Transcript Cost-Effective Web Interfaces to Lethal Machines

Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
This talk will discuss the architecture, tools, and issues raised in implementing a
system for democratizing access to one-of-a-kind, lethal machines for
Survival Research Labs performances. It will discuss efforts underway
to make access to these machines more seamless and widely available.
Survival Research Laboratories was conceived and founded by Mark Pauline in 1978.
Today, it operates as an organization of creative technicians dedicated to redirecting
the techniques, tools, and tenets of industry, science, and the military toward less
typical manifestations. These systems allow multiple, remote users
from around the world to simultaneously log into to the machines and anonymously
control them via a standard web browser and video conferencing system.
The hardware, software, protocols, and a variety of user interfaces designed for these
machines will also be discussed in detail.
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Machine Interfaces
– Projectile Machines (Movement is along 1 axis)
– Planar Machines: Mobile (Movement along 2 axes)
– Three Dimensionally Active Machines (Simulate machines)
• Software
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Java
VRML
Video Conferencing
Web Server
• Hardware
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Custom boards
Video capture cards
Cameras
Wireless network equipment
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
Client Machine:
Web browser
VRML browser
Java applet
NetMeeting
Web Server:
Client Machine:
Web browser
VRML browser
Java applet
NetMeeting
Client Machine:
Web browser
VRML browser
Java applet
NetMeeting
PWS
Multi-threaded TCP/IP Java ‘server’
Network card
Video capture/sound card
NetMeeting
Wireless
Bridge
Range Extender
Robot:
Serial controller
camera and mic
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Software
– Java 1.2
• user interface (Java applet + HTML)
• TCP/IP multi-threaded server to handle communication
between user and device via serial port (Java Com Port API)
• SRL Protocol (4 byte array Header,Cmd,Data,Checksum)
– VRML
• 3D models of machines mimic actual machine behavior
• 3D model of South Park mimicked actual location
– MS Personal Web Server
• HTTP access
– NetMeeting, MS Internet Explorer
• 2-way, live audio/visual for user feedback
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Hardware
– Wireless network
• Pitching Machine, Track Robot were un-tethered
– Video Capture Cards/Cameras
– Custom boards
– Laptops
• Gives machines web server and video conferencing
functionality
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Projectile Machines
– Pitching Machine
• Launches 2x4s at a velocity of
180mph, 2 boards per second
• Range of 800 ft
• Powered by 500 cubic inch El Dorado
engine
– Air Launcher
• Shoots explosive rounds at
approximately 500mph with a range
of .5 miles
• One-dimensional
– Machines are stationary
– Motion is along 1 dimension (aiming
action: pan/tilt)
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
Air Launcher
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
Pitching Machine
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Issues
– Video necessary to aim and convince people this is real
– Mouse-oriented UI ensures a single user can only issue non-conflicting
commands
– Machines are wired so simultaneous, mutually exclusive commands are less
likely to seize machine. Timing and buffering between commands minimize
this as well.
– Intended chaos: anonymous, multi-user control can be dangerous.
– Distributed nature of machine, user, server muddles accountability should
someone get injured
– Limit switches placed on machines so user can not aim outside the ‘safety’
range. Also checked in firmware.
– Safety feature was disabled as requested by ICC users to provide a fully
automatic strafing machine (Pitching Machine)
– Simple, self-explanatory UI required no training for non-English speaking
users
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Planar Machines
– Track Robot
• Highly maneuverable, allterrain robot with claw
• Tetherless
• Two-dimensional
– Machine is un-tethered, moving
along a plane (2-axes)
– Arm moves in 2 dimensions
(up/down, in/out)
– Grip/Release
– Speed control
– Forward/Reverse
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
Track Robot
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Issues
– Video for steering and to convince
people this is real
– 2-way A/V allowed users to
interact with remote bystanders
– UI worked well for remote users
but not when is driving it via sight
– UI designed to match viewpoint
from robot
– Latency with video required
slowing the machine down to
avoid accidents
– Metal interfered with wireless
transmission. Range extender
became necessary
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
•
Issues
– In some shows, direct
access to machines was not
possible since wireless
network was private so, the
server application had to be
re-written to ‘connect’ to the
client, rendering system
single-user. In other shows,
only users within the subnet
could access the machine.
For this machine
asynchronous access is no
fun.
– Engineers found UI intuitive
– Non-English users had to be
instructed via cell phone
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Interface for controlling 2 or
more machines
– Epileptic Bot
• Stationary robot with 4 flailing ‘limbs’
used as prop burned by Flame Whistle
– Flame Whistle
• Boeing Minesweeper engine with fuel
injection system and igniters used to
blow a large police whistle, becoming
the world’s loudest flame thrower
• 3D Interface
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First time VRML has been used this way
Interface replicates machine activity as well
as physical location (used Virtual SOMA)
Viewpoints in the simulation matched
cameras’ positions on location (one mounted
on the Epileptic Bot, the other on the
Boeing).
Interface enables easier control of more than
1 machine
Control machines from each machine’s
viewpoint as well as overall view
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
Flame Whistle/Epileptic Bot
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Issues
– Video necessary to convince people
this is real
– People could navigate while waiting
for machine setup. Some users
missed the ‘real’ action
– VRML viewpoints synchronized with
cameras, multiple perspectives.
– Optimize screen real estate
– Context-sensitive HUD for specific
machine control UI
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Future Interface Research:
– Motion capture - gesture interface:
• How to do this outdoors in the dark
• This would exclude many users but provide a more seamless interface
– Device to device communication via Bluetooth
• Introduce autonomous behavior
• Other machines control each other
– Control via wireless device like PDA or cell phone
• Convenience vs. loss of anonymity
– Eyeball tracking:
• Same issues with motion capture
– Voice activated controls
• How to do this in loud environment
• Language, internationalization barrier to global access
– Trade-offs: cost-effectiveness and ubiquitous access with
more seamless transparent interfaces
Cost-Effective Web Interfaces to Machines for
Anonymous and Asynchronous Global Access
Karen J. Marcelo
June 5, 2000
• Conclusions:
– Provided unique interfaces using mostly off-the-shelf
and/or free products. Similar systems used in industry are
highly proprietary, expensive
– Anonymous and asynchronous nature of application access
would make accountability difficult given the distributed
nature of system components and users
– Trade-offs must be made between seamless UI and global
access
– JavaSoft, Microsoft, etc. are still unaware of the fact that
they provide a development platform for potential lethal
machines
– ANYONE can do this!