Presentation is loading. Please wait.

Presentation is loading. Please wait.

Combining the strengths of UMIST and The Victoria University of Manchester RoboViz – CompuSteer Network Programme Interim Summary Key Partners: Anja Le.

Similar presentations


Presentation on theme: "Combining the strengths of UMIST and The Victoria University of Manchester RoboViz – CompuSteer Network Programme Interim Summary Key Partners: Anja Le."— Presentation transcript:

1 Combining the strengths of UMIST and The Victoria University of Manchester RoboViz – CompuSteer Network Programme Interim Summary Key Partners: Anja Le Blanc, Paul Kuchar, Martin Turner, Rob Richardson, Aladdin Aayesh, Ghada Al Hudhud

2 15th September 2006RoboViz, CompuSteer Workshop2 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)

3 15th September 2006RoboViz, CompuSteer Workshop3 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 Groups Within the Network

4 15th September 2006RoboViz, CompuSteer Workshop4 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

5 15th September 2006RoboViz, CompuSteer Workshop5 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

6 15th September 2006RoboViz, CompuSteer Workshop6 CompuSteer Schedule 1 st 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

7 15th September 2006RoboViz, CompuSteer Workshop7 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 1 st (July 2006) and 2 nd 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.

8 15th September 2006RoboViz, CompuSteer Workshop8 SEAPI – High level API network simulator Overview (slide 1 of 2)

9 15th September 2006RoboViz, CompuSteer Workshop9 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 WEAPON SYSTEM LEGACY WEAPON SYSTEM NEW ?? ? HL A DIS SE-API ?? ? HL A DIS SE-API ?? ? HL A DIS SE-API NRT MODEL I/FSYSTEM SIMULATIONS TRIALS REPLAY I/F HIGH FIDELITY 6 DoF MODEL TRIALS DATA DIS/HLA Highway Synthetic Environment Application Programmers Interface (SEAPI) – with Permission (slide 2 of 2)

10 15th September 2006RoboViz, CompuSteer Workshop10 CompuSteer Schedule 2 nd 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

11 15th September 2006RoboViz, CompuSteer Workshop11 CompuSteer Schedule Future Visits/Workshop, December-January 2006 1. e-Science Access Grid enabled talk by Manchester to give. 2. Full duplex communication trials – discussed simultaneously over Access Grid 3. Three network prototype to be tested simultaneously: Intra robot comms., robot steering comms., and command centre (Access Grid) cross comms.

12 15th September 2006RoboViz, CompuSteer Workshop12 Often large racks of CPU clusters controlled remotely, in a possible Grid manner, outputting visual or data analysis, Computational Steering is … Archimedes Eureka moment University of Manchester Physics 2000 cpu box – Reynolds House Think laterally now – use Robotic Control and Tele-presence ideas. A scenario that without time travel was unlikely to happen, but… CFD and FEA computational steering model

13 15th September 2006RoboViz, CompuSteer Workshop13 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.

14 15th September 2006RoboViz, CompuSteer Workshop14 Pioneer Robots Think of them as – Linux Box on wheels – with other bits. Components: CPU blades are now Robots One of dozens of possible webcams and drivers to be tested!

15 15th September 2006RoboViz, CompuSteer Workshop15 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. Components: Data status lines

16 15th September 2006RoboViz, CompuSteer Workshop16 Firewire cameras Access Grid clone camera – installable :-) USB?? Camera - possible (not shown) Do have standard Linux Box limitations – drivers :-( Components: They do have Cameras Bumblebee Stereocamera gold block

17 15th September 2006RoboViz, CompuSteer Workshop17 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 Networking – Proposed Links

18 Combining the strengths of UMIST and The Victoria University of Manchester What are Pioneer Robots and novel intra-robot flocking rules?

19 15th September 2006RoboViz, CompuSteer Workshop19 What is a Robot Cluster? Think of 100s 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

20 Combining the strengths of UMIST and The Victoria University of Manchester What is the Access Grid?

21 15th September 2006RoboViz, CompuSteer Workshop21 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…

22 15th September 2006RoboViz, CompuSteer Workshop22 What is the Access Grid?

23 15th September 2006RoboViz, CompuSteer Workshop23 What is Multicast? Compared with Unicast.

24 Combining the strengths of UMIST and The Victoria University of Manchester What Can I do with the Access Grid?

25 15th September 2006RoboViz, CompuSteer Workshop25 What can I do with Access Grid? A 12-site meeting between UK nodes

26 15th September 2006RoboViz, CompuSteer Workshop26 What can I do with Access Grid? A meeting with three UK nodes and Pittsburgh

27 15th September 2006RoboViz, CompuSteer Workshop27 What can I do with Access Grid? Performance Art

28 15th September 2006RoboViz, CompuSteer Workshop28 What can I do with Access Grid? Virtual Genomics 2004

29 15th September 2006RoboViz, CompuSteer Workshop29 What can I do with Access Grid? SC Global 2004 ~ 41 Sites

30 15th September 2006RoboViz, CompuSteer Workshop30 What can I do with Access Grid? SC Global 2004 ~ 41 Sites

31 15th September 2006RoboViz, CompuSteer Workshop31 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

32 15th September 2006RoboViz, CompuSteer Workshop32 Over 80 nodes …and rising! e-Science Virtual Research Environments e-Social Science Teaching Seminars, etc. Art Music

33 Combining the strengths of UMIST and The Victoria University of Manchester Packet Based Data – Test Music

34 15th September 2006RoboViz, CompuSteer Workshop34 Packet Based Data VIC and RAT UDP – packet loss – latency etc. Synchronisation issues Buffer optimisation for a fixed delay latency

35 15th September 2006RoboViz, CompuSteer Workshop35 VIC - Videoconferencing Tool

36 15th September 2006RoboViz, CompuSteer Workshop36 RAT - Robust Audio Tool

37 15th September 2006RoboViz, CompuSteer Workshop37 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 24, 33, 10, 0 234, 1, 54, 3 1, 43, 56, 46 7, 23, 4, 23 76, 38, 91, 3 10, 68, 59, 1 24, 33, 10, 0 234, 1, 54, 3 1, 43, 56, 46 7, 23, 4, 23 76, 38, 91, 3 10, 68, 59, 1 24, 33, 10, 0, 234, 1, 54, 3, 1, 43, 56, 46, 7, 23, 4, 23, 76, 38, 91, 3, 10, 68, 59, 1

38 15th September 2006RoboViz, CompuSteer Workshop38 Play-out Buffering 24, 33, 10, 0 234, 1, 54, 3 1, 43, 56, 46 7, 23, 4, 23 24, 33, 10, 0 234, 1, 54, 31, 43, 56, 467, 23, 4, 23 24, 33, 10, 0 234, 1, 54, 3 1, 43, 56, 46 7, 23, 4, 23

39 15th September 2006RoboViz, CompuSteer Workshop39 Synchronization 24, 33, 10, 0 234, 1, 54, 3

40 Combining the strengths of UMIST and The Victoria University of Manchester Latency and Loss

41 15th September 2006RoboViz, CompuSteer Workshop41 Latency Network Latency (Prioritise Traffic to guarantee latency) Encoder Decoder Send-out Buffer Play-out Buffer Encoder Decoder Send-out Buffer Play-out Buffer

42 15th September 2006RoboViz, CompuSteer Workshop42 Loss 24, 33, 10, 0 234, 1, 54, 3 1, 43, 56, 46 7, 23, 4, 23 24, 33, 10, 0 234, 1, 54, 31, 43, 56, 46 24, 33, 10, 0 1, 43, 56, 46 7, 23, 4, 23

43 15th September 2006RoboViz, CompuSteer Workshop43 Latency vs Loss LatencyLoss

44 Combining the strengths of UMIST and The Victoria University of Manchester Experimental Space

45 15th September 2006RoboViz, CompuSteer Workshop45 Suitability of Spaces Experimental remote control to create a feasibility proof-of- principle test-bed environment: 1. Multiple DMU robots (autonomous, emergent behaviour) 2. via Manchester Access Grid enabled Command Centre 3. with advice from other Command Centres Stereoscopically equipped Access Grid spaces and areas for maze creation

46 15th September 2006RoboViz, CompuSteer Workshop46 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.

47 15th September 2006RoboViz, CompuSteer Workshop47 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.

48 15th September 2006RoboViz, CompuSteer Workshop48 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.


Download ppt "Combining the strengths of UMIST and The Victoria University of Manchester RoboViz – CompuSteer Network Programme Interim Summary Key Partners: Anja Le."

Similar presentations


Ads by Google