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.

 

What I Hope to Gain from Participating in the Doctoral Consortium



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).

 

Baum, D. (2000) Dave Baum's Definitive Guide to Lego Mindstorms,
APress, Emeryville, CA.

 

Fuller, J. L. (1999) Robotics: Introduction, Programming, and Projects,
Prentice-Hall, Englewood Cliffs, NJ.

 

James, R. (1985) Introduction to Robotics: A Systems Approach,
Prentice-Hall, Upper Saddle River, NJ.

 

Jones, J., Flynn, A. M. and Seiger, B. A. (1998) Mobile Robots: Inspiration to Implementation,
A. K. Peters Ltd., Welleasley, MA.

 

MacKenzie, D. C. and Arkin, R. C. (1998) The International Journal of Robotics Research,
17, 381-401.

 

Murphy, R. R. (2000) Introduction to AI Robotics,
The Massachusetts Institute of Technology Press, Cambridge, MA.

 

Russell, S. and Norvig, P. (1995) Artificial Intelligence: A Modern Approach,
Prentice-Hall, Englewood Cliffs, NJ.

 

Simon, H. A. (1981) The Sciences of the Artificial,
The Massachusetts Institute of Technology, Cambridge, MA.