Teleworkbench: User Guide
Contents
1. Mamas Calorie ca 31MB Neuen Roboter mit folgender Konfiguration Einer Compost Vortundene Dateien ri ADA ch 19 Aug 2008 200 CODI b6 HR 10 AU 2008 Loe weitere Cate hochladen ee 65 Were Ay metere Date satie zu Jobers Experment wee Archvy Oate ZIP mt Jem Queticede Ses Esperanti hochgeladen werden d Define the robot robot module and program Exereners Roboter G ltig Allgemeine Daten Nr 7 User bee T Beschreibung Grazing algorithm Umgebung Zuf llige Hindernisverteiung Mods f r alle offen Laufzeit 00 02 Datenaufzeichmung 3A Roboter Nr Konfiguration Software 1 Khepero il unero s37 537 Bivetooth i 2 F Wraperali iion loader ni 637 Biyatocah Vorhandene Daten x n EL IELET EEE 427 637 Lee u 2 aug 2008 18 46 e Enable the experiment and exe cute it Figure 3 Set up Experiment References 1 Teleworkbench Paper 2 Teleworkbench Project Home Page http wwwhni upb de sct twb index_e php 3 Quicktime Player amp Plugin http www apple com quicktime 4 GPAC Project Home Page http gpac sourceforge net 5 MPEGAIP Project Home Page http www mpeg4ip net 6 Darwin Streaming Server developer apple com darwin projects streaming List of Commands of Teleworkbench Position The following are list of command related to robots postion Important to note each command is preceded by P 1 A number of robots A number of webcam field 0 ov2. number of webcam Answer q number of status 1 error 0 Webcam is off 1 Webcam is on
3. Figure 2 The live streamed video embedded on the website 4 2 Running Unregistered Experiments Using Only Robots Unlike the previous scenario in this scenario users can not only remotely direct or control the robots but they can also download user defined programs to robots However the programs MUST be located in a place reachable by the Teleworkbench server in this case it MUST be located within our local area network Thus for remote users there is no other way to download any program to robots unless they send the source code to us and let it compiled here Since the communication between the webserver and the Teleworkbench server can only be initiated by the webserver thus there is no information sent to users concerning the download process What users can do is to ask the server the status of the robot whether it is still in download mode or not As soon as the download process is over users can command the robots by simply sending the command string as described in the previous scenario Possible application will follow 4 2 1 Steps 1 Turn on the camera See 4 1 1 Step 1 2 Get the handle for a robot See 4 1 1 Step 2 3 Download the program 4 Control the robot if needed 4 3 Running Unregistered Experiments Using Robots and Virtual Ro bots Besides robots users can also involve one or many computers to act as virtual robots For example one computer may be a supervisor for one or many robots which can give or
4. Teleworkbench User Guide Andry Tanoto 19th August 2005 1 Introduction As the demand for using the Teleworkbench is getting higher I think it is wise for users to have a guidance for using the Teleworkbench what are requirements to access it hardware and software what tasks can cannot be done what output the Teleworkbench will produce and how to get the most out ofit They all will be described in detail in the following sections If you think that there is still not clear enough for you you can simply ask me by email to tanoto hni upb de 2 What is Teleworkbench I am sure that by the first time of hearing the term Teleworkbench every one of you will ask what it is Well Teleworkbench is a teleoperated platform or testbed for managing multi robot experiments 3 Access Requirements Basically every one of you can use Teleworkbench as long as you are connected to internet However to fully utilize the Teleworkbench system there are some hardware and software requirements Additionally you need also to have an account registered in our database 3 1 Hardware requirements e PC with fast enough processor Internet connection e Monitor recommended 800 x 600 pixel e Input device mouse or keyboard e No sound device required for current version 3 2 Software Requirements Operating system Windows recommended XP or 2000 or Linux e Any internet browser e Quicktime plugin for Windows for embedded video on website e O
5. d by Teleworkbench However the accessibility depends on the type of users whether they are registered or unregistered users Table 1 shows the output data along with its accessibility Login Username Mencto Passwort m Passwort vergessen Orientierung Intranet Webmaster a Schedule login Warring No permissiord Experenert Roboter G ltig Erpermene ID NEW Tem gastretung des Expenments Gearing aimericie an LSS ST In welcher Umgebung soll das Expenenent Oschgef hrt warden gt Isip nasenne am Der Mods Ort expenrnents en seat tame um Wie lange soll das Experiment kaufen re Sollen de Daten adpeseichnet werden e BE 2 Ti Search _ pleats C lt w MED prionta des Experiments w w es c Define the experiment C am a aD gt m gt mn em 5 Sesh a 3 oy User Roboter Laufzeit Beschreibung 2 0001 Wall falkaming on two robots 1 00 01 Wall following with 2 robots with sensor and position data sent by the 2 10 1 00 02 Download program which telis the robots to go to some target points 2 00 03 Leader and Follower b Schedule Menu Experiment Roboter guitig Roboter f r Experiment Nr 7 konfigurieren Nr Konfiguration _ Software 1 Feen si oder prerwell Bios 6 Format Binary 637 Datel L Braten P Khepera II sende Status wortet aul Stat Inf t4 7 wartet auf Start ich 4 4
6. der to robot and retrieve some information concerning the robots However since the computers used is not specified in the beginning the Teleworkbench server does not know about the existence of these computers The Teleworkbench Server will thus only listening to any connection requests Consequently the communication will be only initiated by the computers used as virtual robots Furthermore the robots cannot communicate with these virtual robots thus the virtual robots can only get information from the Teleworkbench server which is limited only to position information Possible application will follow 4 3 1 Steps The step in running this scenario is basically similar to the previous scenario except that now one or more computers will be used For security reason people outside our institute MUST give the program for the virtual robot in the source code form Later we will compile the code and execute it in one of our computers Users can make the virtual robot program either for MS Windows or Linux As a note the communication between the virtual robot and the Teleworkbench server will be accomplished through socket communication the detail steps are as follow 1 Develop programs for virtual robots and send the code to us 2 Turn on the webcam 3 Get the handle for the robot 4 Download the programs to robots 5 Watch the live streamed video 2 N Output Data Registered Users Unregistered Users Video Data MPEG4 video i
7. er all fields Answer a number of robots 2 F get field where the robot is F robot color id Answer f field number 3 I color IDs of robots I number of webcam field 0 over all fields Answer i id1 id2 id3 idn 4 P position of a robot P robot color id Answer p x y alpha 5 T time when the robot was found robot T robot color id time format time format before x ms 0 before x ms 1 at x ms 2 now in ms Answer t time Robot The following are list of command related to commands for robots Important to note each command is preceded by R 1 A allocate robot A robot id mode mode 0 color id mode 1 com id Answer a handle 1 false 2 B get robot BIOS version B robot id mode mode 0 color id mode 1 com id Answer b answer 3 C command to robot C handle robot com id command Answer c answer 4 F free robot F handle robot com id Answer f status 1 error 0 false 1 ok 5 S status of robot S robot id mode mode 0 color id mode 1 com id Answer s status 1 no such robot 0 free 1 used in experiment 2 used by other user Webcam The following are list of command related to controlling the webcams Important to note each command is preceded by W 1 A status A number of webcam Answer a number of status 1 no such Webcam 0 Webcam is off 1 Webcam is streaming 2 Webcam will do down 2 Q run Webcam without logging Q
8. n MP4 container Communication log file Visualization Video MPEG4 video in MP4 container YES Table 1 Output data from Teleworkbench and its accessibility to different type of users 4 4 Running Registered Experiments Using only Robots This scenario is rather similar with the scenario in 4 2 except that now users can upload their own programs for robots Moreover after the experiment users can retrieve all information generated during the experiment see Section 5 Another advantage of being a registered user is that the field can be set up as requested 4 4 1 Steps 1 Go to schedule menu see Figure 3 a 2 Enter your username and password 3 Set up your experiment a Describe your experiment see Figure 3 c i Set the duration ii Define the mode public or restricted b Define the robot see Figure 3 d i Select which robot and module to use ii Upload the programs iii Assign the program to each robot c Enable your experiment and execute it see Figure 3 e 4 After the experiment is finished go to archive menu to get the data see Figure 3 f Possible application will follow 4 5 Running Registered Experiments Using Robots and Virtual Robots This scenario is basically the same as the previous scenario However not only robots but also one or many computers are used similar to scenario in 4 3 Possible application will follow 5 Output of Teleworkbench There are several data produce
9. ol a robot remotely using Teleworkbench Well the answer is yes and no This testbed is basically not meant for telerobotics Therefore even though users can control the robot via internet still it would be inconvenient and unreliable This is due to the delay of the feedback from the Teleworkbench server in a form of live streamed video Possible application will follow 4 1 1 Steps 1 Turn on the webcam e From the Live Camera menu type the length of the duration and select the time unit Click Start webcam button See Figure 1 for reference Soon after the webcamera started you can watch the live streamed video on the same webpage Figure 2 e Or from the Interactive menu type W Q cam time where cam is the webcam no there are five webcams but at present there is only one active camera and time is the video duration in second 2 Get the handle of one robot R A robot id mode 0 color id 1 communication id 3 Give command to the robot R C handle robot id mode command For more detail on command available please read the appendix Webcam 1 Life Cam 1 Duration 10 Second I Teleworkbench 1 Figure 1 The Live Camera menu User can activate the web camera for a certain period of time Webcam 1 Life Cam 1 Teleworkbench System amp Circuit Tehnology Search WE Deutsch Orientation Heinz Nixdorf Institute Working Groups SCT Teleworkbench Imprint Live Stream
10. therwise any MPEG4 player with xvid codec such as VLC mp4player etc e OSMO4 player to playback the visualization output file 3 3 Teleworkbench Account Requirement As aregular user you can mere do the following activities with the Teleworkbench system controlling the robot remotely telerobotics turning on the web camera to watch the video taken by the overhead camera e asking some information related to the position of robots on the field e retrieving data from the previous experiments from the data repository As a registered user you are not only eligible to activities forementioned but also to the main activity which is setting up and execute experiments using the experiment scheduler Registered users have higher priority than regular users It means that any resources that are used by the regular users can be automatically taken and used in experiments set up by registered users However the resources used in experiments cannot be accessed by regular users 4 Scenarios for Teleworkbench So after knowing the preparation for using Teleworkbench we will find out how this testbed can be used There are mainly four scenarios that we can deploy on the Teleworkbench system The details will be presented in the following subsections 4 1 Robot Remote Control This activities is known as well as telerobotics which is basically an effort to control a robot remotely Perhaps some of you might wonder whether it is possible to contr
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