EPSRC CompuSteer Computational Steering Network: Travel Bursaries
RoboViz: Remote Command and Control for Robotic Emergent Behaviour – The Next Evolution of Telepresence
Project proposed between the University of Manchester and De Montfort University.
There are now extensive computational processing elements within intelligent multi-robot interaction and control. Recent computer simulations, by some of the proposed in this partnership, have created novel emergent behaviours with 20-30 different (virtual) robots using 'animal-like' intelligence. This allows semi autonomous computation processing modules designed to solve a specific task - by exploration and discovery - and then relay information back to a command and control centre. A key objective is the minimization of information required by the command centre for complex control. A second emphasis of the past project has been the use of a visual based control using a local via high-fidelity 3D virtual world.
Initial work with real robots, allows a TCP/IP protocol for controlling wi-fi enabled 'pioneer' robots (two or four at present) using the interface and remote command language developed from the previous computer simulation. This allows short distance laptop computer based command centre instructions to be transmitted to a single location. Complicated emergent behaviour occurs due to the in-built computational intelligence and processing within the robots themselves and their autonomous interactions with each other.
It is proposed to carry out a feasibility study to integrate this system over remote - longer distances; covering The University of Manchester with De Montfort University. To overcome the problem of a lack of visual cues over this distance and allow multiple command centres to coordinate (possibly verbally or by textual command messages) together the main Access Grid (next generation of video conferencing) rooms at the two universities will be linked and data linked with a set of four (at present) 'pioneer' robots. For further comprehension an augmented 3D visualization link will be maintained at each command centre using fixed and portable stereoscopic units http://www.geowall.org/
Partners
Four key partners in collaboration: All members of Compu Steer,
- Ghada Al Hudhud (Jordan)
- Rob Richardson (UoM)
- Aladdin Ayesh (DMU)
- Martin Turner (UoM)
- Paul Kuchar (UoM, AGSC)
- Support from the Access Grid Support Centre.
Coordination and a suspension account is to be made through the University of Manchester:
Martin J. Turner - Martin.Turner@manchester.ac.uk
Rob Richardson - Robert.C.Richardson@manchester.ac.uk
Documentation
The original bid with questions and answers from reviewers is available CompuSteerbidplus.pdf
Software stereoscopic multiplexing software to integrate within the Access Grid JMF AVClient files AVClient.zip
Access Grid Software from the main AGSC (Access Grid Support Centre) this includes the memetic recording, annotation and 24/7 server facility. http://grace.mvc.mcc.ac.uk/
Interim Report presented at main CompuSteer Workshop Septembver 2006, RoboViz_2.pdf with powerpoint slides interim.pdf
Extension request and initial images from September Robo Viz test CSbidOverrun.pdf
Pre-print documents
Final doc - very pre-print:
LaTeX file if you wish to edit 
Complete final report
And with App F - summary of finances
Schedule
Detailed schedule and costs will be coordinated later. All visits constitute an estimate of two people over a minimum of two days.
- 21 May - initial conference phone session for bid completion.
- May Preliminary Access Grid Sessions: assignment of key objectives.
- June - 2 people visit Manchester minimum 2 days
- July Access Grid feasibility test of robot communication - postponed to late September
- August - 3 people visit DMU minimum 2 days
- September - presentation at Workshop in Hull
- September - Full Feasibility test link: Fully Access Grid recording
- December - visit: purpose proposal writing and summary
- January/March 2007 - Visit to Manchester - report writing and final proposals
Administration dates from CompuSteer Network:
- 8 September 2006 Workshop papers due
- 15 September 2006 Workshop in Hull – equivalent of 2 people for 2 days.
- 6 October 2006 Final reports due
- 17 November 2006 Submit final invoices: delayed
- then meeting after Easter in OGF20
- Final report and accounts agreed October 2007
Links
Compu_Steer home page available at http://compusteer.dcs.hull.ac.uk/index.htm
Tumbleweed home page http://tumbleweed.manchester.ac.uk/
Meetings
5th June 2006: Access Grid (2pm)
Actions:
- New Name: Options, RECCB-NET/Robo-Viz/ Votes asked for.
- Initial Schedule: First Visit - 14-16th June. Second Visit 3-5 July. Third meeting(possibly two) August (after 15th). All diaries to check.
- Access Grid dates: Friday 11am (when no physical meeting), next 9th June.
- DTC update. Being considered on the 9th June.
- List of control routines needed for Robot-Access|Grid links. Both sides to collate a list for next meeting (Friday 9th June).
- Talk by Aladdin at Manchester during next physical visit in the NW e-Science Seminar series.
9th June 2006: Access Grid 11am
Actions:
Name is RoboViz
- Dates fixed for Thu-Fri: 11am
- talk Ghada
- talk AGSC people - mix
- talk AG Stereoscopy - Anja Le Blanc
- tour of robot labs
- tour of Viz labs
- AA - Link to wi-fi IP robot numbers.
- AA - Stereoscopy cameras - try to remote type.
- List of software in controller
- List of robots in labs
- Seminar NW E-Science meeting 2pm Friday 16th June: Extended absrtact to be sent.
Agenda for 1st Meeting
Meeting Access Grid on Friday 9th June 2006 at 11am.
Short meeting early July - data transfer.
Short meeting 19th July - DMU graduation day: Ghada celebration and relocation to Jordan.
Access Grid meeting 18th August 2006 at 11am.
August 31st meeting at De Montfort University: project proposals and Driver Install 'fest'
September Full remote test session and then post-analysis Access Grid meeting (week later)
November - analysis meeting at De Montfort University
March 20th - final one-day wrap-up meeting and proposal evaluation day.
Final session is at OGF20 in May 2007.