Design   specifications   of   the   Human   Robotic  interface for the biomimetic underwater robot  "yellow submarine project"  Dr   Bheemaiah,   Anil   K   341/42   17   cross   Ideal   Homes   Township,  Rajarajeshwarinagar Bangalore 560098, India   Anil.bheemaiah@yahoo.co.in  Abstract: This paper describes the design of a web based multi agent design for a  collision   avoidance   auto   navigation   biomimetic   submarine   for   submarine  hydroelectricity. The paper describes the nature of the map - topology interface  for river bodies and the design of interactive agents for the control of the robotic  submarine. The agents are migratory on the web and are designed in XML/html  interface with both interactive capabilities and visibility on a map. The paper  describes mathematically the user interface and the map definition languages  used for the multi agent description .  Keywords:Human robotic interface, Biomimetic underwater robotics, Distributed  Computing.  1   Introduction  Multi agents are a distributed approach to the control of robotics in the existence  of a front end to the robot for the control and navigation of the robot and for a  better exception handling. Agents are used in many domains and fields and is a  mature   area   of   software   development,   predominately   web   based   and   web  migrating agents,   [.Lyle N. Long   et al, 3] describes several   autonomous vehicle  architectures but none with an XML or html web interface, There is much work on  independently developed   robotic XML languages,   like ROBOTML,[   Maxim  Makatchev , 1] and [ Tingting Fu   et al , 2]  This paper delineates the specification of the design of the yellow submarine  project, without the need for agent autonomous control software. The inspiration  drawn from interactive video books leads directly to this application in a single -  one to many mapping of agents to robotic navigation problems.  2   Problem Description and Background  TheYellowsubmarineproject,  [http://www.friendsofwildlife.com/yellowsubmarine/specifications of the yellow  submarine design.html] utilizes a biomimetic robot in design that is a thin client  that has to be navigated and positioned in the most appropriate location in a river
map. The interface for this from the agent communication language layer is a web  interface that   provides a visual tool displaying the location of the submarines on  a map of the river. The map is inherited from Google earth and displays in a much  higher resolution the topology of the river area.  A drag and click interface is designed to move the robot to the designated  coordinates that corresponds to the optimal positioning.  Optimal positioning tools are also part of this interface and the subject of  another   publication.[http://www.friendsofwildlife.com/yellowsubmarine/design  specifications   of the optimal   flow algorithms   in the web   interface   of the  biomimetic underwater robotic yellow submarine project.html] This publication  delineates the interface to the robotic language layer of the web agent, the design  of the web agent and the exception handler.  Fig 1: Schematic of the multi agent design  2.1 Design of the web agent.  2.1.1 The map user interface and click and drag.  The map user interface inherits the Google earth interface for the display  of the map of the river in rather high resolution with a symbolic representation of  the robot defined by a function call in the html code.  The coordinates of the submarine are returned and polled every 15 seconds by  the GPS_get_coordinates instruction. This is displayed on the map. The robot by  another function call can for the event of clicking the robot be dragged to the  optimal location from where it is moving and parked by using a menu interface.  A   map   definition   language   defines   the xml   markup   for   the   map   of   the  designated robot parking area. The map definition language is a non linear markup  indicating in the event:click_on_robot:=get_scale, the scale parameters in the  topology that is of significance to the robot parking .  Such as MDL: Coordinates_markers  Web interface agent on  browser  Online navigable map  &  Exception handler  Robotic thin client #1  Autonomous collision  avoidance with sensor  feedback  Robotic Thin Client #2  Autonomous collision  avoidance with sensor  feedback  Robotic Thin Client #3  Autonomous collision  avoidance with sensor  feedback
MDL:Coordinates_landmarks_passed  MDL:Coordinates_lookahead_landmark  MDL:Coordinates_flow_obstacles  MDL:Flow_obstacles  Here the map definition language is a mark up on the map of the flow design  algorithms   defined   in   a   separate   publication   for   the   non   linear   list   of   the  coordinates of important landmarks, with a look ahead system to aid navigation  and location of the robot and the landmarks passed. These land marks are either  fed manually on the map or computed from the flow algorithms.  The map definition language also stores the vectors as a linear map and marks it  in XML on the map of the flows between the landmarks indicated, thus naturally  depending on the scale indicated, there would be two or more landmarks or  obstacles per flow listed on the MDL.  2.1.2 The interpreter to the robotic language for this interface .  The interpreter consists of a menu definition with an event language with event  definitions.  Event:click_on _robot:=drag robot , place robot.  Event : click_on_robot:=compute optimal flow.
Fi  g 2 : Design of the three layers of the agent communication model  2.1.3 The exception handler .  Exception handling window in the user interface, defined in xml/html in the  design of exceptions.  1.   Exp_anchor: in case of exp_communication_failure, exp_GPS _failure  or exp_sensor/ power failure,exp_ propulsión _failure.  2.   Exp: Auto_park: In case of   prolonged timeout, auto park in fuel  rendezvous terminal  3.   Exp_propulsion: in case the robot is unable to anchor.  3   Conclusion and future work  This paper is the design of   a simple user interface for the positioning and  monitoring of submarine robots. It uses the standard web interface and event  language for the user interface with and added interpreter for a defined robotic  language for the robot that is defined in another publication: Robotic language  User-  interfa  ce  Robotic Language  Interpreter  Thin client hardware and multi sensor fusion,  communications and GPS hardware, Auto  navigation hardware.
specifications for the yellow submarine, biomimetic underwater robot alternative  hydro electricity project.  Future work includes a multi agent interface, improvement of the exception  handling and the use of a natural language interface for the robot.  References  1.   [February 02, 2001]   "Human-Robot Interface Using Agents Communicating In  An XML-Based Markup Language."   By   Maxim Makatchev   (Department of  Manufacturing Engineering and Engineering Management, City University of  Hong Kong) and S. K. Tso (Centre for Intelligent Design Automation and  Manufacturing, City University of Hong Kong). Pages 270-275 (with 25  references) in   Proceedings the Ninth IEEE International Workshop on Robot  and Human Interactive Communication   [IEEE RO-MAN 2000, Osaka, Japan,  September 27-29, 2000]. Piscataway, NJ, USA: IEEE Computer Society,  2.   Tingting Fu, Peng Liu, Yigang Wang, Yehua Du, "Integrating Agents and  Web Services into Cooperative Design Platform of Vehicle Headlights," snpd,  vol.   1,   pp.27-32,   Eighth   ACIS   International   Conference   on   Software  Engineering,   Artificial   Intelligence,   Networking,   and   Parallel/Distributed  Computing (SNPD 2007), 2007  3.   .Lyle N. Long*, Scott D. Hanford, Oranuj Janrathitikarn, Greg L. Sinsley, and  Jodi A. Miller, The Pennsylvania State University, A Review of Intelligent  Systems Software for   Autonomous Vehicles,   Proceedings of the 2007 IEEE  Symposium   on   Computational   Intelligence   in   Security   and   Defense  Applications (CISDA 2007