Anonymous and Asynchronous Global Access

brainystitchΤεχνίτη Νοημοσύνη και Ρομποτική

14 Νοε 2013 (πριν από 3 χρόνια και 4 μήνες)

53 εμφανίσεις

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

This talk will discuss the architecture, tools, and issues raised in implementing a

system for democratizing access to one
-
of
-
a
-
kind, lethal machines for

Survival Research Labs performances. It will discuss efforts underway

to make access to these machines more seamless and widely available.


Survival Research Laboratories was conceived and founded by Mark Pauline in 1978.

Today, it operates as an organization of creative technicians dedicated to redirecting

the techniques, tools, and tenets of industry, science, and the military toward less

typical manifestations. These systems allow multiple, remote users

from around the world to simultaneously log into to the machines and anonymously

control them via a standard web browser and video conferencing system.


The hardware, software, protocols, and a variety of user interfaces designed for these

machines will also be discussed in detail.




Machine Interfaces


Projectile Machines (Movement is along 1 axis)


Planar Machines: Mobile (Movement along 2 axes)


Three Dimensionally Active Machines (Simulate machines)


Software


Java


VRML


Video Conferencing


Web Server


Hardware


Custom boards


Video capture cards


Cameras


Wireless network equipment


Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000



Client Machine:

Web browser

VRML browser

Java applet

NetMeeting

Web Server:

PWS

Multi
-
threaded TCP/IP Java ‘server’

Network card

Video capture/sound card

NetMeeting

Robot:

Serial controller

camera and mic

Client Machine:

Web browser

VRML browser

Java applet

NetMeeting

Client Machine:

Web browser

VRML browser

Java applet

NetMeeting

Wireless

Bridge

Range Extender

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000


Software


Java 1.2


user interface (Java applet + HTML)


TCP/IP multi
-
threaded server to handle communication
between user and device via serial port (Java Com Port API)


SRL Protocol (4 byte array Header,Cmd,Data,Checksum)


VRML


3D models of machines mimic actual machine behavior


3D model of South Park mimicked actual location


MS Personal Web Server


HTTP access


NetMeeting, MS Internet Explorer


2
-
way, live audio/visual for user feedback

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000


Hardware


Wireless network


Pitching Machine, Track Robot were un
-
tethered


Video Capture Cards/Cameras


Custom boards


Laptops


Gives machines web server and video conferencing
functionality



Projectile Machines


Pitching Machine


Launches 2x4s at a velocity of
180mph, 2 boards per second


Range of 800 ft


Powered by 500 cubic inch El Dorado
engine


Air Launcher


Shoots explosive rounds at
approximately 500mph with a range
of .5 miles


One
-
dimensional


Machines are stationary


Motion is along 1 dimension (aiming
action: pan/tilt)



Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

Air Launcher


Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

Pitching Machine


Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000


Issues


Video necessary to aim and convince people this is real


Mouse
-
oriented UI ensures a single user can only issue non
-
conflicting
commands


Machines are wired so simultaneous, mutually exclusive commands are less
likely to seize machine. Timing and buffering between commands minimize
this as well.


Intended chaos: anonymous, multi
-
user control can be dangerous.


Distributed nature of machine, user, server muddles accountability should
someone get injured


Limit switches placed on machines so user can not aim outside the ‘safety’
range. Also checked in firmware.


Safety feature was disabled as requested by ICC users to provide a fully
automatic strafing machine (Pitching Machine)


Simple, self
-
explanatory UI required no training for non
-
English speaking
users


Planar Machines


Track Robot


Highly maneuverable, all
-
terrain robot with claw


Tetherless


Two
-
dimensional


Machine is un
-
tethered, moving
along a plane (2
-
axes)


Arm moves in 2 dimensions
(up/down, in/out)


Grip/Release


Speed control


Forward/Reverse



Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

Track Robot


Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000


Issues


Video for steering and to convince
people this is real


2
-
way A/V allowed users to
interact with remote bystanders


UI worked well for remote users
but not when is driving it via sight


UI designed to match viewpoint
from robot


Latency with video required
slowing the machine down to
avoid accidents


Metal interfered with wireless
transmission. Range extender
became necessary


Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000


Issues


In some shows, direct
access to machines was not
possible since wireless
network was private so, the
server application had to be
re
-
written to ‘connect’ to the
client, rendering system
single
-
user. In other shows,
only users within the subnet
could access the machine.
For this machine
asynchronous access is no
fun.


Engineers found UI intuitive


Non
-
English users had to be
instructed via cell phone



Interface for controlling 2 or
more machines


Epileptic Bot


Stationary robot with 4 flailing ‘limbs’
used as prop burned by Flame Whistle


Flame Whistle


Boeing Minesweeper engine with fuel
injection system and igniters used to
blow a large police whistle, becoming
the world’s loudest flame thrower


3D Interface


First time VRML has been used this way


Interface replicates machine activity as well
as physical location (used Virtual SOMA)


Viewpoints in the simulation matched
cameras’ positions on location (one mounted
on the Epileptic Bot, the other on the
Boeing).


Interface enables easier control of more than
1 machine


Control machines from each machine’s
viewpoint as well as overall view

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000

Flame Whistle/Epileptic Bot


Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000


Issues


Video necessary to convince people
this is real


People could navigate while waiting
for machine setup. Some users
missed the ‘real’ action


VRML viewpoints synchronized with
cameras, multiple perspectives.


Optimize screen real estate


Context
-
sensitive HUD for specific
machine control UI

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000


Future Interface Research:


Motion capture
-

gesture interface:



How to do this outdoors in the dark


This would exclude many users but provide a more seamless interface


Device to device communication via Bluetooth


Introduce autonomous behavior


Other machines control each other


Control via wireless device like PDA or cell phone



Convenience vs. loss of anonymity


Eyeball tracking:


Same issues with motion capture


Voice activated controls


How to do this in loud environment


Language, internationalization barrier to global access


Trade
-
offs: cost
-
effectiveness and ubiquitous access with
more seamless transparent interfaces

Cost
-
Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access

Karen J. Marcelo

June 5, 2000


Conclusions:


Provided unique interfaces using mostly off
-
the
-
shelf
and/or free products. Similar systems used in industry are
highly proprietary, expensive


Anonymous and asynchronous nature of application access
would make accountability difficult given the distributed
nature of system components and users


Trade
-
offs must be made between seamless UI and global
access


JavaSoft, Microsoft, etc. are still unaware of the fact that
they provide a development platform for potential lethal
machines


ANYONE can do this!