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RoboViz – CompuSteer Network Programme Interim Summary. Key Partners: Anja Le Blanc, Paul Kuchar, Martin Turner, Rob Richardson, Aladdin Aayesh, Ghada Al Hudhud. On The Menu. Groups Involved Schedule of Events – Past and Future What is Computational Steering – narrow view.

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roboviz compusteer network programme interim summary

RoboViz – CompuSteer Network ProgrammeInterim Summary

Key Partners:

Anja Le Blanc, Paul Kuchar, Martin Turner, Rob Richardson, Aladdin Aayesh, Ghada Al Hudhud

on the menu
On The Menu
  • Groups Involved
  • Schedule of Events – Past and Future
  • What is Computational Steering – narrow view.
  • What is Robotic Tele-presence
  • Component
    • Of a Robot
    • Of the Access Grid
  • Networking Issues
    • RAT and VIC definitions
    • Synchronization
    • Packet Loss
    • Latency in the system
  • Conclusions (wait until Easter)

RoboViz, CompuSteer Workshop

groups within the network
Groups Within the Network
  • Cross-University Visits: Robotics

Centre for Computational Intelligence, Research Group, Intelligent Mobile Robots and Creative Computing @ De Montfort University

Manchester Robotics @ The University of Manchester

RoboViz, CompuSteer Workshop

groups within the network1
Groups Within the Network
  • Cross-University Visits: Visualization Skills

Virtual Environment Centre @ De Montfort University

Manchester Visualization Centre @ The University of Manchester

  • And the Access Grid Support Centre

RoboViz, CompuSteer Workshop

schedule of events
Schedule of Events
  • Calendar….
    • 21 May - initial conference phone session for bid completion.
    • May Preliminary Access Grid Sessions: Assignment of key objectives.
    • Early June - 2 people visit Manchester minimum 2 days
    • Late June Access Grid feasibility test of robot communication – delayed due to holidays.
    • August – 3 people visit DMU minimum 2 days
    • Late September Feasibility test link: IP control
    • December - 2 people visit: Purpose proposal writing, minimum 2 days
    • January - Second Feasibility test link – remote observation and control

RoboViz, CompuSteer Workshop

compusteer schedule
CompuSteer Schedule
  • 1st Visit – workshop, De Montfort University visit to Manchester: June 2006
    • e-Science Access Grid enabled talk by DMU: fully recorded.
    • Description of DMU intra-robot communication library: prototype proof of principle used in Virtual Environment Centre (DMU) and live with a set of two pioneer robots
    • Tours and experience of Manchester Robot lab., and Visualization/Access Grid spaces

RoboViz, CompuSteer Workshop

compusteer schedule1
CompuSteer Schedule
  • Access Grid Sessions, July-August 2006
    • Impossible Problem Proposition – see later
    • Network design and grant proposals:
      • DTC – Defence Technology Centre; Innovation Fund, SEAS Sensors centre
        • 1st (July 2006) and 2nd proposal stages (due November 2006)
        • Full partner calls on range of Defence Technology Centres (due Spring 2007)
      • EU/EPSRC research opportunities: key personnel (AI communications) being contacted
      • PhD proposals inc. cross university supervision/advisory status being possible.
    • Software/driver installation feasibility program of tests.

RoboViz, CompuSteer Workshop

synthetic environment application programmers interface seapi with permission slide 2 of 2

DIS/HLA Highway

DIS

DIS

DIS

HLA

HLA

HLA

???

???

???

NRT MODEL I/F

SYSTEM

SIMULATIONS

TRIALS REPLAY I/F

SE-API

SE-API

SE-API

WEAPON

SYSTEM

NEW

WEAPON

SYSTEM

LEGACY

TRIALS DATA

HIGH FIDELITY

6 DoF

MODEL

Synthetic Environment Application Programmers Interface (SEAPI) – with Permission (slide 2 of 2)
  • MBDA Distribute Simulation Interconnect Library
    • Minimum Overhead on Application
    • Implements – DIS and HLA
  • Flexibility
    • Open Systems
    • License Management
  • Cornerstone of Re-use
    • Used across MBDA
    • Projects & Functions
  • Deployable
    • CD Rom
    • User Guide
    • Worked Example
    • Tutorials

RoboViz, CompuSteer Workshop

compusteer schedule2
CompuSteer Schedule
  • 2nd Visit – workshop, Manchester visit to De Montfort University: August 2006
    • Tours and experience of DMU Robot lab., and (IOCT, Institute of Creative Technology) Access Grid and experimental space
    • Camera and video driver install-fest

RoboViz, CompuSteer Workshop

compusteer schedule3
CompuSteer Schedule
  • Future Visits/Workshop, December-January 2006
    • e-Science Access Grid enabled talk by Manchester to give.
    • Full duplex communication trials – discussed simultaneously over Access Grid
    • Three network prototype to be tested simultaneously: Intra robot comms., robot steering comms., and command centre (Access Grid) cross comms.

RoboViz, CompuSteer Workshop

computational steering is
Computational Steering is …
  • Often large racks of CPU clusters controlled remotely, in a possible Grid manner, outputting visual or data analysis,

A scenario that without time travel was unlikely to happen, but…

CFD and FEA computational steering model

University of Manchester Physics 2000 cpu box – Reynolds House

Archimedes Eureka moment

Think laterally now – use Robotic Control and Tele-presence ideas.

RoboViz, CompuSteer Workshop

roboviz computational steering ideas for robot telepresence
RoboViz – Computational Steering Ideas for Robot Telepresence

Two Assumptions

  • There are now extensive computational processing elements within robot.
  • Recent computer simulations have shown novel emergent behaviours with 20-30 different (virtual) robots using \'animal-like\' intelligence rules.

Thus this allows semi-autonomous computation processing modules designed to solve a specific task - as a cluster - and then relay information back to a command and control centre.

RoboViz, CompuSteer Workshop

components cpu blades are now robots
Components: CPU blades are now Robots
  • Pioneer Robots

Think of them as – “Linux Box on wheels” – with other bits.

One of dozens of possible webcam’s and drivers to be tested!

RoboViz, CompuSteer Workshop

components data status lines
Components: Data status lines

These CPUs come with unusual add-ons:

  • Sonar Sensors
  • Laser Scanner
  • Robotic arm grip
  • Proximity Detectors

but Linux Box limitations – low processor performance and low power requirements.

RoboViz, CompuSteer Workshop

components they do have cameras
Components: They do have Cameras

Bumblebee Stereo camera “gold” block

  • Firewire cameras
  • “Access Grid” clone camera – installable :-)
  • USB?? Camera - possible

(not shown)

Do have standard Linux Box limitations – drivers :-(

RoboViz, CompuSteer Workshop

networking proposed links
Networking – Proposed Links

System needs three Networks:-

  • Data stream from Robots to Command Centres
    • Light weight camera capture and encoding - RTP vic format
    • Integration via wi-fi-bridged network-multicast-Access Grid environment
    • Use of various stream formats; vic (video), rat (audio), custom (data)
  • Command Streams to Robots
    • VNC Virtual commands to bridging wi-fi robot/machine, or
    • Direct TCP/IP to robot (AI blackboard information - simple e-mail/status type system)
  • Between Command Centres
    • Standard Access Grid Environment

RoboViz, CompuSteer Workshop

what is a robot cluster
What is a Robot ‘Cluster’?
  • Think of 100’s of robots: need intra-robot communication – with semi-autonomous actions.
  • Use Flocking Rules:
  • Alignment
  • Collision Avoidance
  • Cohesion

Now Add Steering:

  • Direction Control – command centre instructions.

Simulator – VR environment, using all the rules including directed computational control for fire extinguishing task. Ghada

RoboViz, CompuSteer Workshop

what is the access grid1
What is the Access Grid?
  • An “Advanced Collaboration Environment”
  • Large-scale display – typically a whole wall
  • Multiple video streams from each site
  • Natural, full-duplex audio with echo cancellation
  • Uses IP multicast for video/audio
  • Commodity equipment
  • Open Source software
  • Commercial software, (inSORS)

Usually, but…

RoboViz, CompuSteer Workshop

what is the access grid2
What is the Access Grid?

RoboViz, CompuSteer Workshop

what is multicast
What is Multicast?

Compared with Unicast.

RoboViz, CompuSteer Workshop

what can i do with access grid
What can I do with Access Grid?

A 12-site meeting between UK nodes

RoboViz, CompuSteer Workshop

what can i do with access grid1
What can I do with Access Grid?

A meeting with three UK nodes and Pittsburgh

RoboViz, CompuSteer Workshop

what can i do with access grid2
What can I do with Access Grid?

Performance Art

RoboViz, CompuSteer Workshop

what can i do with access grid3
What can I do with Access Grid?

Virtual Genomics 2004

RoboViz, CompuSteer Workshop

what can i do with access grid4
What can I do with Access Grid?

SC Global 2004 ~ 41 Sites

RoboViz, CompuSteer Workshop

what can i do with access grid5
What can I do with Access Grid?

SC Global 2004 ~ 41 Sites

RoboViz, CompuSteer Workshop

reminder who has ag nodes in the uk
Reminder - Who has AG Nodes in the UK ?
  • Belfast
  • Birmingham (2)
  • BGS (2)
  • Bristol (3)
  • Cambridge
  • Cardiff (3)
  • Central Lancashire
  • Daresbury (3)
  • De Montford (2)
  • Diamond Light Source
  • Durham
  • East Anglia
  • Edinburgh (2)
  • Essex
  • Glasgow (2)
  • Hull
  • Imperial College
  • Lancaster (5)
  • Leeds (2)
  • Leicester
  • Liverpool (2)
  • Loughborough
  • Manchester (8)
  • NERC
  • Newcastle (4)
  • Nottingham (2)
  • Oxford (2)
  • Portsmouth (2)
  • RAL (2)
  • Reading
  • Salford (3)
  • Sheffield (3)
  • Sheffield Hallam
  • Southampton (2)
  • Surrey (3)
  • Sussex
  • UCL (3)
  • Wales
  • Warwick
  • Westminster
  • Wolverhampton
  • York

RoboViz, CompuSteer Workshop

slide31
Over 80 nodes

…and rising!

  • e-Science
  • Virtual Research Environments
  • e-Social Science
  • Teaching
  • Seminars, etc.
  • Art
  • Music

RoboViz, CompuSteer Workshop

packet based data
Packet Based Data
  • VIC and RAT
  • UDP – packet loss – latency etc.
  • Synchronisation issues
  • Buffer optimisation for a fixed delay latency

RoboViz, CompuSteer Workshop

vic videoconferencing tool
VIC - Videoconferencing Tool

RoboViz, CompuSteer Workshop

rat robust audio tool
RAT - Robust Audio Tool

RoboViz, CompuSteer Workshop

packet based music
Packet Based Music

24, 33, 10, 0, 234, 1, 54, 3, 1, 43, 56, 46, 7, 23, 4, 23, 76, 38, 91, 3, 10, 68, 59, 1

234, 1, 54, 3

234, 1, 54, 3

24, 33, 10, 0

24, 33, 10, 0

7, 23, 4, 23

7, 23, 4, 23

1, 43, 56, 46

1, 43, 56, 46

10, 68, 59, 1

10, 68, 59, 1

76, 38, 91, 3

76, 38, 91, 3

24, 33, 10, 0, 234, 1, 54, 3, 1, 43, 56, 46, 7, 23, 4, 23, 76, 38, 91, 3, 10, 68, 59, 1

RoboViz, CompuSteer Workshop

play out buffering
Play-out Buffering

1, 43, 56, 46

234, 1, 54, 3

7, 23, 4, 23

24, 33, 10, 0

234, 1, 54, 3

1, 43, 56, 46

7, 23, 4, 23

24, 33, 10, 0

1, 43, 56, 46

234, 1, 54, 3

7, 23, 4, 23

24, 33, 10, 0

RoboViz, CompuSteer Workshop

synchronization
Synchronization

24, 33, 10, 0

234, 1, 54, 3

24, 33, 10, 0

234, 1, 54, 3

24, 33, 10, 0

234, 1, 54, 3

RoboViz, CompuSteer Workshop

latency
Latency

Send-out

Buffer

Decoder

Play-out

Buffer

Encoder

Encoder

Play-out

Buffer

Decoder

Network Latency

(Prioritise Traffic to guarantee latency)

Send-out

Buffer

RoboViz, CompuSteer Workshop

slide41
Loss

1, 43, 56, 46

234, 1, 54, 3

7, 23, 4, 23

24, 33, 10, 0

234, 1, 54, 3

1, 43, 56, 46

7, 23, 4, 23

24, 33, 10, 0

1, 43, 56, 46

7, 23, 4, 23

24, 33, 10, 0

RoboViz, CompuSteer Workshop

latency vs loss
Latency vs Loss

Latency

Loss

RoboViz, CompuSteer Workshop

suitability of spaces
Suitability of Spaces
  • Experimental remote control to create a feasibility proof-of-principle test-bed environment:
  • Multiple DMU robots (autonomous, emergent behaviour)
  • via Manchester Access Grid enabled Command Centre
  • with advice from other Command Centres

Stereoscopically equipped Access Grid spaces and areas for maze creation

RoboViz, CompuSteer Workshop

the impossible aim
The “Impossible Aim”

A long term aim is that we wish to build a robust system, over a poor network to control a minimum of a thousand small autonomous robots with less than a dozen individual human operators, all potentially at different physical locations.

Probably not possible.

RoboViz, CompuSteer Workshop

summing up demo etc in easter
Summing up – demo etc. in Easter.

RoboViz is a small step in the way to consider robotic autonomous engines, as connected computational engines, that have to be steered and also have local communication modes towards each other as well as to and from command centres and operators.

RoboViz, CompuSteer Workshop

search and rescue robots
Search and Rescue Robots

Silly Aside.

  • It is possible to modify AIBOs for the Access Grid! as they appear to be programmable into web-servers.

RoboViz, CompuSteer Workshop

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