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Long-distance Long-distance Teleoperation systemTeleoperation system
using Internetusing Internet
JUSTSAP-PISCES Symposium 2008JUSTSAP-PISCES Symposium 2008
November 12, 2008November 12, 2008
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Latency Cancel TechnologyLatency Cancel Technology
You can develop You can develop advancedadvanced remote control remote control system system easilyeasily and at a and at a low costlow cost..
TTeleelePPresence over resence over IPIP TTeleelePPresence over resence over IPIP
Platform for the remote control Platform for the remote control system system which requires the digital which requires the digital video video transmitted by wireless transmitted by wireless
LAN and internet.LAN and internet.
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Advanced remote control system Operation from everywhere of Internet available places
High operativity using Motion JPEG video
Easily and low cost I/F for using COTS equipments (WirelessLAN, Internet, PC, game
controller, etc.)
Software Library for easy system development by users
All-in-one platform for video-based remote control system
Latency Cancel TechnologyLatency Cancel Technology
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An Introduction of Products
“TPIP Unit” and “TPIP Library”
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Image processing boardImage processing boardImage processing boardImage processing board
Control boardControl boardControl boardControl board
The feature of TPIP unitThe feature of TPIP unit
Value remote control platformValue remote control platform
All-in-one platform for video-based remote control systemAll-in-one platform for video-based remote control system((Image processing board, control board, software libraryImage processing board, control board, software library))
Various input/output for remote control systemVarious input/output for remote control system
TPIP UnitTPIP UnitTPIP UnitTPIP Unit
Input image : NTSC
Output image : MotionJPEG (VGA/QVGA 30fps)
Sound input/output : Audio
Wireless Communication : IEEE802.11a/b/g
Digital I/O RC servo I/F
DC motor I/F
Pulse input
Analog input CAN I/F
RS232 I/F
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TPIP Unit TPIP Unit SpecificationsSpecifications
Vout
V1
V2
V3
pw
RS232
SH250MHz
S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
WirelwssLAN(11a,11g)
Servo
NTSCCAMERA
Voltage
Encoder
V in
RS232
pw
Ethernet
WirelessLANCard
DC
6~
16
V SensorAnalog Input
JPEGchip
Motor SH4240MHz
Image processing boardImage processing boardTarget control boardTarget control board
P1
P2
A1
RS232
CAN I/F
RS232
Other unit
Other unit
5V
A3
A2
A4
A5
A7
A6
A8
I1I3I2I4
O1
O3
O2
O4
O5
O7 O
6O
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SensorDigital INPUT
Switch
Audio
Mikespeaker
Vout NTSCdisplay
Item Specifications / performance
Communication
LANWireless : IEEE802.11a,g,b (PC card) × 1Cable : 10baseT / 100baseTX × 1
Image Image transmit
VGA/QVGA 30fps, delay : Less than 100ms( Remove IP network delay time )
Camera I/F Max 3( change signal )
SoundSound
transmitMonaural recording bidirectional transmit( Sampling Rate:16/8KHz,44.1KHz)
Board size 105×84×60mm
Item Specifications / performance
I/O RC servo I/F Max 10ch
DC motor I/F 1ch
Pulse input Encoder Input 2ch
Analog input 8ch
Digital I/O Input 4ch / output 8ch (TTL)
CAN I/F 1ch
RS232 I/F 2ch
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Compatibility with the radio control system Compatibility with the radio control system
Image processingboard
R/C receiver
Servo
Servo Motor
amp
Motor
amp
Radio control system for hobby
Servo
Servo Motor
Motor
amp
Target controlboard
TPIP unitTPIP unit
DC MotorDC MotorOutputOutput
RC servoRC servoOutputOutput
11a
CameraCameraInputInput
SensorSensorInputInput
RC partsRC partsusableusable
RC servoRC servoOutputOutput
replaceablereplaceable
Two-wayTwo-wayDigital control commandDigital control commandVideo & Sensor dataVideo & Sensor data
One-wayOne-wayAnalog control Analog control command onlycommand only
DC MotorDC MotorOutputOutput
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SoundSoundcontrolcontrol
TPIP libraryTPIP library
OS : LinuxOS : Linux
JPEG compression boardJPEG compression board
Motor control boardMotor control board
JPEG device driverJPEG device driver
Real-Time Image transmitReal-Time Image transmitSoftwareSoftware
UDP / IPUDP / IP
S/W
H/W
Internet
TPIP UnitTPIP UnitTPIP UnitTPIP Unit
ControllerControllerSoftwareSoftware
PC/AT compatible machinePC/AT compatible machine
OS : Windows XPOS : Windows XPUDP / IPUDP / IP
JPEG decodeJPEG decodeSoftwareSoftware
Real-TimeReal-TimeImage transmitImage transmit
SoftwareSoftware
High-speedHigh-speedrenderingrendering
User programUser program
DLL DLL (Dynamic Link Library)(Dynamic Link Library)
TPIP LibraryTPIP LibraryTPIP LibraryTPIP Library
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TPIP libraryTPIP library
USBUSB
DisplayDisplay
WirelessWirelessLANLAN
RS232RS232OtherOther
controllercontroller
Controller inputController inputfunctionfunction
Image control / transmitImage control / transmitfunctionfunction
SIO CommunicationSIO Communicationfunctionfunction
Graphic controlGraphic controlfunctionfunction
UDP functionUDP function
UDP-SIO communicationUDP-SIO communicationfunctionfunction
Base libraryBase library apply libraryapply library
TPIP libraryTPIP library
TPIP UnitTPIP Unit
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UniversityUniversityTechnicalTechnicaljunior collegejunior college
ResearchResearchlaboratorieslaboratories
SanritzAutomationSanritzAutomation
TechnicalTechnical informationinformation
TPIP Library TPIP Library source codesource code
CommunityCommunity
ProductProductinformationinformation
Research &Research &developmentdevelopment
resultsresults
offer & technical supportoffer & technical support
archivearchive
Research and development(school) Research and development(school) :: 26 members26 members
Research and development(Enterprise):Research and development(Enterprise):
11 members11 members
RRC Student member : 23 membersRRC Student member : 23 members
Student member : 9 membersStudent member : 9 members
Activities themeActivities theme・・ Robot ControlRobot Control・・ OpenCV Image data OpenCV Image data processingprocessing etc…etc…
TPIP User CommunityTPIP User Community
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And…And…・・ TPIP Platform customizeTPIP Platform customize・・ TPIP Systems construction supportTPIP Systems construction support
Image processing boardImage processing board(( compression & transmitcompression & transmit ))
\140,000\140,000
TPIP Platform PACKAGETPIP Platform PACKAGE\200,000\200,000
academic price \100,000academic price \100,000
Price in JapanPrice in Japan
Tele-Operation Rover PACKAGETele-Operation Rover PACKAGE\2,500,000\2,500,000
academic price \1,500,000academic price \1,500,000Remote controlRemote control
TargetTarget(Rover)(Rover)
TPIP UnitTPIP Unit
TPIP libraryTPIP library
TPIP UnitTPIP Unit
TPIP libraryTPIP library
Image processing boardImage processing board
TPIP libraryTPIP library
You can choose TPIP PlatformYou can choose TPIP Platform
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TPIP ApplicationsTPIP Applications
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TPIP ApplicationsTPIP Applications
TPIP-model car drive simulatorTPIP-model car drive simulator
Jet engine noise measurement roverJet engine noise measurement rover
Telemeter systemTelemeter system
Rescue robotRescue robot
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TPIP-Car Drive simulator TPIP-Car Drive simulator (( kids kids ProjectProject ))
Event of automobile operation Event of automobile operation experience for kids experience for kids sponsored bysponsored by TOYOTA MOTOR CORPORATION.TOYOTA MOTOR CORPORATION.
diorama town
TPIP control carcockpit
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Jet engine Noise measurement RoverJet engine Noise measurement RoverAkita: Noshiro proving ground(August, 2007)Akita: Noshiro proving ground(August, 2007)
A collaboration with JAXA(2006.04 ~ ) Clean Engine Team
Noise measurement by rover
FunctionFunction・・ Driving of the RoverDriving of the Rover・・ camera control camera control ・・ Sound source data collection (JAXA)Sound source data collection (JAXA)
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Telemeter systemTelemeter system
Hokkaido Japan: Shikabe airport(October, 2007)Hokkaido Japan: Shikabe airport(October, 2007)
Presented by Japan Aerospace Exploration Agency(JAXA)
datadata
Downlink dataDownlink data・・ VideoVideo・・ Sensor data Sensor data (battery,GPS, etc.)(battery,GPS, etc.)
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Rescue Robot ContestRescue Robot Contest
No. 8 Rescue Robot ContestNo. 8 Rescue Robot ContestAugust 9-10, 2008
Player: 12 teamsVisitor: 6,027guests
Presented by Rescue Robot Contest executive Rescue Robot Contest executive committeecommittee
FunctionFunction・・ Driving of robotsDriving of robots・・ Robot hands controlRobot hands control・・ Video camera control Video camera control (3 Camera Change) (3 Camera Change) ・・ Sensor data monitorSensor data monitor
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Theme
Rescue activities in a catastrophic urban disaster
Purpose
Raise the interest in disaster prevention and rescue activities
Training of next-generation researcher and engineer
Rescue Robot ContestRescue Robot Contest
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PROPOSALPROPOSAL
““Tele-Robotics Contest for Lunar Tele-Robotics Contest for Lunar explorationexploration””
A idea of the educational program A idea of the educational program using PISCESusing PISCES
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Tele-Robotics Contest for Lunar explorationTele-Robotics Contest for Lunar exploration
MoonLunar Base
2. Teleoperaton from the Earth
1.Teleoperaton on the MoonIs "long-distance teleoperation" possible?
PISCESLunar surface on the Earth
PISCES
Long-distance teleoperaton from user’s laboratories
Robots at PISCES
Yes.
“Latency cancel technology” and “TPIP products”make it possible at low cost.
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Tele-Robotics Contest for Lunar explorationTele-Robotics Contest for Lunar exploration
Rescue Robot Contest Tele-Robotics Contest
Theme Rescue activities in a catastrophic urban disaster
Exploration on the Moon
Purpose Raise the interest in disaster prevention and rescue activities
Raise the interest in exploration on the Moon
Training of next-generation researcher and engineer
Field 1/6 scale diorama lunar-like terrain of PISCES
R&D Target
Rescue Robot Tele-robotics applications on the moon
Participants
Students in Japan Students in the world
Sponsor Local government, private enterprises
Major Space Agencies in the world