Internet Based Multimedia Interface
for the
Control and Navigation of a Mobile Platform
 

Authors:
            V. Sequeira
            E. Bovisio
            J.G.M. Goncalves

Location:
            European Commission - Joint Research Centre
            Institute for Systems, Informatics and Safety

This paper describes a system that uses Internet compatible multi-media technologies.

The aim is to have a mobile platform equipped with on-board sensors and cameras remotely piloted by means of a standard Internet interface.

The main objective for the development of such a system is to demonstrate and evaluate the possibility of having robotics devices remotely controlled using Internet standards, i.e., IP protocol, HTML, VRML and Java.





1. Introduction
2. Problems of Remote Control
    2.1 Graphical Interface
3. Internet Technologies
    3.1 Some Concepts
    3.2 Java and VRML
    3.3 Transmission of Video Images Over the internet/intranet
4. Design of the Interface
    4.1 Software Architecture
    4.2 Human Computer Interface
        4.2.1 Human Computer Interface: Steering Tools
            4.2.1.1 Manual
            4.2.1.2 Semi-Automatic
        4.2.2 Human Computer Interface: Visual Feedback
            4.2.2.1 Video Open Plan
            4.2.2.2 Robot's Video Camera
        4.3.3 Human Computer Interface: Position Feedback
5. System's Performance
    5.1 Local Tests
    5.2 Remote Test from Leeds (UK)
    5.3 Average Latency on Internet
    5.4 Discussion
6. Conclusions
7. Work in Progress
    7.1 Security
    7.2 Graphical Interface
8. References


 

1. Introduction

Internet is becoming increaslingly pervasive in today's and future society.

Much effort is being made to reduce the real-time constraints of the original Internet by taking advantage of some aspects:

            Multi-cast - developed for distributing the same data to an extended group

           Delay contraints - packets that do not arrive in time are skipped

            Preferential routes - helps in keeping transmission delays under control

            Larger Bandwidths - most current example is low earth orbit satellites to establish worldwide data comunications networks

            Extensions to  the Internet Protocol - work is being done to improve protocols, which include guaranteeing a pre-determined bandwidth

These efforts allow the impelmentation of Internet based applications which require real-time capabilities.

Some projects have been implemented to allow tele-operated robots and other devices on the internet:

            *web cameras which can be moved

            *telescopes which can be interacted with remotely

            *control a model train

            *NASA Sojourner rover for a 2001 Mars mission

2. Problems of Remote Control
    2.1 Graphical Interface
3. Internet Technologies
    3.1 Some Concepts
    3.2 Java and VRML
    3.3 Transmission of Video Images Over the internet/intranet
4. Design of the Interface
    4.1 Software Architecture
    4.2 Human Computer Interface
        4.2.1 Human Computer Interface: Steering Tools
            4.2.1.1 Manual
            4.2.1.2 Semi-Automatic
        4.2.2 Human Computer Interface: Visual Feedback
            4.2.2.1 Video Open Plan
            4.2.2.2 Robot's Video Camera
        4.3.3 Human Computer Interface: Position Feedback
5. System's Performance
    5.1 Local Tests
    5.2 Remote Test from Leeds (UK)
    5.3 Average Latency on Internet
    5.4 Discussion
6. Conclusions
7. Work in Progress
    7.1 Security
    7.2 Graphical Interface
8. References