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

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vi CONTENTS 3.7 User State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 3.7.1 Users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 3.8 Move Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 3.8.1 Single Moves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 3.8.2 Image Defined Moves . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 3.8.3 Multiple Moves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 3.9 Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 3.10 HTML page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 3.11 Robot Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 3.11.1 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 3.11.2 Communication Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . 59 3.12 Image Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 3.12.1 Communication Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . 61 3.13 Live Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 4 CGI Results and Discussion 63 4.1 <strong>Telerobot</strong> Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 4.2 Reliability and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 4.2.1 Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 4.2.2 Closure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 4.3 Strengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 4.3.1 Flexibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 4.4 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 4.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 5 Network Protocols and Architectures 77 5.1 Protocol Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 5.2 Internet Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 5.2.1 Network Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 5.2.2 TCP Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.2.3 What can be controlled by an Applet? . . . . . . . . . . . . . . . . . . . 84 5.3 Testing network behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.3.1 Round Trip Times - TCP . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.3.2 Round Trip Times - UDP . . . . . . . . . . . . . . . . . . . . . . . . . . 87 5.3.3 Conclusions from Network Tests . . . . . . . . . . . . . . . . . . . . . . 95 5.4 <strong>Web</strong> <strong>Telerobot</strong> Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 5.5 Distributed Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 5.5.1 CORBA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 5.5.2 Remote Method Invocation . . . . . . . . . . . . . . . . . . . . . . . . . 100 5.5.3 Message Oriented Middleware . . . . . . . . . . . . . . . . . . . . . . . 101 5.5.4 Java based frameworks . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 5.5.5 Connection Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . 102 5.6 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 6 A First Step Away from CGI 105 6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 6.2 Internet Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 6.3 Middleware Technologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 6.3.1 CORBA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 6.3.2 Remote Method Invocation . . . . . . . . . . . . . . . . . . . . . . . . . 108
CONTENTS vii 6.3.3 Message Oriented Middleware . . . . . . . . . . . . . . . . . . . . . . . 108 6.3.4 Comparison of Middleware . . . . . . . . . . . . . . . . . . . . . . . . 108 6.4 The Framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 6.4.1 The Router . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 6.4.2 Peers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 6.5 The Framework in Practice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 6.6 Future Work and Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 7 Distributed Architecture 117 7.1 Revised Framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 7.1.1 Contexts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 7.1.2 Transceivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 7.1.3 Parcels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 7.2 The MOM Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 7.2.1 Communication Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 7.2.2 Context Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 7.2.3 Parcels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 7.2.4 Queues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 7.3 Peer Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 7.3.1 Communication Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 7.3.2 Context Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 7.3.3 Client Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 7.3.4 Presentation Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 7.4 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 7.4.1 Socket Transceiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 7.4.2 RMI Transceiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 7.4.3 Other Transceivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 7.4.4 Comparison of Transceivers . . . . . . . . . . . . . . . . . . . . . . . . 143 7.4.5 Adaptive Bandwidth and Stream Separation . . . . . . . . . . . . . . . . 144 7.5 Source Code Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 8 The Framework in Practice 149 8.1 MOM Based <strong>Telerobot</strong> System . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 8.2 Robot Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 8.2.1 Robot Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 8.2.2 Robot Clients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 8.3 Image Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 8.3.1 Image Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 8.3.2 Image Client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 8.4 Peer Collaboration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 8.4.1 Chat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 8.4.2 Workspace Modelling . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 8.5 Client Applet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 8.5.1 The Image Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 8.5.2 Robot Command Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 8.5.3 Console Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 8.5.4 Using the Applet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 8.6 Results and Experiences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 8.6.1 Use of the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 8.6.2 User Collaboration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Page 1: Techniques <strong
Page 4 and 5: iv Abstract not limited to control
Page 8 and 9: viii CONTENTS 8.6.3 User Feedback .
Page 10 and 11: x LIST OF FIGURES 4.7 Types of erro
Page 13: Acknowledgements I would like to th
Page 16 and 17: 2 Introduction Research for
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Page 22 and 23: 8 Background and Related Work Share
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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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3.8 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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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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