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

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202 BIBLIOGRAPHY L. Beca, G. Cheng, G. Fox, T. Jurga, K. Olszewski, M. Podgorny, P. Sokolowski, T. Stachowiak, and K. Walczak. Tango - a collaborative environment <strong>for</strong> the world-wide web. Technical report, Northeast Parallel Architectures Center, Syracuse University, 1997. available at http://www. npac.syr.edu/tango/papers.html. A. K. Bejczy, P. Fiorini, Won Soo Kim, and P. Shenker. Toward integrated operator interface <strong>for</strong> advanced teleoperation under time-delay. In Proceedigs of the IEEE International Conference on Intelligent Robots and Systems, volume 1, pages 563–570, September 1994. I. R. Belousov, Tan JiaCheng, and G. J. Clapworthy. Teleoperation and Java3D visualization of a robot manipulator over the World Wide <strong>Web</strong>. In Proceedings of the IEEE International Conference on In<strong>for</strong>mation Visualization, pages 543–548, Los Alamitos, CA, USA, 1999. Robert C. Bolles, Jan H. Kremers, and Ronald A. Cain. A simple sensor to gather threedimensional data. Technical Report 249, SRI International, July 1981. J-C Bolot. Characterizing End-to-End Packet Delay and Loss in the Internet. Journal of High Speed Networks, 2(3):305–323, December 1993. N. Borenstein and N. Freed. MIME (Multipurpose Internet Mail Extensions) Part One. RFC 1521. Technical report, Internet Engineering Task Force (IETF), 1993. Available at http: //www.ietf.org/rfc/rfc1521.txt. R. Braden. Requirements <strong>for</strong> Internet Hosts – Communication Layers. RFC 1122. Technical report, Internet Engineering Task Force (IETF), October 1989. Available at http://www. ietf.org/rfc/rfc1122.txt. K. Brady and Tam Tzyn-Jong. Internet-based remote teleoperation. In IEEE International Conference on Robotics and Automation, volume 1, pages 65–70, Leuven, Belgium, 16–20 May 1998. IEEE Robotics & Autom. Soc. K. J. Brady and Tam Tzyn-Jong. Intelligent remote teleoperation. IEEE Potentials, 18(3):14–16, August–September 1999. Ross L. Burchard and John T. Feddema. Generic robotic and motion control API based on GISC- Kit technology and CORBA communications. In Proceedings of IEEE International Conference on Robotics and Automation, pages 712–717, April 1996. Frank Buschmann, Regine Meunier, Hans Rohnert, and Peter Sommerlad. Pattern Oriented Software Architecture : A System of Patterns, chapter Design Patterns, pages 221–339. John Wiley & Son Ltd, August 1996. M. Carter. Using telerobots <strong>for</strong> recreation. In Proceedings of the International Conference on Field and Service Robots (FSR 97), pages 173–178, 8–10 December 1997. CGI FAQ. The CGI FAQ. http://www.faqs.org/faqs/www/cgi-faq/. A. Chabert, E. Grossman, L. Jackson, S. Pietrowicz, and C Seguin. Java object-sharing in habanero. Communications of the ACM, 41(6):69–76, June 1998. K. Chandy. Caltech infospheres project overview: In<strong>for</strong>mation infrastructures <strong>for</strong> task <strong>for</strong>ces. Technical report, Computer Science 256-80, Cali<strong>for</strong>nia Institute of Technology, November 1996. available at http://www.infospheres.caltech.edu/papers/ infosummary/infosummary.html.
BIBLIOGRAPHY 203 L. A. Ciscon, J. D. Wise, and D. H. Johnson. A distributed data sharing environment <strong>for</strong> telerobotics. Presence, 3(4):321–340, fall 1994. Douglas E. Comer. Internetworking with TCP/IP, chapter Internet Protocol: Connectionless Datagram Delivery. Volume 1, Principles, protocols, and architecture of Douglas E. Comer. Internet, Comer (1991c), second edition, 1991a. Douglas E. Comer. Internetworking with TCP/IP, chapter TCP: Reliable Transport Service. Volume 1, Principles, protocols, and architecture of Douglas E. Comer. TCP, Comer (1991c), second edition, 1991b. Douglas E. Comer. Internetworking with TCP/IP, volume 1, Principles, protocols, and architecture. Prentice-Hall, second edition, 1991c. Douglas E. Comer. Computer Networks and Internets, chapter Network Ownership, Service Paradigm, And Per<strong>for</strong>mance. Prentice Hall, first edition, 1997. Lynn Conway, Richard A. Volz, and Michael W. Walker. Teleautonomous systems: Projecting and coordinating intelligent action at a distance. IEEE Transactions on Robotics and Automation, 6(2):146–158, April 1990. B. Dalton, H. Friz, and K. Taylor. Augmented reality based object modelling in internet robotics. In Matthew R. Stein, editor, Telemanipulator and Telepresence Technologies V, volume 3524, pages 210–217, Boston, USA, 1998. SPIE. B. Dalton and K. Taylor. A framework <strong>for</strong> internet robotics. In Roland Seigwart, editor, IROS Workshop Robots on the <strong>Web</strong>, pages 15–22, Victoria BC, Canada, 1998. Barney Dalton. Beyond <strong>Web</strong>cams: An Introduction to Internet <strong><strong>Telerobot</strong>ics</strong>, chapter A Distributed framework <strong>for</strong> Internet Robotics. MIT, 2001. In press. Barney Dalton, Harald Friz, and Ken Taylor. Augmented Reality on Internet <strong><strong>Telerobot</strong>ics</strong>. SPIE Robotics and Machine Perception, 8(1):5, March 1999. Barney Dalton and Ken Taylor. Distributed robotics over the internet. IEEE Robotics and Automation Magazine, 7(2), June 2000. J.D. Day and H. Zimmermann. The OSI reference model. Proc. of the IEEE, 71:1334–1340, December 1983. P. DePasquale, J. Lewis, and M. Stein. A Java interface <strong>for</strong> asserting interactive telerobotic control. In Telemanipulator and Telepresence Technologies IV, volume 3206, pages 159–69, Pittsburgh, PA, USA, 14–15 October 1997. SPIE. TCP. UNIX man page tcp(7). Digital Equipment Corporation. Part of Digital Unix documentation. D. Drascic, P. Milgram, and J. Grodski. Learning effects in telemanipulation with monoscopic versus stereoscopic remote viewing. In International Conference on Systems Man and Cybernetics, pages 1244–1249, Cambridge, MA, USA, 14-17 November 1989. Bruce Eckell. Thinking in Java. Prentic Hall, 1998. P Fiorini and R Oboe. Internet-based telerobotics: problems and approaches. In Proceedings of IEEE International Conference on Advanced Robotics, pages 765–770, July 1997.
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Techniques <strong
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iv Abstract not limited to control
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vi CONTENTS 3.7 User State . . . .
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viii CONTENTS 8.6.3 User Feedback .
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CHAPTER 3 The CGI System The first
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3.2 CGI 29 POST /cgi-win/telerobt.e
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3.2 CGI 31 [CGI] Request Protocol=H
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3.2 CGI 33 that the user submits th
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3.3 Client Side Extensions 35 3.3 C
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3.5 The UWA System 37 3.5 The UWA S
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3.5 The UWA System 41 Figure 3.7: A
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3.5 The UWA System 43 h offset v of
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3.7 User State 45 multiple users ar
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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 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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4.2 Reliability and Errors 69 Figur
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4.4 Limitations 73 The template mec
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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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7.3 Peer Architecture 129 The top l
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228 Chat Conversations and Comments
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