Miller Robotic Interface II Bedienungsanleitung PDF herunterladen (Seite 29)

Figure 7: Interface control architecture.

The video uses the Phission package to capture the video on the robot end. Phission is a

concurrent vision processing developed in the UML robotics lab by Phillip Thoren [Thoren,

2007]. It is used to capture the video streams from the cameras. The video is sent to the

interface via the Real-time Transport Protocol (RTP). It is received and displayed on the

interface end using the Java Media Framework (JMF). The most recent map image is also

captured via the Phission capture class, but is displayed on the interface using a Phission java

panel.

All sensors have a data store on the interface side. Any incoming data packet is routed to the

correct store. The store holds the most current data sent by the robot. This passive information

gathering allows the interface to display the most up to date information sent to it without

having to ask the robot for information and waiting for a response. These stores help the

overall responsiveness of the robot system. Also, because many of these sensor readings are

updated multiple times a second, we do not have to deal with dropped packets, timeouts, or

sending and receiving acknowledgements. Having these stores also allows multiple panels on

the interface to easily use the same information if it is desired.

Events are used to capture joystick controls and keyboard actions. Every time a joystick or

keyboard button is pressed, or the joystick is moved, an event is triggered. This event will then

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Miller Robotic Interface II Bedienungsanleitung Seite 29