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Wireless Network Architectures for Collaborative Tele-operation
Dezhen Song
Ken Goldberg
University of California, Berkeley
Workshop on Wireless and Networked Robots, ICRA, 2004
Supported in part by
participants remoteenvironment
robot
Robot System Taxonomy (Tanie, Matsuhira, Chong 00)
Single Operator, Single Robot (SOSR):
Single Operator, Multiple Robot (SOMR):
Multiple Operator, Single Robot (MOSR):
Applications
Related Work• Recent Networked Robots
– Schenker et al. (01)– Goldberg and Siegwart (02)– Coppin, P. and Wagner, M.D. (02)– Konukseven, I., Erkmen, A. et al (02)– Meng et al. (03)– Bicchi et al. (04)
• SOSR– Tanie, K., Arai, H. et al. (00)– Lynch, K. and Liu, C. (00)– Fong, T., Thorpe, C., et al(01)
Related Work
• SOMR – Hu, Yu, Tsui, Zhou (01) – Jia, Takase (01)
• MOMR– Fukuda, Xi, Liu, Elhajj et al. (00,02)– Tanie, Chong, et al. (00)
• MOSR– Cinematrix (91)– Cannon, McDonald, et al. (97) – Goldberg et al. (00, 01, 02, 03)
RemoteEnvironment
Multi-Operator Single Robot (MOSR) System
Operators
The “Tele-Actor”:
Remote Environment
Operators
Requirements• Low cost• Omni-directional
• Light in weight
• Low power consumption
• Small in size
• Moderate range (>80M)
Analog vs Digital
RFTransmitter
RFReceiver
Digitizer
Transmitter ReceiverDigitizer
Analog Wireless
Digital Wireless
Analog Wireless CamerasProducts Price Weight Range Resolution Frequency
X10 XCam2 $80 >150 Grams
30M 380 horizontal lines
2.4Ghz
Microcam $250 20 Grams 100M 380 horizontal lines
2.4Ghz
System Architecture (2001)
Tele-Actor
Analog 2.4Ghz
Users
InternetInternet
Tele-Actor Server
Local Director
Remote SiteBerkeley
Anywhere
Field Test for Analog Wireless
July 18th, 2001, SF Opera House, 5th Annual Webby Awards
Microcam
Analog Wireless Summary
• Pros– Full motion picture in video transmission– Easy to configure– No noticeable time delay in transmission
• Cons– Interfere with 802.11b– Sensitive to noisy – Hard to expand due to peer to peer topology– Only transmit analogy signal– Not flexible in selecting hardware
Digital Wireless Options
Types Bluetooth 2G 802.11b
Range 10M 10KM 100M
Bandwidth 721 kbps 10~20Kbps 11Mbps
System Architecture (2002-)
Tele-Actor
Camera Person
Wireless Network
(802.11b)
Wireless Basestation
Users
InternetInternet
Tele-Actor Server
Local Director
Remote SiteBerkeley
Anywhere
Hardware
Helmet designed by E. Paulos
802.11b Field Tests
Nov. 8 & Dec. 19, 2001, UC Berkeley Micro-fabrication Laboratory
Jul. 26, 2002, Michael Eisen's Biotechnology lab at Lawrence Berkeley National Laboratory
802.11b Field Tests
Feb 13, 2002, SF Exploratorium
• HTTP• VoIP• Videoconferencing
Genetics Laboratory (LBL)November 2002
14 seniors from Galileo High, SF
Summary
• 802.11b– Pros
• Flexible in network topology
• Transmit all types of signals
• Widely accepted as standard
– Cons• Limited bandwidth
• Noticeable time delay in signal
• Sensitive to interference (2.4Ghz band is busy.)
• Problematic in roaming between networks
Future
Types 802.11a 3G 4G
Range 100m? >10km ?
Bandwidth 54Mbps 384kbps~1Mbps ?
Dez Song: [email protected]
Ken Goldberg: [email protected]
