1. Wireless Network Architectures for Collaborative Tele-operation Dezhen Song Ken Goldberg University of California, Berkeley Workshop on Wireless and Networked Robots, ICRA, 2004 Supported in part by

3. participants remote environment robot

4. Robot System Taxonomy (Tanie, Matsuhira, Chong 00) Single Operator, Single Robot (SOSR): Single Operator, Multiple Robot (SOMR): Multiple Operator, Single Robot (MOSR):

5. Applications

6. 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)

7. 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, McDonald, et al. (97) –Goldberg et al. (00, 01, 02, 03)

8. Remote Environment Multi-Operator Single Robot (MOSR) System Operators

9. The “Tele-Actor”: Remote Environment Operators

10. Requirements Low cost Omni-directional Light in weight Low power consumption Small in size Moderate range (>80M)

11. Analog vs Digital RF Transmitter RF Receiver Digitizer Transmitter Receiver Digitizer Analog Wireless Digital Wireless

12. Analog Wireless Cameras ProductsPriceWeightRangeResolutionFrequency X10 XCam2$80>150 Grams 30M380 horizontal lines 2.4Ghz Microcam$25020 Grams100M380 horizontal lines 2.4Ghz

13. System Architecture (2001) Tele-Actor Analog 2.4Ghz Users Internet Tele-Actor Server Local Director Remote Site Berkeley Anywhere

14. Field Test for Analog Wireless July 18 th, 2001, SF Opera House, 5 th Annual Webby Awards Microcam

15. Analog Wireless Summary Pros –Full motion picture in video transmission –Easy to configure –No noticeable time delay in transmission Cons –Interfere with 802.11b –Sensitive to noisy –Hard to expand due to peer to peer topology –Only transmit analogy signal –Not flexible in selecting hardware

16. Digital Wireless Options TypesBluetooth2G802.11b Range10M10KM100M Bandwidth721 kbps10~20Kbps11Mbps

17. System Architecture (2002-) Tele-Actor Camera Person Wireless Network (802.11b) Wireless Basestation Users Internet Tele-Actor Server Local Director Remote Site Berkeley Anywhere

18. Hardware Helmet designed by E. Paulos

19. 802.11b 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

20. 802.11b Field Tests Feb 13, 2002, SF Exploratorium HTTP VoIP Videoconferencing

21. Genetics Laboratory (LBL) November 2002 14 seniors from Galileo High, SF

25. Summary 802.11b –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 (2.4Ghz band is busy.) Problematic in roaming between networks

26. Future Types802.11a3G4G Range100m?>10km? Bandwidth54Mbps384kbps~1Mbps? Dez Song: dzsong@ford.ieor.berkeley.edu Ken Goldberg: goldberg@ieor.berkeley.edu