William C. Harris, Ph.D.
Candidate
The Graduate School of The City University of New York
Department of Computer Science
Protocols for Accessing a Remote Controlled Robotics Laboratory
Using An Asynchronous Distance Learning Network Tool
Introduction
This research is concerned with the development of an "Online Robot
Laboratory" that will allow anyone on the Internet to learn a robot
programming language, and use that language to control a robot from a
distance. This study will examine how computer-based and web-based
asynchronous distance learning tools can be efficiently integrated into an
Online Robot Laboratory, where students learn about robotics, programming, and
networking. It will involve the design and development network protocols
for the seamless integration of several disparate systems with an eye towards
the development of a framework for bringing distance-learning systems to other
laboratory contexts.
There will be two major activities associated with this project. The
first activity involves technical development ˜ linking the network
learning tool with the robotics lab. The second activity is content
development ˜ creating specific robotics programming
exercises. The technical development will require extending the existing
capabilities of the network learning tools, designing and implementing a video
manager and network manager, and developing protocols between these
components. Network programming techniques will be used to develop
specific application and session layer protocols that define the communication
between these components of the Robotics Lab pathway. The content
development will require the creation of exercises suitable for both students
and the asynchronous network learning tools.
This study consists of a comprehensive application that yields a cluster-type
problem and requires the successful resolution of a number of networking,
multimedia and real-time issues in bridging the network tool to the Robotics
Lab pathway. Our thesis is there exist protocol, which we will
develop, for coalescing network learning tools and the robotics laboratory that
can lead to the development of a framework for bringing distance-learning
systems to other laboratory contexts. Currently, use of the lab is limited by the requirement of physical
access, the need for the presence of instructional and supervisory personnel,
and delays resulting from the learning curve of visiting students. Thus,
another outcome will be the removal of the first two requirements (physical
access and the presence of personnel) and a significant reduction of the
learning curve.
An important application of this research will be to examine how web-based
learning technology for robot programming can be integrated into NASA‚s
Aerospace Education Laboratory (AEL). The Major R. Owens NASA AEL at
Medgar Evers College of The City University of New York, where I serve as the
AEL Director, will be the primary site used to evaluate these methods.
There are presently 21 AELs throughout the Unites States, and one at the
University of Puerto Rico (Arecibo). We believe methods proposed in this
work will be able to be scaled up and applied to all NASA AELs.
Existing Systems
Online Robotics is a relatively new area of robotics. Its growth path may
be described as: conventional robotics, conventional teleoperation, and the
more web-centric online robotics. Although Online Robotics has grown into
a full day workshop as part of the IEEE International Conference of Robotics
and Automation in 2002, much of the work remains in the teleoperation of robots
(permitting the performance of physical work at a remote site under operator
control.) The conference proceedings and the most recent collection of
articles in this area, Beyond Webcams: An Introduction to Online Robots, offered very little on autonomous online robotic
control. Even fewer covered robot programming languages, and none that I
found actually taught users how to program the robot prior to have them attempt
to control it. Moreover, platforms available for laboratory research
typically cost on the order of thousands of dollars. The research and
educational goals of this project will be achieved using a small, low-cost
robot platform, and delayed, low-bandwidth, communication links.
Current Stage in My Program of Study
My status in the CUNY Ph.D. Computer Science Program is ABD (All, But
Dissertation). I have completed all of my course work, written exams, and
foreign language requirements. In June 2002, I successfully presented my
proposal and was given permission to proceed with the research towards
completion of the dissertation.
What I Have Already Done
I have obtained early results by testing portions of the video pathway in a
client-server operation. After writing and compiling an NQC program, I
was able to transfer the video file, of the robot performing its task as
defined by the program, over the Internet. I have used Blackboard
(Blackboard Systems, Inc.) to develop sample lessons that introduce robot and
robotics fundamentals.
What Remains to be Done
The initial results are encouraging. What must be done to realize this
project is to complete the technical phase (develop a set of protocols that
will enable these discrete components to talk to each other), complete the
content development phase (develop specific robotics programming exercises,
suitable for both students and asynchronous software platforms, and develop a
web-based user-friendly interface. The protocols developed for the
proposed system will reflect the organization of the ISO model, and will be
implemented using Java network programming.
My greatest hope is that my participation in the Doctorial Consortium will
provide me with an opportunity to receive valuable feedback from ACM‚s
professionals. I also believe the interaction, with other computer
science doctoral students at various levels in their studies, will be a good
experience. It is precisely this diversity of skill, knowledge and
experience of all the participants in the Doctoral Consortium that will be
invaluable in helping me solidify my dissertation ideas.
Bibliographic References
Arnow, D. (1999) An Asychronous Learning Network Tool for Improving CS
Education and Retention Rates, National
Science Foundation (NSF).
Arnow, D. (2000) ALN Tools For Improving CS Education, Grant Number: USE-9150719, 7/1/91-12/31/93.
Arnow, D. and Barshay, O. (1998) WebToTeach: The Student Manual Preliminary
Version, National Science
Foundation (NSF CISE - 9522537).
Arnow, D. and Barshay, O. (1999) WebToTeach: An Interactive Focused
Programming Exercise System, National
Science Foundation (NSF CISE - 9522537).
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