1. Cellular Control for Mobile Robotics Allen Kemp Imaging, Robotics, & Intelligent Systems Laboratory The University of Tennessee October 11, 2005

2. Outline • Motivation • Cellular Networking (Task 3) • Available Technologies • Network Topology • Equipment To Be Used • Future Work • Software Development (Task 2) • The Diverse Control Scheme Problem • Features of the Current Software • Future Work • Hardware Test Platform (Task 1) • Previous Work with Remote Rider • Issues with System • Future Work • Conclusion and Paper Status (Task 4)

3. Motivation • Problem: Current Interface Schemes for Mobile Robotics Platforms and Sensor Bricks require either direct access or both systems having access to LAN connection • Problematic for Demos • Limits “Real World” utility • Solution: Utilize Existing Broadband Networks greatly reduces the access problem • Possible to connect from anywhere with a cellular signal • Increases Flexibility in terms of network requirements for robots and bricks

4. Motivation • Goal: Create a cellular based control and monitoring system for the IRIS Lab’s Mobile Robotics units and Sensor Bricks • Work across a wide range of devices (PDA, PDA-phone, Laptops, Palmtops) • Offers enough bandwidth to support both the sending and receiving of command signals and multimedia streams • Software should fit within the JAUS/ORCA standard currently being implemented by the Mobile Robotics and Sensor Brick groups.

5. Cellular Networking(Task 3)

6. Available Technologies • Cellular Communications available in North America can be broken into two main technology types: • GSM (Cingular/ATT, T-Mobile, Virgin-Mobile) • CDMA (Verizon Wireless, Nextel/Sprint, Cricket) • Currently, Verizon is the only service provider that offers cellular broadband service. • EVDO Network, capable of 400 – 700 kbps with 2.0 Mbps • Broadband coverage available in 60 metropolitan areas (including Knoxville) and growing

7. Network Topology

8. Network Topology

9. Cellular Equipment • Initial system would be composed of 4 cellular units • Samsung i730 PDA • Cellular Broadband • Windows Mobile 2003 2nd Edition • Integrated Bluetooth and 802.11b/g • Verizon Wireless V620 • Cellular Broadband • 32bit PC-Card interface • Antenna able to be replaced with high gain unit V620 i730 (pictures courtesy of www.verizonwireless.com

10. Future Work for Task 3 • Complete Purchase of Equipment • Implement and test several different network configurations • Perform analysis of network performance

11. Software Development(Task 2)

12. Diverse Control Problem • Need to control a variety of systems with a common interface • JAUS – unified messaging system for robotic systems • Control Center – issues messages to primitive drivers • Primitive Drivers – sit “on top” of robot’s software, interprets messages sent from Control Center into drive commands specific to that robot. • Takes burden of multiple interfaces away from end user and transfers it to software • Greatly simplifies the interface to be displayed on PDA

13. Current Software • Built using the .Net Compact Framework • Subset of the .Net Framework, excludes XML processors, many drawing/graphical routines • Code can run on either Windows CE or Windows Mobile Operating Systems • Current Features: • Connection functionality via TCP or UDP protocols • Movement controls for both analog and digital control schemes • Can function as either “client” or “server” • Currently testing using SafeBot • Can establish connection • Trouble sending byte compatible drive codes

14. Current Software Connection Dialog Digital Drive Dialog Analog Drive Dialog

15. Future Work • Add support for uniform messaging format • Add support for direct control of Andy-Bot • Continue Work on Video Support • Currently Software is able to receive data whose source was a bitmap frame from captured video but has issues displaying the buffer • .Net does not natively support video streaming, have to resort to rapid picture frame updating in order to create a low frame rate animation

16. Hardware Platform(Task 1)

17. Previous Work • Updated initial version of Remote Rider to include: • Remote turning with no moving parts (magnetic field manipulation) • No-touch Segway initialization • Eliminated need for onboard computer

18. Issues with System • Segway was heavily damaged in Spring of 2005 • Left Handle (used for turning) held to system only by communications cable • Cable used for signal transmission to and from handle was damaged • System effectively has a short, will not reliably start • Randomly shuts down in mid-ride, not user safe • Repair is problematic • Two new Remote Rider Designs are ready for implementation, but on hold because of Segway damage. • Replacement of linear displacement system with modified pendulum system with a tracked load • Improvement of linear weight displacement system with a “smart” stepper motor capable of providing feedback and moving large amount of mass

19. Current Issues

20. Future Work • Segway Repair • Self-Repair • Possible Warranty Repair • System Replacement • Build revised Remote Rider System • Update Communications Hardware to work with Cellular Network

21. Review • Cellular Networking (Task3) • Survey of Available Technologies completed • Equipment and Services Proposal submitted • Software Development (Task 2) • Pocket Pc based software being debugged and tested • Connects to SafeBot correctly • Video display is being debugged and tested • Hardware Development (Task 1) • Segway is in need of serious Repair • New version of Remote Rider is ready for development, contingent upon repair of Segway

22. Report (Task 4) • Project Report • Abstract and Introduction (.5/2) • Hardware Overview (2/4) • Software Overview (1/6) • Communications Overview (2/5) • Experimentation (0/3) • Conclusions (0/2)

23. Future Work • Cellular Communications • Obtain and setup equipment • Test reliability of service and transmission speeds • Software • Fully implement unified messaging system • Provide direct to robot/brick interfaces for each system as backup • Fully implement video display control • Hardware • Repair or Replace Segway • Renovate Remote Rider Design • Demo system with Cellular Network

24. Questions? Thank you for your Time and Attention. Are There any Questions?