts . . . . . . . . . . . . . . . . . . . . . 93 5.10 The effect of buffering data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 5.11 Peer to Peer connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.12 Peer to router architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 6.1 Peer to router architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 6.2 Message structure <strong>for</strong> sent and received messages . . . . . . . . . . . . . . . . . 110 6.3 The architecture of a peer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 6.4 The peer and router architectures . . . . . . . . . . . . . . . . . . . . . . . . . . 113 6.5 Demonstration Applet controlling a IRB 2400 robot . . . . . . . . . . . . . . . . 114 7.1 Contexts organised in a tree structure . . . . . . . . . . . . . . . . . . . . . . . . 121 7.2 UML Model showing the Listener interface . . . . . . . . . . . . . . . . . . . . 124 7.3 The various Parcel classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 7.4 MOM Queues and threads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 7.5 The layers of the MOM architecture <strong>for</strong> a robot client . . . . . . . . . . . . . . . 129 7.6 UML model showing the peer proxy contexts hierarchy . . . . . . . . . . . . . . 131 7.7 The transceiver interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 7.8 The Socket Transceiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 7.9 Interaction between the socket transceiver . . . . . . . . . . . . . . . . . . . . . 136 7.10 Class diagram of XML and Java translators . . . . . . . . . . . . . . . . . . . . 137 7.11 An example of a parcel serialised as XML . . . . . . . . . . . . . . . . . . . . . 138 7.12 The RMI Transciever object heirarchy. . . . . . . . . . . . . . . . . . . . . . . . 140 7.13 Steps required to setup a connection using RMI . . . . . . . . . . . . . . . . . . 141 7.14 Source code <strong>for</strong> the chat log peer . . . . . . . . . . . . . . . . . . . . . . . . . . 146 8.1 The underlying architecture used to represent cameras . . . . . . . . . . . . . . . 156 8.2 Java architecture of image server . . . . . . . . . . . . . . . . . . . . . . . . . . 157 8.3 Code <strong>for</strong> sending a new image to a peer . . . . . . . . . . . . . . . . . . . . . . 158 8.4 Client code to change a camera’s settings . . . . . . . . . . . . . . . . . . . . . 159 8.5 Code to send a chat message . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 8.6 The Applet interface used to move the robot . . . . . . . . . . . . . . . . . . . . 162 8.7 The image panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 8.8 Elements of the stick cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 8.9 Dial plates shown <strong>for</strong> spin and tilt orientation . . . . . . . . . . . . . . . . . . . 165 8.10 The stick cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 8.11 Object identification in progress . . . . . . . . . . . . . . . . . . . . . . . . . . 170 8.12 The robot command panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 8.13 The number of hits per week <strong>for</strong> different parts of the <strong>Web</strong> site. . . . . . . . . . . 175 8.14 Distance moved by the gripper in a week, using the MOM system . . . . . . . . 176 8.15 Number of moves in a session <strong>for</strong> the new MOM system . . . . . . . . . . . . . 176
LIST OF TABLES xi 8.16 Histograms of the time between moves . . . . . . . . . . . . . . . . . . . . . . . 177 8.17 Histogram of robot poses moved to by operators . . . . . . . . . . . . . . . . . . 178 8.18 A short investigative session by a user . . . . . . . . . . . . . . . . . . . . . . . 180 8.19 Questionnaire results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 8.20 The (Java) calibration application . . . . . . . . . . . . . . . . . . . . . . . . . . 188 B.1 <strong>Techniques</strong> used to calculate new pose values . . . . . . . . . . . . . . . . . . . 219 List of Tables 3.1 CGI output headers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.2 Comparison of server side extensions . . . . . . . . . . . . . . . . . . . . . . . 34 5.1 Connections made from remote hosts . . . . . . . . . . . . . . . . . . . . . . . . 86 5.2 Results of UDP test Applet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 8.1 Types of gripper states at the end of a robot move . . . . . . . . . . . . . . . . . 179
Page 1: Techniques <strong
Page 4 and 5: iv Abstract not limited to control
Page 6 and 7: vi CONTENTS 3.7 User State . . . .
Page 8 and 9: viii CONTENTS 8.6.3 User Feedback .
Page 13: Acknowledgements I would like to th
Page 16 and 17: 2 Introduction Research for
Page 18 and 19: 4 Introduction anywhere in the same
Page 20 and 21: 6 Introduction introduced to progra
Page 22 and 23: 8 Background and Related Work Share
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Page 34 and 35: 20 Background and Related Work came
Page 36 and 37: 22 Background and Related Work Real
Page 38 and 39: 24 Background and Related Work truc
Page 41 and 42: CHAPTER 3 The CGI System The first
Page 43 and 44: 3.2 CGI 29 POST /cgi-win/telerobt.e
Page 45 and 46: 3.2 CGI 31 [CGI] Request Protocol=H
Page 47 and 48: 3.2 CGI 33 that the user submits th
Page 49 and 50: 3.3 Client Side Extensions 35 3.3 C
Page 51 and 52: 3.5 The UWA System 37 3.5 The UWA S
Page 53 and 54: 3.5 The UWA System 39 Figure 3.6: T
Page 55 and 56: 3.5 The UWA System 41 Figure 3.7: A
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3.8 Move Commands 47 a priority lev
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3.8 Move Commands 49 3.8.1 Single M
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3.9 Images 51 z0,t45 gclose z100 t-
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3.10 HTML page 53 Figure 3.15: Timi
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3.11 Robot Server 55 Type TagExtens
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3.11 Robot Server 57 Figure 3.21: T
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3.11 Robot Server 59 3.11.2 Communi
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3.12 Image Server 61 Image Server D
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CHAPTER 4 CGI Results and Discussio
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4.1 Telerobot Usag
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4.1 Telerobot Usag
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4.2 Reliability and Errors 69 Figur
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4.2 Reliability and Errors 71 Figur
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4.4 Limitations 73 The template mec
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4.5 Conclusions 75 a solution that
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78 Network Protocols and Architectu
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100 Network Protocols and Architect
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106 A First Step Away from CGI To e
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108 A First Step Away from CGI 6.3.
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110 A First Step Away from CGI on w
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112 A First Step Away from CGI A ge
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114 A First Step Away from CGI Figu
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CHAPTER 7 Distributed Architecture
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7.1 Revised Framework 119 7.1 Revis
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7.1 Revised Framework 121 lego doma
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7.2 The MOM Architecture 123 Connec
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7.2 The MOM Architecture 125 is all
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7.2 The MOM Architecture 127 the pa
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7.3 Peer Architecture 129 The top l
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7.3 Peer Architecture 131 DomainRoo
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7.4 Communication 133 perfo
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7.4 Communication 135 Socket (from
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7.4 Communication 137 P ars er (fro
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7.4 Communication 139 the function
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7.4 Communication 141 : Naming : MO
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7.4 Communication 143 Translators O
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7.5 Source Code Example 145 using U
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7.5 Source Code Example 147 The mai
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150 The Framework in Practice The A
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152 The Framework in Practice doing
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154 The Framework in Practice robot
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156 The Framework in Practice TCame
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158 The Framework in Practice notif
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160 The Framework in Practice 8.4.1
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162 The Framework in Practice 8.5 C
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164 The Framework in Practice the b
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166 The Framework in Practice the G
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168 The Framework in Practice calcu
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170 The Framework in Practice Figur
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176 The Framework in Practice Dista
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178 The Framework in Practice Frequ
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180 The Framework in Practice New c
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182 The Framework in Practice 6. Di
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186 The Framework in Practice setup
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188 The Framework in Practice relea
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9.1 Summary CHAPTER 9 Discussion Th
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9.2 Contributions 195 domains, chan
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9.4 Future Work 197 level of autono
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9.4 Future Work 199 vertical <stron
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202 BIBLIOGRAPHY L. Beca, G. Cheng,
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204 BIBLIOGRAPHY H. Friz, B. Dalton
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206 BIBLIOGRAPHY Paul Milgram, Anu
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208 BIBLIOGRAPHY Matthew Stein. Beh
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Glossary ActiveX An object-oriented
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BIBLIOGRAPHY 213 ORB Object Request
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APPENDIX A Related Publications Bar
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218 Computer Vision ∼x′ = 1
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220 Computer Vision ∼ r =λ ∼ v
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222 Chat Conversations and Comments
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