RoboViz – CompuSteer Network Programme Interim Summary

1. RoboViz – CompuSteer Network ProgrammeInterim Summary Key Partners: Anja Le Blanc, Paul Kuchar, Martin Turner, Rob Richardson, Aladdin Aayesh, Ghada Al Hudhud

2. 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) RoboViz, CompuSteer Workshop

3. Groups Within the Network • 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 RoboViz, CompuSteer Workshop

4. 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 RoboViz, CompuSteer Workshop

5. 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 RoboViz, CompuSteer Workshop

6. CompuSteer Schedule • 1st 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 RoboViz, CompuSteer Workshop

7. 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 • 1st (July 2006) and 2nd 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. RoboViz, CompuSteer Workshop

8. SEAPI – High level API network simulator Overview(slide 1 of 2) RoboViz, CompuSteer Workshop

9. DIS/HLA Highway DIS DIS DIS HLA HLA HLA ??? ??? ??? NRT MODEL I/F SYSTEM SIMULATIONS TRIALS REPLAY I/F SE-API SE-API SE-API WEAPON SYSTEM NEW WEAPON SYSTEM LEGACY TRIALS DATA HIGH FIDELITY 6 DoF MODEL Synthetic Environment Application Programmers Interface (SEAPI) – with Permission (slide 2 of 2) • 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 RoboViz, CompuSteer Workshop

10. CompuSteer Schedule • 2nd 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 RoboViz, CompuSteer Workshop

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

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

13. 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. RoboViz, CompuSteer Workshop

14. Components: CPU blades are now Robots • Pioneer Robots Think of them as – “Linux Box on wheels” – with other bits. One of dozens of possible webcam’s and drivers to be tested! RoboViz, CompuSteer Workshop

15. Components: Data status lines 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. RoboViz, CompuSteer Workshop

16. Components: They do have Cameras Bumblebee Stereo camera “gold” block • Firewire cameras • “Access Grid” clone camera – installable :-) • USB?? Camera - possible (not shown) Do have standard Linux Box limitations – drivers :-( RoboViz, CompuSteer Workshop

17. Networking – Proposed Links 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 RoboViz, CompuSteer Workshop

18. What is a Robot ‘Cluster’? • Think of 100’s 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 RoboViz, CompuSteer Workshop

19. What is the Access Grid?

20. 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… RoboViz, CompuSteer Workshop

21. What is the Access Grid? RoboViz, CompuSteer Workshop

22. What is Multicast? Compared with Unicast. RoboViz, CompuSteer Workshop

23. What Can I do with the Access Grid?

24. What can I do with Access Grid? A 12-site meeting between UK nodes RoboViz, CompuSteer Workshop

25. What can I do with Access Grid? A meeting with three UK nodes and Pittsburgh RoboViz, CompuSteer Workshop

26. What can I do with Access Grid? Performance Art RoboViz, CompuSteer Workshop

27. What can I do with Access Grid? Virtual Genomics 2004 RoboViz, CompuSteer Workshop

28. What can I do with Access Grid? SC Global 2004 ~ 41 Sites RoboViz, CompuSteer Workshop

29. What can I do with Access Grid? SC Global 2004 ~ 41 Sites RoboViz, CompuSteer Workshop

30. 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 RoboViz, CompuSteer Workshop

31. Over 80 nodes …and rising! • e-Science • Virtual Research Environments • e-Social Science • Teaching • Seminars, etc. • Art • Music RoboViz, CompuSteer Workshop

32. Packet Based Data – Test Music

33. Packet Based Data • VIC and RAT • UDP – packet loss – latency etc. • Synchronisation issues • Buffer optimisation for a fixed delay latency RoboViz, CompuSteer Workshop

34. VIC - Videoconferencing Tool RoboViz, CompuSteer Workshop

35. RAT - Robust Audio Tool RoboViz, CompuSteer Workshop

36. 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, 1 234, 1, 54, 3 234, 1, 54, 3 24, 33, 10, 0 24, 33, 10, 0 7, 23, 4, 23 7, 23, 4, 23 1, 43, 56, 46 1, 43, 56, 46 10, 68, 59, 1 10, 68, 59, 1 76, 38, 91, 3 76, 38, 91, 3 24, 33, 10, 0, 234, 1, 54, 3, 1, 43, 56, 46, 7, 23, 4, 23, 76, 38, 91, 3, 10, 68, 59, 1 RoboViz, CompuSteer Workshop

37. Play-out Buffering 1, 43, 56, 46 234, 1, 54, 3 7, 23, 4, 23 24, 33, 10, 0 234, 1, 54, 3 1, 43, 56, 46 7, 23, 4, 23 24, 33, 10, 0 1, 43, 56, 46 234, 1, 54, 3 7, 23, 4, 23 24, 33, 10, 0 RoboViz, CompuSteer Workshop

38. Synchronization 24, 33, 10, 0 234, 1, 54, 3 24, 33, 10, 0 234, 1, 54, 3 24, 33, 10, 0 234, 1, 54, 3 RoboViz, CompuSteer Workshop

39. Latency and Loss

40. Latency Send-out Buffer Decoder Play-out Buffer Encoder Encoder Play-out Buffer Decoder Network Latency (Prioritise Traffic to guarantee latency) Send-out Buffer RoboViz, CompuSteer Workshop

41. Loss 1, 43, 56, 46 234, 1, 54, 3 7, 23, 4, 23 24, 33, 10, 0 234, 1, 54, 3 1, 43, 56, 46 7, 23, 4, 23 24, 33, 10, 0 1, 43, 56, 46 7, 23, 4, 23 24, 33, 10, 0 RoboViz, CompuSteer Workshop

42. Latency vs Loss Latency Loss RoboViz, CompuSteer Workshop

43. Experimental Space

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

45. 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. RoboViz, CompuSteer Workshop

46. 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. RoboViz, CompuSteer Workshop

47. 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. RoboViz, CompuSteer Workshop