1. Web TeleRobotics Going Where no man has gone before.

2. We start at the very beginning Web TeleRobotics started with Goldberg’s Mercury project (Goldberg et al. 1995) and Taylor’s Australia’s Telerobot project (Taylor and Trevelyan, 1995). Web TeleRobotics started with Goldberg’s Mercury project (Goldberg et al. 1995) and Taylor’s Australia’s Telerobot project (Taylor and Trevelyan, 1995). These were not the first robots to be controlled over internet. Previous projects in the early 90’s looked into the internet as a cheap test environment for simulation of time delayed teleoperation. These were not the first robots to be controlled over internet. Previous projects in the early 90’s looked into the internet as a cheap test environment for simulation of time delayed teleoperation.

3. Taylor’s telerobot

4. Taylors telerobot 6 degree of Freedom arm. Multiple cameras provide user feedback. 6 degree of Freedom arm. Multiple cameras provide user feedback. Users could send move requests to the robot via a web page which included pictures of the robot workspace. Users could send move requests to the robot via a web page which included pictures of the robot workspace. System used the CGI – common gateway interface to generate dynamic web pages which showed the new state of the robot after each move. System used the CGI – common gateway interface to generate dynamic web pages which showed the new state of the robot after each move. A similar system is now installed at the Carnegie Science Museum. A similar system is now installed at the Carnegie Science Museum.

5. NASA Web Interface for Telescience (WITS) Used to control remote vehicles on planets such as Mars and Saturn. Used to control remote vehicles on planets such as Mars and Saturn. WITS was developed for 2003 and 2005 rover missions to mars. WITS was developed for 2003 and 2005 rover missions to mars. JAVA client interface launched from an HTML page. Applets are either downloaded each time the user accesses the page or are kept on the local machine and automatically updated. JAVA client interface launched from an HTML page. Applets are either downloaded each time the user accesses the page or are kept on the local machine and automatically updated. The complete download can take more than 10 minutes due to the size and complexity. The complete download can take more than 10 minutes due to the size and complexity.

6. WITS – Environment Views Overhead Panorama. Overhead Panorama. Height calculated form stereo vision images is represented in different colors. Height calculated form stereo vision images is represented in different colors.

7. WITS - Continued Mosaic panorama image gives a view over the landscape in a given direction. Mosaic panorama image gives a view over the landscape in a given direction.

8. WITS Continued All images have range data. All images have range data. Each pixel on an image is mapped to a 3D space. Each pixel on an image is mapped to a 3D space. Provides an easy point & click method for environment measuring by clicking & dragging. Provides an easy point & click method for environment measuring by clicking & dragging.

9. WITS Continued Multiuser System Multiuser System Science tasks are associated with each user and are stored in a database. Science tasks are associated with each user and are stored in a database. Tasks for the robot are programmed via the image maps. Tasks for the robot are programmed via the image maps. Visual tasks can be compiled down to language instructions that may be edited in situ. Visual tasks can be compiled down to language instructions that may be edited in situ.

10. WITS Summary A mission planning tool. A mission planning tool. Somewhat different purpose than other web telerobotics. Somewhat different purpose than other web telerobotics. Allows multiple scientists to collaborate together on a central mission plan stored on a central database. CGI is used to send requests to the database. Allows multiple scientists to collaborate together on a central mission plan stored on a central database. CGI is used to send requests to the database. The interface is completely decoupled from the actual rover that operated autonomously once it receives its instructions for a given day. The interface is completely decoupled from the actual rover that operated autonomously once it receives its instructions for a given day.

11. Berkeley Telegarden Project A robotic garden project. A robotic garden project. Users can plant and water the garden or just move around. Users can plant and water the garden or just move around. Interface uses standard CGI with no Java or Javascript. Interface uses standard CGI with no Java or Javascript. Image size quality and chat i/f are all controlled on a second page keeping the control page simple. Image size quality and chat i/f are all controlled on a second page keeping the control page simple.

12. Berkeley Telegarden – Cont. Robot motions are point & click i/f. Robot motions are point & click i/f. Movement is in a plane parallel to the ground and environment is restricted. Movement is in a plane parallel to the ground and environment is restricted. Watering and planting seeds are autonomous tasks performed by binary on/off indicators on the control page Watering and planting seeds are autonomous tasks performed by binary on/off indicators on the control page Tele-Garden Member View Tele-Garden Member View Tele-Garden Member View Tele-Garden Member View

13. Carnegie Mellon Univ. - Xavier Simmons et al. 1999 Simmons et al. 1999 Mobile robot powered by batteries. Mobile robot powered by batteries. Robot is online only a few hours a day. Robot is online only a few hours a day. As moblie robot it constrained by bandwidth of radio modems and power issues. As moblie robot it constrained by bandwidth of radio modems and power issues. The autonomy of the robot along with supervisory control help reduce bw requirement. The autonomy of the robot along with supervisory control help reduce bw requirement. Main research focus is Xavier’s local intelligence. Main research focus is Xavier’s local intelligence.

14. Xavier – Cont. The higher level of control reduces interactivity. Users tend to prefer ‘hands on’ control. The higher level of control reduces interactivity. Users tend to prefer ‘hands on’ control. Commands are specified as target locations all planning and navigation are performed by the system. Commands are specified as target locations all planning and navigation are performed by the system.

15. Xavier – Cont. Most useful aspect of the experiment was learning the reliability of the navigation algorithm. Most useful aspect of the experiment was learning the reliability of the navigation algorithm.

16. Xavier – Cont. The commands are sent from the browser to the robot via a CGI script that runs on the server. The script “talks” to a resource scheduling algorithm that communicates with Xavier. The commands are sent from the browser to the robot via a CGI script that runs on the server. The script “talks” to a resource scheduling algorithm that communicates with Xavier. Time online in a major problem with Xavier. 24h presence is an important goal for web based robots. Time online in a major problem with Xavier. 24h presence is an important goal for web based robots. Xavier Xavier Xavier

17. Wilkes Univ. & Univ. of Wisconsin PumaPaint Stein 1998; DePasquale et al., 1997; Stein 1998; DePasquale et al., 1997; I/F allowes users to paint on canvas at Wilkes Univ. using the Puma robot. I/F allowes users to paint on canvas at Wilkes Univ. using the Puma robot. Using a simple paint style program i/f. Using a simple paint style program i/f. I/f and communication implemented in JAVA. Using a permanent socket connection and custom protocol. I/f and communication implemented in JAVA. Using a permanent socket connection and custom protocol.

18. PumaPaint – Cont. The server can asynchronously contact the operator and update the command status. The server can asynchronously contact the operator and update the command status. Aim of the project was to give as much control as possible while assisting unobtrusively. Aim of the project was to give as much control as possible while assisting unobtrusively. Users can queue as many commands as they like but can also see the size of the queue. Users can queue as many commands as they like but can also see the size of the queue.

19. PumaPaint The amount of paint left on brush is indicated by the amount of colour deposited on the virtual canvas. The amount of paint left on brush is indicated by the amount of colour deposited on the virtual canvas.

20. PumaPiant - Summary Using Java 1.0 has compatibility problems across browser platforms. Using Java 1.0 has compatibility problems across browser platforms. Custom protocol over sockets is problematic over various proxy servers. Custom protocol over sockets is problematic over various proxy servers. Automatic disconnect needs to be addressed otherwise connections remain open. Automatic disconnect needs to be addressed otherwise connections remain open.

21. Swiss Federal Inst. Of Tech. – Khep on the Web Michel et al. 1997; Siegwart and Saucy 1999 Michel et al. 1997; Siegwart and Saucy 1999 A robot in a maze. A robot in a maze. Users move the robot to try to negotiate the maze. Users move the robot to try to negotiate the maze. Uses CGI, Java, JavaScript, frames, Vrml and Server push. Uses CGI, Java, JavaScript, frames, Vrml and Server push.

22. Khep on the Web No change is reflected in the current state of the robot – uncelebrated mode. No change is reflected in the current state of the robot – uncelebrated mode. This simplifies the system since all movement is relative to current position. Which is fed via image. This simplifies the system since all movement is relative to current position. Which is fed via image. Server Push updates the image continuously. Server Push updates the image continuously. Java applet tells the user whether or not the robot is stationary or in motion. Additionally it controls how long the user may use the robot. Java applet tells the user whether or not the robot is stationary or in motion. Additionally it controls how long the user may use the robot.

23. Khep on the Web. VRML is used to provide a virtual model of the robot and the workspace. This allows training of inexperienced users and an alternative to the real robot when it is in use by another user. VRML is used to provide a virtual model of the robot and the workspace. This allows training of inexperienced users and an alternative to the real robot when it is in use by another user. Khep can run code from other sources. LabView and C algorithms can be downloaded to test their ability to navigate the maze Khep can run code from other sources. LabView and C algorithms can be downloaded to test their ability to navigate the maze

24. Khep on the Web

25. EPFL - RobonWeb 4 small watch battery powered mobile robots in a maze. 4 small watch battery powered mobile robots in a maze. Control by clicking part of the map or specifying a movement direction. Control by clicking part of the map or specifying a movement direction. Positioning of the robots is detected using computer vision algorithms applied to an overhead camera. Positioning of the robots is detected using computer vision algorithms applied to an overhead camera. Requires advanced browser support. Requires advanced browser support.

26. RobOnWeb

27. Credits Techniques for Web Telerobotics Barnaby Dalton 2003 Techniques for Web Telerobotics Barnaby Dalton 2003 Berkeley Telegarden project Berkeley Telegarden project NASA web site NASA web site Swiss Federal Inst. Of Technology Swiss Federal Inst. Of Technology