Showing papers on "Testbed published in 1992"

Touring Machine: a software platform for distributed multimedia applications

Abstract: The goal of the Touring Machine project is to provide a reliable and extensible software platform that supports independently-developed distributed multimedia applications. The project includes an experimental testbed composed of a network of desktop video and audio devices controlled via user workstations. Touring Machine is more than a research testbed; it is the basis of the communications tools used daily by 100 users in two Bellcore locations 50 miles apart. It supports multimedia conferencing and information services as well as point-to-point communications. This paper describes Touring Machine, its system model and its software architecture.

Whole-hand input

Abstract: This dissertation examines whole-hand input: the full and direct use of the hand's capabilities for the control of computer-mediated tasks. It presents the subject as a distinct study, independent of specific application or interface device. It includes a comprehensive discussion of the ideas, issues, and technologies relevant to the field. Whole-hand input is a powerful tool for the real-time control of complex computer-mediated tasks that require the manipulation and coordination of many degrees of freedom. By taking advantage of the innate naturalness, adaptability, and dexterity of the hand, whole-hand input techniques can provide performance superior to that of conventional devices (such as dials, mice, and joysticks) when applied to complex tasks. The important problems of whole-hand input involve appropriateness of use, control design, and device selection. The dissertation addresses these with a design method for whole-hand input by which an interface designer can discuss, develop, and evaluate techniques and devices for using whole-hand input in a particular application. Three experiments illustrate use of the design method and validate the principles of the thesis. A testbed and software library for investigating whole-hand input techniques is described. The testbed allows easy development and testing of whole-hand input with application simulations. The library is based on an abstract whole-hand input device type providing a standard interface to different physical whole-hand input devices. It features techniques for device calibration, posture recognition, and gesture recognition. Three prototype applications using the testbed, and one musical performance application demonstrate a variety of whole-hand input techniques including master-slave control, controlling task variables with hand shape, and gestural command input. The text concludes with detailed recommendations for future work to forward the understanding of the direct use of the hand as an input device. An accompanying videotape demonstrates the three experiments, the prototype applications, and shows a short section of the musical performance. (Copies available exclusively from MIT Libraries, Rm. 14-0551, Cambridge, MA 02139-4307. Ph. 617-253-5668; Fax 617-253-1690.) ftn*This work was supported in part by NHK (Japan Broadcasting Company), Defense Advanced Research Projects Agency-RADC Contract #F30602-89-C-0022, and equipment grants from Hewlett-Packard, Inc.

CASE: a testbed for modeling, measurement and management

Abstract: activity in the developed world strives not only to maintain status quo activities and lifestyles, but to improve on them. In particular, the application of technology has been focused on improvement. Technology is central to organized society's efforts to improve the lot of individuals and organizations, regardless of one's opinions of the success or failure of instances of technological application or of the ultimate nature of improvement. This ethos of improvement or \"doing better\" has strongly influenced attitudes toward software development and maintenance. From the software crisis of the mid-1960s, well described in [6], to the present day, many concepts, meth-odologies, languages, tools and techniques have been introduced with the aim of improving the software process and its products. Particular initiatives which we will examine here are CASE and the software improvement paradigms of the Software Engineering Institute (SEI), Software Process Capability Maturity Model (CMM), [10, 13, 14] and the University of Mary-land's Tailoring a Measurement Environment (TAME) project [ 1, 2]. CASE aims at greater automation of software production. Just as CAD/CAM has brought integrated design tools to the engineering of physical systems, CASE is bringing analogous tools to the more abstract engineering of software. Ultimately , the motivation for tool use is economic-for competitive advantage. There are many aspects to competitive advantage, including time-to-market, productivity, quality , product differentiation, distribution and support. Software engineering , however, has a narrower scope, comprising software definition , design, production, and maintenance. CASE aims to improve these activities through the use and integration of software tools. Software improvement has recently received more explicit emphasis , together with a firmer conceptual al and empirical basis, through the work of the SEI on the CMM [10, 13, 14] and the work of Basili and Rombach on the TAME project [1, 2]. Central to both of these major research efforts has been the characterization and improvement of the software process. There are differences in the two improvement paradigms, which

Continuous media communication with dynamic QOS control using ARTS with an FDDI network

Abstract: Continuous media communication requires timely delivery of data such as digital video and audio packets. Quality of Service (QOS) parameters specify the temporal and spatial characteristic of such continuous media data. To insure timely delivery of continuous media data, the system needs to minimize the communication delay by securing required processor and network resources. We have extended the Capacity-Based Session Reservation Protocol(CBSRP), which was proposed to realizing predictable real-time communications, to support dynamic control of QOS. We have implemented a QOS control scheme by which the network dynamically adjusts the allocations of network bandwidth on a Fiber Distributed Data Interface(FDDI) network.In this paper, we describe the definition of our QOS model, the extension of CBSRP to support dynamic control of QOS, and the implementation and evaluation of extended CBSRP in our distributed systems testbed, Advanced Real-Time System(ARTS).

Design and implementation of MaRS: a routing testbed

Abstract: MaRS is a discrete-event simulation testbed for developing routing algorithms for wide-area computer networks. It was developed as a modiied and enhanced version of an existing simulator, NetSim. MaRS allows the user to deene a network connguration consisting of physical network, routing algorithm and workload. The user can control its simulation, log the values of selected parameters, and save, load and modify network conngurations. MaRS provides both steady-state and instantaneous performance measures to facilitate the study of the complex dynamics that arises in routing systems (due to delayed feedback). We have used MaRS to evaluate and compare several next-hop routing algorithms.

Xunet 2: a nationwide testbed in high-speed networking

Abstract: Xunet 2 is an experimental wide-area network that serves as a testbed for research on data communications techniques. The authors provide an overview of the architecture of the Xunet 2 testbed. Xunet 2 has three principal components: routers, switches and network management systems. Long-haul transmission between them will initially use DS3 facilities. Performance objectives for the backbone have been set to cover a wide range of transmission speeds. Each router attaches a local area network to the backbone network. The backbone network provides virtual circuit connectivity between the routers. Circuit setup and teardown is done by a control computer associated with each switch, and the network as a whole will be managed by a network management station in the network operations center. >

An overview of the AURORA gigabit testbed

Abstract: AURORA is one of five US testbeds charged with exploring applications of, and technologies necessary for, networks operating at gigabit per second or higher bandwidths. The authors provide an overview of the goals and methodologies employed in AURORA and report preliminary results from the first year of research. AURORA is an experiment in collaboration, where government support has spurred interaction among centers of excellence in industry, academia, and government. The emphasis of the AURORA testbed is research into the supporting technologies for gigabit networking. The targets include new software architectures, network abstractions, hardware technologies, and applications. The AURORA testbed will provide a platform in which researchers can explore business and scientific applications of gigabit networks, while evolving the network architecture to meet the needs of these emerging applications. >

A testbed for characterizing dynamic response of virtual environment spatial sensors

Abstract: This paper describes a testbed and method for characterizing the dynamic response of the type of spatial displacement transducers commonly used in virtual environment (VE) applications. The testbed consists of a motorized rotary swing arm that imparts known displacement inputs to the VE sensor. The experimental method involves a series of tests in which the sensor is displaced back and forth at a number of controlled frequencies that span the bandwidth of volitional human movement. During the tests, actual swing arm angle and reported VE sensor displacements are collected and time stamped. Because of the time stamping technique, the response time of the sensor can be measured directly, independent of latencies in data transmission from the sensor unit and any processing by the interface applications running on the host computer. Analysis of these experimental results allows sensor time delay and gain characteristics to be determined as a function of input frequency. Results from tests of several differnt VE spatial sensors (Ascension, Logitech, and Polhemus) are presented here to demonstrate use of the testbed and method.

Medical applications in a B-ISDN field trial

Abstract: The need for high-speed communications networks that enable users to access remote resources will accelerate the development of many innovative distributed applications in the health care industry. A B-ISDN field trial network has been developed in North Carolina as a multiservice testbed for advanced applications research and development. The paper describes the research on two high-performance medical applications, the network equipment, and terminal interface adapters that have been implemented to serve those applications, and the insights that have been gained from this field trial experience. >

Distributed multimedia applications on gigabit networks

Abstract: MultiG, an open research program addressing issues that range from end-user requirements on distributed multimedia applications supporting collaborative work to medium-access protocols for multi-gigabit networks on optical fibers, is discussed. The projects in MultiG are described from the top down, beginning with computer-supported cooperative work. Distributed multimedia applications and application generators are then considered, followed by networking issues, including interprocess communication, transport services, network protocols, and high-speed protocol processing. Testbed activities and future plans are described. >

Intelligent robotic systems for space exploration

Abstract: List of Figures. List of Tables. Preface. 1. Testbed for Cooperative Robotic Manipulators. 2. Automated Assembly. 3. A Truss Joint for Robotic Assembly. 4. Hierarchial Planning for Space-Truss Assembly. 5. Three-Dimensional Vision. 6. CIRSSE Gripper and Controller System. 7. Simulation of Space Manipulators. 8. JPL Telerobot Testbed. Index.

Mini-mast CSI testbed user's guide

Abstract: The Mini-Mast testbed is a 20 m generic truss highly representative of future deployable trusses for space applications. It is fully instrumented for system identification and active vibrations control experiments and is used as a ground testbed at NASA-Langley. The facility has actuators and feedback sensors linked via fiber optic cables to the Advanced Real Time Simulation (ARTS) system, where user defined control laws are incorporated into generic controls software. The object of the facility is to conduct comprehensive active vibration control experiments on a dynamically realistic large space structure. A primary goal is to understand the practical effects of simplifying theoretical assumptions. This User's Guide describes the hardware and its primary components, the dynamic characteristics of the test article, the control law implementation process, and the necessary safeguards employed to protect the test article. Suggestions for a strawman controls experiment are also included.

Gigabit networking research at Bellcore

Abstract: A communication architecture appropriate for gigabit networks, the multimedia end-to-end communication architecture (MECA), is described. MECA provides multimedia applications with the service they require in a single communication system. MECA encompasses the network, host-network interface, and associated protocols. The architectural characteristics of MECA are compared with those of existing communication systems and the TP++ transport protocol used by MECA is compared to existing transport protocols. Three host-network interfaces built for AURORA, a five-gigabit testbed network that includes an experimental asynchronous transfer mode (ATM) network running over a synchronous optical network (SONET), are described. The Sunshine ATM switch that supports MECA using a scalable Batcher-Banyan switching fabric and highly programmable port controllers is discussed. >

A modular software system for distributed telerobotics

Abstract: Describes a control architecture for telerobotics research. The architecture was object-oriented and data-driven, and can be distributed over many processors on a wide-area network (WAN). The basic capabilities of this testbed have already been demonstrated in tests distributed over four cities. The data distribution techniques of this control architecture are described, as well as details of the current implementation and experimental results. >

High-level mobility controller for a remotely operated unmanned land vehicle

Abstract: The U.S. Army Laboratory Command, as part of the Department of Defense Robotics Testbed Program, is developing a testbed for cooperative, real-time control of unmanned land vehicles. The program entails the development and integration of many elements which allow the vehicles to perform both autonomous and teleoperated functions. The National Institute of Standards and Technology (NIST) is supporting this program by developing the vehicle control system using the Real-time Control System (RCS) architecture. RCS is a hierarchical, sensory-based control system, initially developed for the control of industrial robots and automated manufacturing systems. NIST is developing the portions of RCS that control all vehicle mobility functions, coordinate the operations of the other subsystems on the vehicle, and communicate between the vehicle and the remote operator control station. This paper reviews the overall control system architecture, the design and implementation of the mobility and communication functions, and results from recent testing.

Validation Testing System Reusable Software Component Design

Abstract: : Data sharing is a difficult problem with a variety of issues. There is a need to share data across multiple enterprises, different hardware platforms, different data storage paradigms, and a variety of network architectures. The ISO Standard for the Exchange of Product Model Data (STEP) addresses this need by providing information models which clearly and unambiguously describe data The validity of these information models is essential for success in sharing data in a highly automated business environment. The design of software, which supports the testing of information models for validity and correctness, is described in this document. This design follows requirements and an architecture described in previously published Validation Testing System (VTS) project documents. The collection of these documents provides a basis for software development within the National PDES Testbed. The Testbed is used to validate information models for STEP. The scope of this document is limited to the design of those components of VTS software scheduled for development in the initial phase of the project

VISTAnet gigabit testbed

Abstract: The VISTAnet gigabit testbed project features the deployment of a network connecting distant supercomputers and research programs in communications, advanced graphics techniques, and a medical application. It has been established to experiment with and evaluate techniques associated with gigabit networking. The testbed goals, infrastructure, and driving applications are described. Early insights from the testbed activities are presented to identify important problems associated with networked supercomputers and their impact on public broadband integrated services digital networks. The conflict between the performance needs of supercomputer communications and the constraints of cell-oriented communications are identified and discussed. The concepts of metacomputing are introduced along with their network implications. The metacomputing model is applied to the VISTAnet application to illustrate these points. >

Supervisory telerobotics testbed for unstructured environments

Abstract: A telerobotics testbed for performing tasks such as assembly and repair of spacecraft in unstructured environments is described. This fully operational multiarm system can operate in teleoperated or supervisory control modes, as well as mixed shared-control modes, thus enabling operations in totally to partially unstructured environments. Various sources of uncertainty are identified and approaches to minimize their effects are presented. In the teleoperated mode, the system uses two force-reflecting hand controllers to operate two manipulator arms. A third arm is utilized to position four cameras to view the scene. In the supervisory mode, the system can be operated from three different levels: task, process, and servo levels, providing different levels of autonomy and performance. Various tools are provided so that an operator can perform tasks even when objects are partially occluded or their positions are not known a priori.

Telerobotic system performance measurement: motivation and methods

Abstract: A systems performance-based strategy for modeling and conducting experiments relevant to the design and performance characterization of telerobotic systems is described. A developmental testbed consisting of a distributed telerobotics network and initial efforts to implement the strategy described is presented. Consideration is given to the general systems performance theory (GSPT) to tackle human performance problems as a basis for: measurement of overall telerobotic system (TRS) performance; task decomposition; development of a generic TRS model; and the characterization of performance of subsystems comprising the generic model. GSPT employs a resource construct to model performance and resource economic principles to govern the interface of systems to tasks. It provides a comprehensive modeling/measurement strategy applicable to complex systems including both human and artificial components. Application is presented within the framework of a distributed telerobotics network as a testbed. Insight into the design of test protocols which elicit application-independent data is described.

Integrated health monitoring and controls for rocket engines

Abstract: Current research in intelligent control systems at the Lewis Research Center is described in the context of a functional framework. The framework is applicable to a variety of reusable space propulsion systems for existing and future launch vehicles. It provides a 'road map' technology development to enable enhanced engine performance with increased reliability, durability, and maintainability. The framework hierarchy consists of a mission coordination level, a propulsion system coordination level, and an engine control level. Each level is described in the context of the Space Shuttle Main Engine. The concept of integrating diagnostics with control is discussed within the context of the functional framework. A distributed real time simulation testbed is used to realize and evaluate the functionalities in closed loop.

A programmable ATM/AAL interface for gigabit network applications

Abstract: A generic ATM/AAL (asynchronous-transfer-mode/ATM-adaptation-layer) interface using a microprogrammable machine whose architecture can handle different AAL protocols in a very flexible manner is proposed. This generic interface may facilitate cost-effective implementations of broadband terminal adapters and would allow experimentation with new AAL protocols. An initial implementation of this concept in the form of an experimental prototype ATM/AAL interface for the Nectar gigabit testbed is discussed. This prototype can handle three of the existing AALs and serves to identify common architectural elements of a microprogrammable machine. >

Multi-sensor based AUV with distributed vehicle management architecture

Abstract: The authors introduce a project to build a multisensor-based autonomous underwater vehicle (AUV) named the Twin-Burger, which is the newest vehicle of the Institute of Industrial Science, the University of Tokyo. The Twin-Burger is being designed as a versatile testbed on which the techniques as represented by software architectures can be implemented and tested. The first in-water experiment is expected in 1992. The distributed vehicle management architecture is proposed as a software architecture for the Twin-Burger. The architecture is being developed to approach the most critical problem in the distributed system, that is, how to manage heterogeneous software modules in a homogeneous structure. Performance of the software developed for this management system will be tested using a multipurpose environment simulator. >

Testbed for cooperative robotic manipulators

Abstract: This chapter serves three purposes. Firstly, it is intended to give an overview of many of the robotic engineering problems encountered when considering space-based applications. Secondly, during this overview, the approaches to some of these problems, as currently addressed in the robotic testbed facility at Rensselaer’s Center for Intelligent Robotic Systems for Space Exploration, are presented. Thirdly, throughout the survey of these space-based robotic engineering problems, the reader will be directed to the particular chapters in this book that treat these problems in more detail. It is intended that this chapter will motivate the contents of the book.

Cryptographic Support in a Gigabit Network

Abstract: Many applications envisioned for ultra-high-speed networks require cryptographic transformations for data in transit. Security has often been an afterthought, and cryptographic support has generally not kept pace with performance increases in other network components. Two distinct experimental prototypes of high-speed DES boards were built to understand architectural issues in providing cryptographic support for the AURORA gigabit testbed. Combining cryptographic support with the host/network interface is indicated.

Wideband sensor array processing using a laboratory array testbed

Abstract: Presents experimental results for the wideband direction-finding problem using a laboratory sensor array testbed which was constructed at the University of Minnesota Sensor errors, encountered in actual arrays, require calibration to improve the performance of direction-finding algorithms Methods of wideband calibration are described Experimental results are given in order to compare the performances of coherent and incoherent wideband direction-finding algorithms under multipath conditions including coherent signal-subspace methods >

Managing the network manager

Abstract: A network management and control simulator (NEMACS) software testbed for developing, testing, and integrating different network management (NM) techniques for multiservice circuit-switched networks is discussed. NEMACS is capable of applying different NM strategies to a plethora of simulated network scenarios that include networks of differing size, speed, transport topology, control, and management architectures. NEMACS simulates networks by modeling the behavior of various network modules: call transport modules (CTMs), call control modules (CCMs), and network control modules (NCMs). The implementation of NEMACS software and four examples of how NEMACS has been used to rapidly prototype NM techniques are presented. The examples deal with focused overload in a simple network, predictive access-control and routing strategy, decentralized management, and multiclass traffic control. >

Evaluation of the service execution environment and the service development environment for AIN

Abstract: The feasibility of the scenario processor in the service logic execution environment (SLEE), which is ideal for a service/vendor independent environment, is evaluated. It is shown how to shorten the introduction of new telephone services considerably by using a new software engineering model based on the concept of scenario. The conclusions draw from comprehensive testing done to establish a design for the advance intelligent network (AIN) on a testbed system using the proposed architecture. >