An Integrated Software-based Solution for Modular and Self-independent Networked Robot

📝 Abstract

An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated software solution covers three components : a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus.

💡 Analysis

An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated software solution covers three components : a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus.

📄 Content

arXiv:0812.0070v1 [cs.RO] 29 Nov 2008

An Integrated Software-based Solution for Modular and

Self-independent Networked Robot

I. Firmansyah, Z. Akbar, B. Hermanto and L.T. Handoko

Group for Theoretical and Computational Physics, Research Center for Physics

Indonesian Institute of Sciences (LIPI)

Kompleks Puspiptek Serpong, Tangerang 15310, Indonesia

firmansyah@teori.fisika.lipi.go.id, zaenal@teori.fisika.lipi.go.id

October 11, 2018

Abstract

An integrated software-based solution for a modular and self-independent networked robot is

introduced. The wirelessly operatable robot has been developed mainly for autonomous monitor-

ing works with full control over web. The integrated software solution covers three components

a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus. Keywords : networked robot, mobile monitoring, digital processing 1 Introduction During the last decades, automated systems embedded with remote robots are getting common in all aspects of human life. In some applications, it is motivated in most cases by the concern of safety as volcano observations and so forth. Furthermore, instead of radio-frequency based remote robots, in recent years the remote robot is evolutionary advancing to be networked robot. The technology migration is of course possible due to the advancements in internet technologies. Many groups have developed the so-called networked robots that is robotic systems controlled remotely over internet using TCP/IP protocol. Most of them fall into the category to support human daily life, or to realize more interactive humanoids. One example is the WAX Project which is the second tele-operated internet robot at Ryerson Polytechnic Universities, the MAX Project [1]. The MAX Tele-Operated Dog has shown that a tele-operated robot controlled from over web is quite reliable [2][3]. On the other hand, the WAX puts together a procedure to change any robot into a tele-operated robot on the web [4]. Either MAX / WAX or MONEA are the microcontroller-based robots equipped with onboard computer, camera and microphone with a main purpose to simulate telepresence. Originally these robots were intended and simulated to support the handicapped persons. So the main issue is how to recognize the captured images or sounds and interpret them to be useful information for potential users. Another kind of networked robot is the MONEA (Message-Oriented NEtworked-robot Architecture) which is an efficient development platform architecture for multifunctional robots [5]. The architecture embeds a Networked-Whiteboard Model for information sharing framework along with Message passing framework via P2P Virtual Network using Interest-Oriented Module Groups and Software Patterns to reduce complexity risks. It has actually been designed to fulfill three features : embodying the Meta- Architecture for Networked-Robots, supporting Bazaar-Style Development Model, and no need of heavy weight middleware. The MONEA-based middleware has been implemented to develop a dialog robot for exhibition. On the other hand, there is also another usage of tele-operated mechanism to control and monitor simultaneously several robots over web [6]. The system provides a comprehensive platform enabling the users to customize each robot independently. In our present project of LIPI Networked Robot (LNR) we follow similar approach to develop a modular and self-independent wireless robot [7]. The difference is on the main objective to perform more serious tasks requiring telepresence for the reason of safety. For example : direct data retrieval in nuclear reactors, observation apparatus for volcanoes and so on. These kinds of purpose lead to completely different requirements. The robot should be able to acquire data in almost real-time basis, and then to process it at the robot’s local system as well. Therefore no need for the end-users to install certain softwares in a terminal connecting to the robot. The users just connect their terminals over wireless network and then pointing the browser to the assigned address of robot to display the analyzed results, while at same time it is able to control and monitor the robot’s movement, direction etc. Also, by definition there is no requirement on neither complex physical movement nor human interfaces. The present paper is focused on describing the whole aspects of software-based solution in LNR. Because the detailed hardware components in LNR has been presented previously [8][9]. Further, a real implementation in LNR as the prototype is discussed. Finally we summarize the results and mention future plans. 2 The concept Here, let us again review briefly the concept to realize the features mentioned ab

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