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Gigabit Telerobotics: Applying Advanced Information Infrastructure University of Pennsylvania ScholarlyCommons Technical Reports (CIS) Department of Computer & Information Science January 1993 Gigabit Telerobotics: Applying Advanced Information Infrastructure Ruzena Bajcsy University of Pennsylvania David J. Farber University of Pennsylvania Richard P. Paul University of Pennsylvania Jonathan M. Smith University of Pennsylvania, [email protected] Follow this and additional works at: https://repository.upenn.edu/cis_reports Recommended Citation Ruzena Bajcsy, David J. Farber, Richard P. Paul, and Jonathan M. Smith, "Gigabit Telerobotics: Applying Advanced Information Infrastructure", . January 1993. University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-93-11. This paper is posted at ScholarlyCommons. https://repository.upenn.edu/cis_reports/422 For more information, please contact [email protected]. Gigabit Telerobotics: Applying Advanced Information Infrastructure Abstract Advanced manufacturing concepts such as "Virtual Factories" use an information infrastructure to tie together changing groups of specialized facilities into agile manufacturing systems. A necessary element of such systems is the ability to teleoperate machines, for example telerobotic systems with full- capability sensory feedback loops. We have identified three network advances needed for splitting robotic control from robotic function: increased bandwidth, decreased error rates, and support for isochronous traffic. Theseeatur f es are available in the Gigabit networks under development at Penn and elsewhere. A number of key research questions are posed by gigabit telerobotics. There are issues in network topology, robot control and distributed system software, packaging and transport of sensory data (including wide-area transport), and performance implications of architectural choices using measures such as cost, response time, and network utilization. We propose to explore these questions experimentally in a joint research effort combining the Distributed Systems Laboratory (DSL) and the General Robotics and Sensory Perception (GRASP) Laboratory at the University of-Pennsylvania. The proposed experiments should provide important early results. A detailed research program is described. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MS- CIS-93-11. This technical report is available at ScholarlyCommons: https://repository.upenn.edu/cis_reports/422 Gigabit Telerobotics: Applying Advanced Information Infrastructure MS-CIS-93-11 GRASP LAB 344 DISTRIBUTED SYSTEMS LAB 15 Ruzena Bajcsy David J. Farber Richard P. Paul Jonathan M. Sil~ith U11iversit.yof Penrisylvania School of Ellgir~eeringarid Applied Science Con~pnterand Informat,ion Science Department PIiiladelpl~ia,PA 19104-6389 January 1993 Gigabit Telerobotics: Applying Advanced Information Infrastructure Ruzena Bajcsy, David J. Farber, Richard P. Paul, Jonathan M. Smith Computer and Information Science, University of Pennsylvania 200 South 33rd St, Philadelphia, PA 19104-6389 ABSTRACT Advanced manufacturing concepts such as "Virtual Factories" use an information infras- tructure to tie together changing groups of specialized facilities into agile manufacturing sys- tems. A necessary element of such systems is the ability to teleoperate machines, for example telerobotic systems with fullcapability sensory feedback loops. We have identified three net- work advances needed for splitting robotic control from robotic function: increased bandwidth, decreased error rates, and support for isochronous traffic. These features are available in the Gigabit networks under development at Penn and elsewhere. A number of key research questions are posed by gigabit telerobotics. There are issues in network topology, robot control and distributed system software, packaging and transport of sen- sory data (including wide-area transport), and performance implications of architectural choices using measures such as cost, response time, and network utilization. We propose to explore these questions expel'imentally in a joint research effort combining the Distributed Systems Laboratory (DSL) and the General Robotics and Sensory Perception (GRASP) Laboratory at the University of-Pennsylvania. The proposed experiments should pro- vide important early results. A detailed research program is described. 1. Introduction One of the major difficulties facing the United States is the inability to rapidly design, develop, and deploy complex systems, such as software and manufactured systems. Although our competitors on the world scene have made sub- stantial progress in the ability to rapidly produce variants of established products, all nations seem to have difficulty in the creation and deployment of new systems. With the proposed project, the University of Pennsylvania's Com- puter and Information Science Department stands ready to develop technology that will help address these prob- lems. This project represents an integration of disciplines that could, in the future, offer the same magnitude of pay- off that the integration of computers and communications has. The core problem has been, and continues to be, one of distributed resource management. A recent National Research Council study [I] on the United States Air Force's software projects found that a principle cause of the failure of the systems to achieve on-time and on-budget delivery was the inability to produce software systems in which pieces of the system were designed and built by different, geographically-distributed organizations. Similar problems arise in the integration of aircraft control systems into airframes and components of airframes with other components. We propose applying the University of Pennsylvania's leading-edge work in robotics and manufacturing tech- nology, together with our expertise in very high speed networking (as illustrated in the AURORA[S] project) towards the solution of these problems. We are too realistic to promise great solutions immediately. We believe, however, that a reasonable start can be made and that short term benefits that will help our industrial base can be realized. Our proposal is described in the sections of this white paper. The unifying theme is that of a "Virtual Distributed Factory" (VDF). The VDF is geographically-distributed and multi-organizational [2]. It is composed of design centers [3], fabrication facilities, and test stands, in addition to supercomputers for modeling, all integratedvia a very high speed communication net- work. Integration of control and related actuation equipment (by humans or machines) requires teleoperation. 1.1. Teleoperation Distributed digital teleoperation provides for the remote visual, audio, and kinesthetic access of an operator to a physical system. While many believe that visual access is all that is necessary, reflection (and experience!) reveals the difficulty of interpreting graphics displays and the impossibility of visually ascertaining how parts are connected together when partially mated. Kinesthetic feedback simplifies the manipulation of images and of parts. Combining audio information as well provides for an even stronger sense of reality. The use of more than one form of task feedback provides us with the capability to fuse sensory information, providing more complete knowledge of the state of a task and its performance. Kinesthetic feedback is a basic sense, and provides a very natural interface to systems. This interface is one reason that teleoperation is so direct and simple to use. In distributed digital teleo- peration the operator interacts with a remote site via graphics displays, master manipulators, audio feedback, etc. There is nothing, however, in the system to tell the operator that she or he is interacting with a real remote system. We could replace the real remote world with a simulation. If we did this we would have created a virtual reality. While there is much research interest in virtual realities there is none, or very little, in distributed virtual reality. If a distributed digital teleoperation system existed it could be connected to a remote virtual reality allowing an operator to interact with products that have not yet been created. In the area of modem manufacturing the rapidity of development, and comectness, of a new design is of utmost importance [3]. This is illustrated by CADICAM systems which are the forerunners of virtual reality sys- tems. In the area of architectural design, virtual realities are used to allow users and architects to evaluate designs long before they are committed to paper. In manufacturing, we expect similar systems to become available; systems in which it is possible to "kick the tires" long before a product goes into detail design and prototype production. Such evaluation systems are of vital importance, as there is no longer time or money to go through the lengthy pro- totype and testing phases of the past. This exploration and evaluation process can be expanded such that 1. Multiple parts suppliers can test the assembly of the whole system electronically and make quick adjustments before the manufacturing process begins; 2. Physical constraints are made less relevant. For example, designers and production facilities may be in dif- ferent physical locations, e.g., production is located in remote areas because real estate is cheaper (or zoning is less restrictive), while designers are typically concentrated in urban areas. 3. CAD systems are enhanced with physical simulators,
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