Workshop on Wireless and Networked Robots, ICRA, 2004 Wireless Network Architectures for Collaborative Tele-operation Dezhen Song Ken Goldberg University of California, Berkeley Supported in part by
robot participants remote environment
Robot System Taxonomy (Tanie, Matsuhira, Chong 00) Single Operator, Single Robot (SOSR): Single Operator, Multiple Robot (SOMR): Multiple Operator, Single Robot (MOSR):
Applications
Related Work • Recent Networked Robots – – – Schenker et al. (01) Goldberg and Siegwart (02) Coppin, P. and Wagner, M. D. (02) Konukseven, I. , Erkmen, A. et al (02) Meng et al. (03) Bicchi et al. (04) • SOSR – Tanie, K. , Arai, H. et al. (00) – Lynch, K. and Liu, C. (00) – Fong, T. , Thorpe, C. , et al(01)
Related Work • SOMR – Hu, Yu, Tsui, Zhou (01) – Jia, Takase (01) • MOMR – Fukuda, Xi, Liu, Elhajj et al. (00, 02) – Tanie, Chong, et al. (00) • MOSR – Cinematrix (91) – Cannon, Mc. Donald, et al. (97) – Goldberg et al. (00, 01, 02, 03)
Multi-Operator Single Robot (MOSR) System Operators Remote Environment
The “Tele-Actor”: Operators Remote Environment
Requirements • • • Low cost Omni-directional Light in weight Low power consumption Small in size Moderate range (>80 M)
Analog vs Digital RF Transmitter RF Receiver Digitizer Analog Wireless Digitizer Transmitter Digital Wireless Receiver
Analog Wireless Cameras Products X 10 XCam 2 Microcam Price Weight Range Resolution Frequency $80 >150 Grams 30 M 380 2. 4 Ghz horizontal lines $250 20 Grams 100 M 380 2. 4 Ghz horizontal lines
System Architecture (2001) Berkeley Remote Site Tele-Actor Server Analog 2. 4 Ghz Internet Users Local Director Anywhere Tele-Actor
Field Test for Analog Wireless Microcam July 18 th, 2001, SF Opera House, 5 th Annual Webby Awards
Analog Wireless Summary • Pros – Full motion picture in video transmission – Easy to configure – No noticeable time delay in transmission • Cons – – – Interfere with 802. 11 b Sensitive to noisy Hard to expand due to peer topology Only transmit analogy signal Not flexible in selecting hardware
Digital Wireless Options Types Bluetooth 2 G 802. 11 b Range 10 M 10 KM 100 M Bandwidth 721 kbps 10~20 Kbps 11 Mbps
System Architecture (2002 -) Berkeley Tele-Actor Server Remote Site Camera Person Local Director Wireless Network (802. 11 b) Internet Wireless Basestation Users Anywhere Tele-Actor
Hardware Helmet designed by E. Paulos
802. 11 b Field Tests Nov. 8 & Dec. 19, 2001, UC Berkeley Micro-fabrication Laboratory Jul. 26, 2002, Michael Eisen's Biotechnology lab at Lawrence Berkeley National Laboratory
802. 11 b Field Tests • HTTP • Vo. IP • Videoconferencing Feb 13, 2002, SF Exploratorium
Genetics Laboratory (LBL) November 2002 14 seniors from Galileo High, SF
Summary • 802. 11 b – Pros • Flexible in network topology • Transmit all types of signals • Widely accepted as standard – Cons • • Limited bandwidth Noticeable time delay in signal Sensitive to interference (2. 4 Ghz band is busy. ) Problematic in roaming between networks
Future Types 802. 11 a 3 G 4 G Range 100 m? >10 km ? Bandwidth 54 Mbps 384 kbps~1 Mbps ? Dez Song: dzsong@ford. ieor. berkeley. edu Ken Goldberg: goldberg@ieor. berkeley. edu
Скачать презентацию Workshop on Wireless and Networked Robots ICRA 2004
e744a420f98a53ccd0c745f74e24405e.ppt