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Kenneth Robinson Thesis (PDF 2MB)

1. CONFIG_FTAPE is not set CONFIG_AGP is not set CONFIG_DRM is not set PCMCIA character devices CONFIG_PCMCIA_SERIAL_CS m Multimedia devices CONFIG_VIDEO_DEV m Video For Linux CONFIG_VIDEO_PROC_FS y CONFIG_I2C_PARPORT is not set Video Adapters CONFIG_VIDEO_PMS is not set CONFIG_VIDEO_CPIA is not set CONFIG_VIDEO_SAA5249 is not set CONFIG_TUNER_3036 is not set CONFIG_VIDEO_STRADIS is not set CONFIG_VIDEO_ZORAN is not set CONFIG_VIDEO_ZORAN_BUZ is not set CONFIG_VIDEO_ZORAN_DC10 is not set CONFIG_VIDEO_ZORAN_LML33 is not set CONFIG_VIDEO_ZR36120 is not set CONFIG_VIDEO_MEYE is not set CONFIG_VIDEO_CYBERPRO is not set dk dk dt HH dt dt Gb H dt Gk H db Gk oct Radio Adapters CONFIG RADIO CADET is not set CONFIG RADIO RTRACK is not set CONFIG RADIO RTRACK2 is not set CONFIG RADIO AZTECH is not set CONFIG RADIO GEMTEK is not set CONFIG RADIO GEMTEK PCI is not set CONFIG RADIO MAXIRADIO is not set CONFIG RADIO MAESTRO is not set CONFIG RADIO MIROPCM20 is not set CONFIG RADIO MIROPCM20 RDS is not set CONFIG RADIO SF16FMI is not set CONFIG RADIO TERRATEC is not set CONFIG RADIO TRUST is not set dk dk dt dk H dt dk Gb HH Gb dt dk H H dt 94 CONFIG_RADIO_TYPHOON is not set CONFIG_RADIO_ZOLTRIX is not set File systems CONFIG_QUOTA is not set CONFIG_AUTOFS_FS is not set CONFIG_AUTOFS4_FS is not set CONFIG_REISERFS_FS is not set CONFIG_REISERFS_CHECK is no
2. CONFIG_L3 is not set CONFIG_L3_ALGOBIT is not set CONFIG_L3_BIT_SA1100_GPIO is not set Other L3 adapters CONFIG_L3_SA1111 is not set CONFIG BIT 541100 GPIO is not set dk dk H Gt oct Mice CONFIG BUSMOUSE is not set CONFIG MOUSE is not set dk db HHHH Joysticks CONFIG_INPUT_GAMEPORT is not set CONFIG_INPUT_NS558 is not set CONFIG_INPUT_LIGHTNING is not set CONFIG_INPUT_PCIGAME is not set CONFIG_INPUT_CS461X is not set CONFIG_INPUT_EMU10K1 is not set CONFIG_INPUT_SERIO m CONFIG_INPUT_SERPORT m Joysticks CONFIG_INPUT_ANALOG is not set CONFIG_INPUT_A3D is not set CONFIG_INPUT_ADI is not set CONFIG_INPUT_COBRA is not set CONFIG_INPUT_GF2K is not set CONFIG_INPUT_GRIP is not set CONFIG_INPUT_INTERACT is not set CONFIG_INPUT_TMDC is not set CONFIG_INPUT_SIDEWINDER is not set CONFIG_INPUT_IFORCE_USB m CONFIG_INPUT_IFORCE_232 m CONFIG_INPUT_WARRIOR m CONFIG_INPUT_MAGELLAN m CONFIG_INPUT_SPACEORB m CONFIG_INPUT_SPACEBALL m CONFIG_INPUT_STINGER m CONFIG_INPUT_DB9 is not set CONFIG_INPUT_GAMECON is not set CONFIG_INPUT_TURBOGRAFX is not set CONFIG_QICO2_TAPE is not set dk dt dt dt dt HH dt H dt db OH OH Watchdog Cards 3k Gt OH CONFIG WATCHDOG is not set 93 CONFIG_NVRAM is not set CONFIG_RTC is not set CONFIG_PXA_RTC y CONFIG_DTLK is not set CONFIG_R3964 is not set CONFIG_APPLICOM is not set Ftape the floppy tape device driver
3. dmesg at lt c00bd360 gt from lt c005b2e4 gt Function entered at lt c005b0e0 gt from lt c001a5e0 gt r8 C0014784 r7 00000036 r6 00000003 r5 r4 00000A30 Division by zero in kernel Function entered at lt c001fc2c gt from lt c0160938 gt Function entered at lt c00d01f8 gt from lt c00cfe38 gt Function entered at lt c00cf794 gt from lt c00d290c gt Function entered at lt c00d27f 8 gt from lt c00bc918 gt r8 C01912A8 r7 C3AD1F48 r6 C3B591CO r5b r4 00000000 Function entered at lt c00bc6d8 gt from lt c007c630 gt Function entered at lt c007c550 gt from lt c004b200 gt r8 C397F6A40 r7 C0287320 r6 00000000 r5 r4 C3B591CO Function entered at lt c004b0f8 gt from lt c004b0f4 gt r8 C0014784 r7 CO2F4000 r6 00000000 r5 r4 00000102 Function entered at lt c004b0a8 gt from lt c004b448 gt r4 00000003 Function entered at lt c004b404 gt from lt c001a5e0 gt r7 00000005 r6 00000002 r5 00012934 r4 Division by zero in kernel Function entered at lt c001fc2c gt from lt c0160938 gt Function entered at c00d01f8 from lt c00cfe38 gt Function entered at lt c00cf794 gt from lt c00d290c gt Function entered at lt c00d27f 8 gt from lt c00bc918 gt r8 C01912A8 r7 C3AD1F48 r6 C3B591CO r5 r4 00000000 Function entered at lt c00bc6d8 gt from lt c007c630 gt Function entered at lt
4. 53 CLIENTSIDE 44BFEAD20A38CB8A9C44B03 0 0 0 0 Okay here it is 24 09 2007 10 37 29 au edu qut ranet bluetooth impl PAN statusPANConnections INFO PAN Master HCIDevice hciO status UP PANConnections bnepO status UP 24 09 2007 10 37 40 au edu qut ranet bluetooth impl PAN getBTAddresses INFO java lang NumberFormatException For input string Sc bnepO Link encap Ethernet HWaddr 00 0A 3A 66 B8 B6 inet6 addr fe80 20a 3aff fe66 b8b6 64 Scope Link UP BROADCAST RUNNING MULTICAST MTU 1500 Metric 1 RX packets 34 errors 0 dropped 0 overruns 0 frame 0 TX packets 63 errors 0 dropped 0 overruns 0 carrier 0 collisions 0 txqueuelen 1000 RX bytes 18864 18 4 KiB TX bytes 19413 18 9 KiB 24 09 2007 10 37 40 au edu qut ranet bluetooth impl PAN statusPANConnections INFO PAN Connection bnepO status UP lo Link encap Local Loopback inet addr 127 0 0 1 Mask 255 0 0 0 inet6 addr 1 128 Scope Host UP LOOPBACK RUNNING MTU 16436 Metric 1 RX packets 107 errors 0 dropped 0 overruns 0 frame 0 TX packets 107 errors 0 dropped 0 overruns 0 carrier 0 collisions 0 txqueuelen 0 RX bytes 8881 8 6 KiB TX bytes 8881 8 6 KiB 24 09 2007 10 37 40 au edu qut ranet bluetooth impl PAN statusPANConnections INFO java lang Exception lo not a bluetooth interface pano Link encap Ethernet HWaddr 00 0A 3A 66 B8 B6 inet addr 10 10 10 222 Bcast 10 255 255 255 Mask 255 0 0 0 inet6 addr fe80 200 ff fe00 0 64 Scope Link UP BROADCAST RUNNING MULTICAST MTU 1500 Metric 1 RX
5. C3B01000 r5 BFFFFBBC r4 00000000 Function entered at lt c00cOcf0 gt from lt c00c1234 gt r8 00005402 r7 C3B01000 r6 00000002 r5 BFFFFB5C r4 C3B01000 Function entered at lt c00c1010 gt from lt c00bd870 gt rb BFFFFBBC r4 C3B01000 Function entered at lt c00bd360 gt from lt c005b2e4 gt Function entered at lt c005b0e0 gt from lt c001a5e0 gt r8 C0014784 r7 00000036 r6 00000003 r5 00000000 r4 00000430 Division by zero in kernel Function entered at lt c001fc2c gt from lt c0160938 gt Function entered at c00d01f8 from lt c00d1f28 gt Function entered at lt c00died8 gt from lt c00cOcd0 gt r8 C38FC000 r7 00000000 r6 00000000 r5 C3B01000 r4 C38FDEB8 Function entered at lt c00c0af4 gt from lt c00c0e60 gt r6 C3B01000 r5 BFFFFBBC r4 00000000 Function entered at lt c00cOcf0 gt from lt c00c1234 gt r8 00005402 r7 C3B01000 r6 00000002 r5 BFFFFB5C r4 C3B01000 Function entered at lt c00c1010 gt from lt c00bd870 gt rb BFFFFBBC r4 C3B01000 Function entered at lt c00bd360 gt from lt c005b2e4 gt Function entered at lt c005b0e0 gt from lt c001a5e0 gt r8 C0014784 r7 00000036 r6 00000003 r5 00000000 r4 00000A30 D 2 Excerpt Email Trail PCMCIA Bluetooth Card Is there any setting or settings which should be turned off or on I tried to make everything that I can modules so that if the module 105
6. Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project MobileServices SMTPGW Test TCP 138 Memory 4M 5M Gathering project list Shell Memory 4M 5M multiproject goal Starting the reactor Our processing order Benchmark Service Jadabs Concurrent RemoteFramework API Log4j CDC JXME OSGi JXME Services API RemoteFramework Impl jadabsgui PPC Admin TestMain JXME Services Impl JXME TCP Jadabs JXME TCP Test Jadabs JXME UDP Jadabs JXME UDP Test Messenger Messenger Test MobileServices SMTPGW MobileServices SMTPGW Test MobileServices SMTPGW Test TCP Shell Executing osgi install Benchmark Service Memory 4M 5M DEPRECATED the default goal should be specified in the build section of project xml instead of maven xml BUILD FAILED Files 2032 Users kp robinson maven cache maven multiproject plugin 1 4 1 N plugin jelly Element maven reactor Line 218 Column 1 Unknown goal osgi install Total time 14 seconds Finished at Sunday November 27 2005 9 55 37 PM EST 139 Appendix G Jython 23 10 06 Downloaded Jython lastest version jython_Release_2_2alpha jar Transferred Installed jython using sw bin jamvm jar jython_Releas
7. is bad the kernel will not be bad I ran make dep and make bzImage and lastly make modules Everything seem to compile so it must work right Is there any further tests I can do before I put the kernel and the modules on the korebot I plan to do this as per 6 4 of your the Korebot user manual many thanks for your help BTW ken About This Post Close This Box Status Comment Rating Member Vists 5 Total Vists 101 About Author Close This Box pbureau Email pbureau k team com Status Registered User Bio Homepage User Profile Subject Re PCMCIA errors From pbureau Date 05 11 06 04 38 PM Tools Close This Box Reply post Reply post Edit post Disabled Edit post Go to parent Go to parent Copy post to Favorite Disabled Copy post to Favorite Send post to your friends Disabled Send post to your friends Hi I think you can proceed with the Programming If the new kernel is not booting at all you will need a KoreJtag to reflash the board though Pierre About This Post Close This Box Status Comment Rating Member Vists 11 Total Vists 11 User Profile not shown 106 Subject Re PCMCIA errors From ken anon Date 05 16 06 04 39 AM Tools Close This Box Reply post Reply post Edit post Disabled Edit post Go to parent Go to parent Copy post to Favorite Disabled Copy post to Favorite Send post to your friends Disabled Send pos
8. 10 10 10 111 9701 bnepo Link encap Ethernet HWaddr 00 10 60 E3 5D 52 10 10 10 111 45318 m inet6 addr fe80 210 60ff fee3 5d52 64 Scope Link About to throw BadExecution with exit valuel30 for hcitool scan UP BROADCAST RUNNING MULTICAST MTU 1500 Metric 1 au edu qut ranet bluetooth impl BadExecution exit valuel30 for hcitool s RX packets 549 errors 0 dropped 0 overruns 0 frame 0 can TX packets 857 errors 0 dropped 0 overruns 0 carrier at au edu qut ranet bluetooth impl Util executeCommand Util java collisions 0 txqueuelen 1000 75 RX bytes 415990 406 2 KiB TX bytes 465953 455 0 KiB Figure 5 2 Two Laptops Messaging configureJXTA start xTA startMc stopJXTA jxta jxta jxtaTask taskPAN timer stop Figure 5 3 RANET Multicast Class Diagram and a Linux laptop have been able to form an ad hoc network bringing up a TCP IP connection Note that the programming examples from JXTA Java TM Standard Edition v2 5 Programmers Guide have been a useful guide 5 2 1 Messaging between two laptops Messaging has been done first using the two laptops which run Ubuntu Linux The client laptop connects using a known advertisement to the server laptop the advertise ment relating to multicast messaging A message to kick the ball is sent It is received and a response sent saying Here it is see Figure This messaging has been presented in a paper at a conference on
9. mnt hda sw5 bin jamvm verbose HWG Loaded java lang Object from mnt hda sw5 share classpath Linking class java lang Object Loaded java io Serializable from mnt hda sw5 share classpath Linking class java io Serializable Loaded java lang reflect Type from mnt hda sw5 share classpath Linking class java lang reflect Type Loaded java lang reflect AnnotatedElement from mnt hda sw5 share classpath Linking class java lang reflect AnnotatedElement Loaded java lang reflect GenericDeclaration from mnt hda sw5 share classpath Linking class java lang reflect GenericDeclaration Loaded java lang Class from mnt hda sw5 share classpath Linking class java lang Class Loaded java lang Runnable from mnt hda sw5 share classpath Linking class java lang Runnable Loaded java lang Thread from mnt hda sw5 share classpath Linking class java lang Thread Loaded java lang VMThread from mnt hda sw5 share jamvm classes Linking class java lang VMThread Loaded java lang Comparable from mnt hda sw5 share classpath Linking class java lang Comparable Loaded java lang CharSequence from mnt hda sw5 share classpath Linking class java lang CharSequence Loaded java lang String from mnt hda sw5 share classpath Linking class java lang String Loaded java lang Cloneable from mnt hda sw5 share classpath Linking class java lang Cloneable Created primitive class char Created array class C Quoted text hidd
10. modprobe hci_usb 108 Using lib modules 2 4 19 kb11 kernel net bluetooth bluez o BlueZ Core ver 2 4 Copyright C 2000 2001 Qualcomm Inc Written 2000 2001 by Maxim Krasnyansky lt maxk qualcomm com gt Using lib modules 2 4 19 kb11 kernel drivers bluetooth hci_usb o BlueZ HCI USB driver ver 2 7 Copyright C 2000 2001 Qualcomm Inc Written 2000 2001 by Maxim Krasnyansky lt maxk qualcomm com gt usb c registered new driver hci_usb Typed hciconfig got hciO Type USB BD Address 00 00 00 00 00 00 ACL MTU 0 0 SCO MTU 0 0 DOWN RX bytes 0 acl 0 sco 0 events 0 errors 0 TX bytes 0 acl 0 sco 0 commands 0 errors 0 Typed hciconfig hciO up got same message with UP with some events hciO Type USB BD Address 00 02 72 B0 C5 FB ACL MTU 192 8 SCO MTU 64 8 UP RUNNING PSCAN ISCAN RX bytes 69 acl 0 sco 0 events 8 errors 0 TX bytes 27 acl 0 sco 0 commands 7 errors 0 Typed modprobe bnep got 1ib modules 2 4 19 kb11 kernel drivers bluetooth modprobe bnep Using lib modules 2 4 19 kb11 kernel net bluetooth 12cap o BlueZ L2CAP ver 2 3 Copyright C 2000 2001 Qualcomm Inc Written 2000 2001 by Maxim Krasnyansky lt maxk qualcomm com gt Using lib modules 2 4 19 kb11 kernel net bluetooth bnep bnep o BlueZ BNEP ver 1 2 Copyright C 2001 2002 Inventel Systemes Written 2001 2002 by Clement Moreau lt clement moreau inventel fr gt Written 2001 2002 by David Libault lt david libault inventel fr gt Copyright
11. o o e 75 C 1 5 Testing the BlueZ in the kernel 76 C 2 Bluez libraries and utilities o lle 77 C 2 1 Libraries a a a o a a e R 77 C22 Utilities ror cue Rx eom ERE eee eee oS 77 C 2 3 Transfer libraries and utilities 78 A be hee Red DOE Homo ee Haas 78 C 3 1 Kernel 2 ee 78 103 2 Utiliti 8 1 14 Bie Rk eb e Se OR 79 C 3 3 Integrating ethernet bridge and Bluetooth 79 C 4 Testing Ethernet Bridge and Bluetooth 80 iow y eR a BER ES A eee e we he ded 80 101 DSL Fae nade Kooba 101 OMM 105 icd Dose dts hee tes dn 108 EORR RR re MUS SS Uu OR DR 110 111 E L Background xaxd Ru aoe how ech Hie ew EC eR Ru FIR OR UR Red 111 T 111 dua uou Ea WURTRORORURCE Bh et A Fus pou E ME wok de g 111 sires ore 111 a 112 6 E 3 3 Email Trail later versions of JamVM and GCP F Jadabs F 1 Email Traill F 2 Diary excerpt re Jadabs H OSGi LI JXME21 3 L2 JXSE2 3 6 LS PIPS ba ae bo ox eov oe Rs 14 Using JXTA with Maven and OSGI I 5 Problems Using JXTA on JamVM J RANET Documents Bibliography 124 124 134 140 142 145 145 146 146 147 148 152 153 List of Figures Og eg n 13 bh eet So EN ee Ge Ge a eae 15 pa TR 25 ee eye Ae TC 31 4 2 Evolution of the Design cont 32 4 3 Evo
12. 0x40219828 Thread Ox368bc NotifyAll on obj 0x40219828 Thread Ox368bc unlock on obj 0x40219828 Thread Ox368bc lock on obj 0x40219138 120 Thread 0x368bc unlock on obj 0x40219138 Thread 0x368bc lock on obj 0x40219138 Thread Ox368bc NotifyAll on obj 0x40219138 Thread Ox368bc unlock on obj 0x40219138 Created primitive class char Created array class C java lang Thread init Ljava lang VMThread Ljava lang String IZ V Quoted text hidden Robert Lougher lt rob lougher gmail com gt Mon Jul 23 2007 at 1 20 AM To Ken Robinson lt kenrobinsonster gmail com gt Hi Ken OK it s hanging as soon as the VM tries to execute Java code Very very odd Could you replace interp direct h with the attached and rerun To do this you need to define DIRECT DEBUG Easiest way is to edit config h and add a line at the top define DIRECT DEBUG 1 Thanks Rob P S Sorry to do this to you but without gdb this is the only way I can track down where it is hanging Quoted text hidden interp direct h 6K Ken Robinson lt kenrobinsonster gmail com gt Mon Jul 23 2007 at 11 06 AM To Robert Lougher lt rob lougher gmail com gt Hi Rob I did as you asked and got the following output The last words 1 REDISPATCH 183 1 1 repeats indefinitely ken mnt hda sw jamvmi 4 6 pre bin jamvm verbose HWG Loaded java lang Object from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x4021
13. 22 35 27 au edu qut ranet bluetooth impl PAN statusPANConnect Sending message Okay here it is j ions 26 81 2008 22 48 47 net jxta impl endpoint tcp IncomingUnicastServer run INFO About to update bluetooth Addresses with result of PAN Connections INFO Server accepted connection from 10 16 3 2 46 790 Sending message Kick the ball tc me 26 91 2088 22 40 47 net jxta impl endpoint tcp TcpMessenger init 26 01 2608 22 35 28 net jxta impl endpoint tcp TcpMessenger init INFO Connection from 16 10 3 2 46790 INFO Creating new TCP Connection to tcp 10 1 2 3 9701 10 1 2 3 97 26 01 2008 22 40 47 net jxta impl pipe Blockingwire0utputPipe init 01 INFO Created output pipe for urn jxta uuid 59616251646162614E504720593250339 Received message from urn jxta uuid 59616261646162614E584720503250337B6 3BSCZF6CA7A41FDBOFB96173088E79404 0FB55E9DC42A88816F7956CE24A1E63 6 9 0 0 26 01 2008 22 40 47 net jxta impl pipe BlockingwireOutputPipe close Okay here it is INFO Closing queue for urn jxta uuid 596162616416152614E504720503250339385C2F 26 01 2608 22 35 29 au edu qut ranet bluetooth impl PAN statusPANConnect 6CA7A41FDB9FB90173088E79404 ions 1l 26 01 2008 22 40 47 au edu qut ranet bluetooth impl PAN statusPANConnections INFO PAN Master HCIDevice hci0 status UP PANConnections bnepo status INFO PAN Master HCIDevice hciO status UP PANConnections bnep8 status UP b UP bnepl status UP nepl status UP a krobinson Serendi
14. 4 5 GCP 0 95 upgrade which did not work on ARM processor Item 24 33 JVM back to earlier versions of JamVM and GCP P2PS did not work because no UDP joinGroup 25 Application NM Hardware 27 Application JvM Linux Kernel and Utilities Hardware Korebot Design 29 Application Linux Kernel and Utilities Hardware Laptop Design 30 Application jvm Linux Kernel and Utilities Hardware Final Design JXSE did not work as JamVM GCP did not have necessary encryption algorithms Application JVM Linux Kernel and Utilities Hardware Application JVM Hardware Figure 4 4 Evolution of the Design cont includes P2PS failure because of absence of multi cast functionality Item 25 JXSE 2 3 6 failure because of lack of encryption algorithms Item 26 and final success with Sun Virtual Machinel 5 0 Item 27 34 4 1 1 Single board computer It may appear that choosing a single board computer is a self contained choice In truth it affects and is affected by other components that are chosen For example the choice of wireless transceiver affects the single board computer choice The only two cheap and readily available wireless transceivers are Bluetooth and WiFi As we have chosen Bluetooth see Section 4 1 2 as to why some reliable freely available Bluetooth software is required There are some proprietary choices but the only viable open source choice is
15. BlueZ This runs only on Linux So the choice of the wireless transceiver makes us choose Linux as the operating system This eliminates many micro controllers that could otherwise be used Further it eliminates many larger fully featured single board computers which only run Windows CE A few single board computers have been evaluated A single board computer with a built in Bluetooth transceiver from HCV Wireless has been tried See Item 2 of Figure 4 1 It has been abandoned because the vendor does not continue to offer Linux support Two other boards have been analyzed Korebot and gumstix 27 Korebot is a product made by K Team a dedicated robotics company They are the makers of the Kheperra III which has the Korebot as the motherboard Korebot has an ARM processor and a lot of I O including USB master connections compact flash card connections serial and USB Ethernet The RAM is 64MB and it has 32MB flash for persistent memory The Korebot has a special form factor similar to PC104 form facto This form factor allows the board to be connected to a few other boards in stacks It runs a Linux operating system which is based upon the Familiar distribution This Familiar distribution has Linux packages running into the tens of thousands which one can install on the Korebot Gumstix makes a motherboard the size of a gum stick packet It has an ARM processor and various configurations of RAM and flash ranging from 64MB RAM and 4MB flash up to
16. Bug Labs has launched a product called BUG essentially a base module and and modules which plug on to the base in the way Lego does The base module has various I O along with an ARM processor and WiFi It and the other modules run instances of see Section in the Java Mobile Edition ME environment a Java virtual machine and Java libraries using version 1 4 2 of the Java programming language service bundles are registered and can be used by the other modules 16 The Windows CE Robot framework CERO Framework has single board computers that control the Lego Mindstorm actuators 30 It implements a Bluetooth scatternet protocol over 433MHz transceivers 30 page 210 JXTA running over Bluetooth has been used in the context of a mobile phone doing a handover of a Hyper Text Transfer Protocol connection from Bluetooth to General packet radio service i There is a proposal to have JX TA use Web Services but there is no attempted im plementation 4 JMobiPeer is a proposed design which has been done on wired personal computers but not wirelessley on the target mobile hardware 11 The Joint Tactical Radio System is a peer to peer short wave radio system promulgated by the United States military 67 3 2 2 An evaluation None of the mentioned robotic systems have all the structures required See Table 3 1 CotsBots Robomote and MICAbot do not have the peer to peer protocol skill packager and dynamic skill loader required They t
17. C 2002 Maxim Krasnyanskiy lt maxk qualcomm com gt Typed hcitool dev got 1ib modules 2 4 19 kb11 kernel drivers bluetooth hcitool dev Devices hciO 00 02 72 B0 C5 FB Typed hcitool dev got 1ib modules 2 4 19 kb11 kernel drivers bluetooth hcitool scan Scanning 00 0A 3A 66 B8 B6 Possibility 0 Did device discovery on Possibility Got Trippin device address 00 02 72 B0 C5 FB It seems that Linux support for usb devices is more mature than that of pcmcia cards Next to do PAND 28 05 06 Swapped devices for usb bluetooth Worked fine In etc bluetooth hcid conf changed script so default link mode now lm accept master Could not get connection to the net Will get it asap 109 D 4 Personal Area Network HOWTO See http bluez sourceforge net contrib HOWTO PAN 110 Appendix E Java Virtual Machine This appendix covers the porting of a Java virtual machine to the Korebot which runs an ARM processor E 1 Background Until quite recently there were not many freely available implementations for Java virtual machines that ran on ARM processors The most widely known proprietary Java virtual machine was IBM s java virtual machine E 2 SUN JVM Since the open sourcing of the Sun Java virtual machine it is hoped that the porting process has been simplified The author attempted before the open sourcing of the code to port the J2ME CDC version This version is necessary for dynamic class
18. CONFIG_SERIAL y CONFIG_SERIAL_CONSOLE y CONFIG_SERIAL_EXTENDED is not set CONFIG_SERIAL_NONSTANDARD is not set Serial drivers CONFIG_SERIAL_ANAKIN is not set CONFIG_SERIAL_ANAKIN_CONSOLE is not set CONFIG_SERIAL_AMBA is not set CONFIG_SERIAL_AMBA_CONSOLE is not set CONFIG_SERIAL_CLPS711X is not set CONFIG_SERIAL_CLPS711X_CONSOLE is not set CONFIG_SERIAL_21285 is not set CONFIG_SERIAL_21285_OLD is not set CONFIG_SERIAL_21285_CONSOLE is not set CONFIG_SERIAL_UARTOO is not set CONFIG_SERIAL_UARTOO_CONSOLE is not set CONFIG_SERIAL_SA1100 is not set CONFIG_SERIAL_SA1100_CONSOLE is not set CONFIG_SERIAL_OMAHA is not set CONFIG_SERIAL_OMAHA_CONSOLE is not set CONFIG_SERIAL_AT91US3 is not set CONFIG_SERIAL_AT91US3_CONSOLE is not set CONFIG_SERIAL_8250 is not set CONFIG_SERIAL_8250_CONSOLE is not set CONFIG_SERIAL_8250_EXTENDED is not set CONFIG_SERIAL_8250_MANY_PORTS is not set CONFIG SERIAL 8250 SHARE IRQ is not set CONFIG SERIAL 8250 DETECT IRQ is not set CONFIG SERIAL 8250 MULTIPORT is not set CONFIG SERIAL 8250 HUB6 is not set CONFIG_UNIX98_PTYS y CONFIG_UNIX98_PTY_COUNT 256 dk dk dt HH HHH HHH HHH HHH HHH HHH H HH dk dt I2C support CONFIG_I2C y CONFIG_I2C_SLOW y CONFIG_I2C_FAST is not set CONFIG_I2C_ALGOBIT is not set CONFIG_I2C_ALGOPCF is not set CONFIG_I2C_PXA_ALGO y CONFIG_I2C_PXA_ADAP y CONFIG_I2C_CHARDEV y 92 CONFIG_I2C_PROC y CONFIG_12C_DS1307 is not set L3 serial bus support
19. Chapter 2 we decided upon the structures required for collaboration They are e robot base single board computer wireless transceiver operating system e peer to peer protocol skill packager non volatile storage e dynamic skill loader e localization system To limit the problem domain the robot base and a localization system have been excluded See Item 1 of Figure 4 1 The robot base allows movement It typically has its own micro controller which another single board computer would exercise to move the robot about The localization system would be a thesis in itself For our purposes it is enough if one robot is in contact with another with no need to calculate one s own position or the position of another In Chapter 3 we have explored general which did not have all the necessary structures to make a before looking at individual products which may have some of the structures required We narrowed our choices for some of the structures as follows e a single board computer deferred e a wireless transceiver Bluetooth and WiFi 29 e an operating system deferred e a peer to peer protocol P2PS and GNUtella e a skill packager Python and OSGi with Python preferred e a non volatile storage deferred and e a dynamic skill loader Python and OSGi with Python preferred We now explore further concrete components which will satisfy the structure of a RANET They can be third party COTS products
20. DBNIdO THAG T Surje1oqe Ureoj Jo 3891 03 snje3s SutALo eos SpIemoy SUPY ojeurureoj 03 eq Sursseq suqquq surpu pq BOP OL aANVD V DNIAVH uornjrsod 199908 ut 30qo1 Md S D S 19 suei1 dnois ur sys 3108 S D S 30qo1 19730 IAO dnos 9130Q01 e utof dnodiS 913001 I9AOOSI T NV4L Y1441DDOS V DNIAYOH SOIONVIAWG 18 Chapter 3 EXISTING STRUCTURES Chapter Summary After finding what abstract structures are needed we search for con crete existing structures that would match There are few examples of COTS that come close to a RANET except in the military domain Robotic platforms wireless networks wired peer to peer implementations and software lifecycle management COT S exist The we suggest uses structures pulled from the areas of wireless networks peer to peer networks and software lifecycle management 3 1 Finding Concrete Existing Structures In the previous chapter we decided upon some abstract structures which satisfied the needs of a Robotic Ad hoc network They were e a single board computer e a wireless transceiver e an operating system e a peer to peer protocol e a skill packager e a non volatile storage and e a dynamic skill loader We now have to look at what concrete existing structures are available which match or closely match these abstract structures We will attempt to find COTTS products which satisfy more than one of these structures We will first look generally at rob
21. Native Method at java io FileInputStream init Unknown Source at java io FileInputStream init Unknown Source 124 at java io FileReader lt init gt Unknown Source at ch ethz jadabs pluginLoader PluginLoaderImpl init PluginLoaderImpl ja va 127 at ch ethz jadabs pluginLoader PluginLoaderActivator start PluginLoaderA ctivator java 98 at org knopflerfish framework BundleImp1 1 run BundleImpl java 279 at java security AccessController doPrivileged Native Method at org knopflerfish framework BundleImpl start BundleImpl java 253 at org knopflerfish framework Framework launch Framework java 358 at org knopflerfish framework Main handleArgs Main java 283 at org knopflerfish framework Main main Main java 190 1609 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl Loading of Plug in failed Framework launched Andreas Frei lt frei inf ethz ch gt Thu Nov 3 2005 at 6 37 AM To Ken Robinson lt kenrobinsonster gmail com gt Hi Ken A File jadabs starter File is needed if it is not in the bin directory download the sources from CVS at berlios de An example of the jadabs starter is in the bin directory Cheers Andreas Von Ken Robinson mailto kenrobinsonster gmail com Gesendet Mittwoch 2 November 2005 04 03 An frei inf ethz ch Betreff Jadabs Hi Andreas I am presently doing a research masters part time in Brisbane Queensland I am looking at having robots form mobile ad hoc netw
22. a serial connection see Appendix B A programming language where there is an interpreter which allows a researcher to try things at will on the target computer would speed up progress Higher level constructs than Java is capable of would also be helpful Both these features are found in languages like Lisp Python Ruby Erlang etc Further distribution and fault tolerance are not built into the Java language as they are in Erlang and Mozart Oz In particular Erlang treats talking to a local node on the same device the same way as a remote device 3 pages 167 177 Maybe the problem is we are trying to implement a P2P system in the wrong domain 68 Appendix A Robot Soccer Analysis An excel spreadsheet was done in the preliminary stages of the analysis of robotic soccer A screenshot is shown below See Figure A With the electronic copy of this document is a file SystemAnalysis xls This can be opened up using Microsoft Office din exits In oetinrdot rarer delis to Moss robots that baresi J Put edd roda in potions Figure A 1 Robot Soccer Analysis 69 Appendix B Korebot This is taken from the Korebot UserManual downloadable from K Team http www k team com Use the terminal program minicom with settings 115200 Bps 8 data bits No parity and 2 stop bits You should get the startup sequence as below The output here is after kernel patch as per the Linux appendix so th
23. another Group discovery is done in a variety of ways amongst various peer to peer protocols With GNUtella a device participating in the GNUtella network acts as both a client and a server and so is termed a servent Once a device G1 is connected to a servent G2 it Pings G2 G2 in turn Pings the servents it knows G3 and G4 G4 replies with a Pong following the route taken to reach it back to Gl This is turns happens with G2 and G3 In this way G1 discovers the GNUtella group There is no limit or boundary to the devices running the GNUtella protocol it can discover page 3 allows a device to send out a message called a discovery request Other devices in the local area respond with messages more specifically called advertisements describing the groups they belong to page 39 Joining a group with specific details say a name Blue Soccer Team does not occur in GNUtella The group joining is circumstantial as discussed above see also pages 25 to 38 Once other devices using the protocol are discovered no joining is required for file transfer or messaging to take place In XTA a device or peer is defined to be a member of group if it holds that group s unique identification ID page 7 However after a JXTA group member has found other groups members it does not mean it joins the group automatically With one must first join a group before skills can be obtained from group members page 57 Some group security may be beneficia
24. as most USB Bluetooth dongles do not have a mini USB connection After the USB Bluetooth dongle is inserted in the Korebot insert a similar dongle in your Test Computer Test that it works by doing the following commands Korebot This tests the Bluetooth USB driver modprobe hci_usb Using lib modules 2 4 19 kb11 kernel net bluetooth bluez o BlueZ Core ver 2 4 Copyright C 2000 2001 Qualcomm Inc Written 2000 2001 by Maxim Krasnyansky lt maxk qualcomm com gt Using lib modules 2 4 19 kb11 kernel drivers bluetooth hci usb o BlueZ HCI USB driver ver 2 7 Copyright C 2000 2001 Qualcomm Inc Written 2000 2001 by Maxim Krasnyansky lt maxk qualcomm com gt usb c registered new driver hci usb See the state of hciconfig before bringing up the hci0 interface modprobe hciN usb hciO Type USB BD Address 00 00 00 00 00 00 ACL MTU 0 0 SCO MTU 0 0 DOWN RX bytes 0 acl 0 sco 0 events 0 errors 0 TX bytes 0 acl 0 sco 0 commands 0 errors 0 Now bring up the interface hciconfig hci0 up hciO Type USB BD Address 00 02 72 B0 C5 FB ACL MTU 192 8 SCO MTU 64 8 UP RUNNING PSCAN ISCAN RX bytes 69 acl 0 sco 0 events 8 errors 0 TX bytes 27 acl 0 sco 0 commands 7 errors 0 Lastly load the BNEP module bnep 76 modprobe bnep Using lib modules 2 4 19 kb11 kernel net bluetooth 12cap o BlueZ L2CAP ver 2 3 Copyright C 2000 2001 Qualcomm Inc Written 2000 2001 by Maxim Krasnyansky lt maxk qualcomm com gt Using lib modules
25. c007c550 gt from lt c004b200 gt r8 C397F6A40 r7 C0287320 r6 00000000 r5 r4 C3B591CO Function entered at lt c004b0f8 gt from lt c004b0f4 gt r8 C0014784 r7 CO2F4000 r6 00000000 r5 r4 00000102 Function entered at lt c004b0a8 gt from lt c004b448 gt r4 00000003 Function entered at lt c004b404 gt from lt c001a5e0 gt r7 00000005 r6 00000002 r5 00012934 r4 Division by zero in kernel Function entered at lt c001fc2c gt from lt c0160938 gt Function entered at c00d01f8 from lt c00d1f28 gt Function entered at lt c00died8 gt from lt c00cOcd0 gt r8 C38FC000 r7 00000000 r6 00000000 r5 r4 C38FDEB8 Function entered at lt c00c0af4 gt from lt c00c0e60 gt r6 C3B01000 r5 BFFFFC40 r4 00000000 Function entered at lt c00cOcf0 gt from lt c00c1234 gt r8 00005402 r7 C3B01000 r6 00000002 r5 r4 C3B01000 Function entered at lt c00c1010 gt from lt c00bd870 gt rb BFFFFC40 r4 C3B01000 Function entered at lt c00bd360 gt from lt c005b2e4 gt Function entered at lt c005b0e0 gt from lt c001a5e0 gt r8 C0014784 r7 00000036 r6 00000003 r5 r4 00000A30 Division by zero in kernel Function entered at lt c001fc2c gt from lt c0160938 gt 103 00000000 00000100 C390B040 00000102 00000001 00000100 C390B040 00000102 00000001 C3B01000 BFFFFC40 00000000 Function entered at F
26. ce che ke OO 28 Sik OUMIMATY s eae beet A Boe See oe ew OY ao UE Ros 28 29 Pc 29 Lc 35 4 1 2 Wireless Transceiver e 36 dew Bade a dare ex ke de poat BE amp ok ord 39 4 1 4 Peer to Per protocol e e 40 i See ees E Poe BOXORIE a kt RO 44 4 1 6 Skill Packager and Dynamic Skill Loading 44 A eee er eer re ee ee 45 4 2 po btrucbur s 34x o GOR ee wg pex Ae Rum EC XC UD eo AK G 45 and the Application o e 4 3 Ehe design s se g 2 amp 0 RE ee hee RR om amp xe 9 9 RR FOX dU EPOR 7 5 TESTING THE DESIGN 49 T eon Mee gow ees EE ke ees 49 5 1 1 Problems using JXTAland open source Java Virtual Machine JamVM GNU eae es ee EE 49 5 1 2 A Workaround 22s 50 Chewy am a A AH no me 50 ih amp anette ae deca ee Ae 51 5 2 2 Messaging between two laptops through the Korebot 58 P uude 58 5 2 4 Skill transfer between laptop and desktop 60 6 CONCLUSIONS 66 6 1 Summary soe eee Row x dog ee A EY ee dede ok e ees 66 sa uea 4 RP UE ACE LE Bed s E Gee ab we dog 67 6 3 Recommendations for improvement 0 02 025004 67 6 4 Some Observations 2 2s 68 69 70 72 C 1 Bluez kernel ee 72 C 1 1 Applying the Patch o o e e e 72 C 1 2 Editing the Config o e e a 74 C 1 3 Making the Kernel o L 75 C 1 4 Installing the Kernel
27. closed source software The ease of development within a Unix environment is also a major factor As the peer to peer protocol requires CP IP in addition to the normal BlueZ func tionality see page 43 the BlueZ profile is also required allows for 39 packets to travel over Bluetooth frames instead of Ethernet frames A patch has been applied to the 2 4 19 Linux kernel see Item 5 of Figure and Section C 1 1 to allow it to provide the full functionality Further all the Bluetooth libraries and utilities needed to support PAN need to be freshly compiled see page 77 This allows an IP link over Bluetooth to occur When using the Linux operating system the startup scripts are written as per the BlueZ document How To set up common scenarios with BlueZ s integrated support 14 This automates the IP connection over Bluetooth The startup script is dev up It requires an Ethernet Bridge see Figure 4 5 Ob taining an Ethernet bridge means a 802 1D kernel module and a utility called brctl has to be cross compiled Such Ethernet bridges connect different Ethernet networks together transparently For members of a virtual network the Ethernets will appear to be one Ethernet 17 The Ethernet Bridge stops a device having multiple addresses when it is a master of the piconet Incidentally the Ethernet bridge has a Spanning Tree Protocol STP which determines the shortest route from one Ethernet to another and also eli
28. for Bluetooth addresses 3 The slave then receives Bluetooth addresses from remote devices 45 1 2 0 Slave get Bluetooth Slave Scans for Bluetooth f Addresses Connections 3 4 TCP IP Connection Try to connect if not connected Has list of Get internet connection status and Bluetooth Addresses with internet connections update list of internet connections 3 9 e e Where no internet connections obtained eventually becomes a Master Figure 4 7 Adapted protocol 4 It then tries to connect to each of the devices it has not already connected to 5 It then checks its internet connection status and updates its internet connections 6 If eventually it makes no connections as a slave it becomes a master This is done on the assumption that there are no devices in the immediate area or that they are all slaves 7 As a master it listens for connections 8 It checks its internet connection status and updates its internet connections 9 If eventually no connections are formed it becomes a slave 10 The process then repeats 46 Previously the slave device did not use an Ethernet bridge for connections The periodic changing of a device from slave to master has altered the design so like a master device a slave now adds TCP IP connections to the Ethernet bridge Adapting the PAN profile in this way we believe ensures that in a piconet an ad hoc network can always be formed This has not been don
29. gt lt scope gt runtime lt scope gt lt dependency gt lt dependency gt lt groupId gt au edu qut ranet lt groupId gt lt artifactId gt ranet jxse lt artifactld gt lt version gt 2 5_rc3 lt version gt lt scope gt runtime lt scope gt lt dependency gt lt dependency gt lt groupId gt au edu qut ranet lt groupId gt lt artifactId gt ranet jxse org mortbay jetty lt artifactld gt lt version gt 2 5_rc3 lt version gt lt scope gt runtime lt scope gt lt dependency gt lt dependency gt lt groupId gt junit lt groupId gt lt artifactId gt junit lt artifactId gt lt version gt 3 8 1 lt version gt lt scope gt test lt scope gt lt dependency gt lt dependencies gt lt build gt lt plugins gt lt plugin gt lt groupId gt org apache felix plugins lt groupId gt lt artifactId gt maven osgi plugin lt artifactId gt lt extensions gt true lt extensions gt lt version gt 0 9 0 SNAPSHOT lt version gt lt configuration gt lt inlinedArtifacts gt lt inlinedArtifact gt ranet jxseMC imp1 lt inlinedArtifact gt lt inlinedArtifacts gt lt osgiManifest gt lt bundleName gt JXSE MC service lt bundleName gt lt bundleVendor gt Ken Robinson lt bundleVendor gt lt bundleDescription gt JXSE MC service lt bundleDescription gt lt bundleActivator gt au edu qut ranet jxseMC service impl Activator 143 lt bundleActivator gt lt ignorePackage gt junit textui junit framework lt ignorePackag
30. joinGroup VMPlainDatagramSocket Imp at gnu java net PlainDatagramSocketImpl joinGroup PlainDatagramSocketImpl ja at java net MulticastSocket joinGroup MulticastSocket java 411 at p2ps imp endpoint UDP UDPMulticastEndpoint joinGroup Unknown Source at p2ps imp endpoint UDP UDPMulticastEndpoint lt init gt Unknown Source at p2ps imp endpoint UDP UDPResolver createDefaultInputEndpoint Unknown Sour at p2ps imp pipe PipeServiceImp getEndpoints Unknown Source at p2ps imp pipe PipeServiceImp createInputPipe Unknown Source at p2ps imp discovery DiscoveryServiceImp createDiscoveryPipe Unknown Source at p2ps imp discovery DiscoveryServiceImp init Unknown Source at p2ps imp peer PeerImp init Unknown Source at p2ps imp peer PeerImp init Unknown Source at au edu qut ranet p2ps impl PeerClient lt init gt PeerClient java 33 at au edu qut ranet p2ps impl PeerClient lt init gt PeerClient java 23 at au edu qut ranet p2ps service impl Activator P2PSServiceImpl testP2PS Act at au edu qut ranet p2ps service itest Activator start Activator java 39 at org apache felix framework util SecureAction startActivator SecureAction at org apache felix framework Felix _startBundle Felix java 1260 6 more java lang InternalError PlainDatagramSocketImpl joinGroup is not implemented Loaded p2ps endpoint StreamEndpoint from mnt hda sw share classpath Linking class p2ps endpoint StreamEndpoint Loaded p2ps imp endpoint TCP TCPEndpoint from mnt h
31. lt c00bd870 gt C3B01000 lt c00bd360 gt from lt c005b2e4 gt lt c005b0e0 gt from lt c001a5e0 gt 00000036 r6 00000003 r5 in kernel lt c001fc2c gt from lt c0160938 gt c00d01f8 from lt c00d1f28 gt cO0died8 from lt c00c0cd0 gt 00000000 r6 00000000 r5 lt c00c0af4 gt from lt c00c0e60 gt BFFFFC40 r4 00000000 lt c00cOcf0 gt from lt c00c1234 gt C3B01000 r6 00000002 r5 lt c00c1010 gt from lt c00bd870 gt C3B01000 lt c00bd360 gt from lt c005b2e4 gt lt c005b0e0 gt from lt c001a5e0 gt 00000036 r6 00000003 r5 in kernel lt c001fc2c gt from lt c0160938 gt c00d01f8 from lt c00d1f28 gt cO0died8 from lt c00c0cd0 gt 00000000 r6 00000000 r5 lt c00c0af4 gt from lt c00c0e60 gt BFFFFC40 r4 00000000 lt c00cOcf0 gt from lt c00c1234 gt C3B01000 r6 00000002 r5 lt c00c1010 gt from lt c00bd870 gt C3B01000 lt c00bd360 gt from lt c005b2e4 gt lt c005b0e0 gt from lt c001a5e0 gt 00000036 r6 00000003 r5 in kernel lt c001fc2c gt from lt c0160938 gt lt c00d01f8 gt from lt c00d1f28 gt lt cO00died8 gt from lt c00c0cd0 gt 00000000 r6 00000000 r5 lt c00c0af4 gt from lt c00c0e60 gt BFFFFBBC r4 00000000 cO0cOcf0 from lt c00c1234 gt C3B01000 r6 00000002 r5 lt c00c1010 gt from lt c00bd870 gt C3B01000 104 C3B01000 BF
32. of Service issues may prevent TCP being used for wireless networks see page 36 3 6 Skill packager and skill loader Lastly we look at skill packagers and loaders before again giving an evaluation For a RANET to work there must be a way of packaging skills and then loading them A robot must also persist those skills In effect one must figure out how to package a skill in a loadable lump send it in some way and then load and remember that skill The stack is divided up into the application transport internet network and hardware layers The application layer is where protocols and applications access the transport layer below The transport layer is where the TCP and User Datagram Protocol protocol resides TCP provides a connection orientated reliable transport provides a connectionless unreliable transport The internet layer is where the resides provides the basis for for connectionless best effort delivery of packets The FCPJUBE u act are wrapped in these IP packets The network layer has the Media Access Control protocols which is the generic name for the low level hardware protocols used to access the physical network The hardware layer represents the electrical signals used to transmit the MAC protocols 26 3 6 1 What exists Packaging the skill Packaging the skill in reality is packaging code to be executed on some remote machine In C and C it would be using some existing library For convenience these a
33. of group cooperation Secondly is there any mechanism for skill discovery and transfer GNUtella has no messaging mechanism The only way to send messages would be to write messages to message files and then query on those message files This is at best a workaround JX TA has messaging using pipes to allow messages to flow between peers Skill discovery is dealt with in a variety of ways The GNUtella protocol for example sends a Query to another device running the GNUtella protocol for a file If a hit is not found the servent sends a Query out to all its known servents If a match is found on a device it replies with a QueryHit following the original route taken to reach it by first querying device Using the file is then downloaded page 3 Skill discovery requires the querying device to know up front the name of the skill GNUtella could be configured so a file could contain a list of all other files This would then allow a device to advertise the skills files that it has The JXTA protocol displays skills using advertisements 72 pages 84 to 101 which are obtained through a skill discovery request Many protocols deal with file transfer 47 page 23 using File Transfer Protocol FTP or page 3 The JXTA protocol has the concept of pipes that a computer uses to send and receive messages pages 84 to 101 These pipes are the conduit along which skill transfer takes place Skill transfer could occur using both GNUtella and JXTA pro
34. packets 33 errors 0 dropped 0 overruns 0 frame 0 TX packets 125 errors 0 dropped 0 overruns 0 carrier 0 collisions 0 txqueuelen 0 RX bytes 18594 18 1 KiB TX bytes 24115 23 5 KiB 24 09 2007 10 37 40 au edu qut ranet bluetooth impl PAN statusPANConnections INFO java lang Exception pan0 not a bluetooth interface 24 09 2007 10 37 40 au edu qut ranet bluetooth impl PAN statusPANConnections INFO About to update bluetooth Addresses with result of PAN Connections Sending message Kick the ball to me Received message from urn jxta uuid 59616261646162614E50472050325033AD2463515 0944BFEAD20A38CB8A9C44B03 0 0 0 0 Okay here it is Figure 5 6 Client RANET Multicast output 54 Bluetooth havePANC onnections makePANAndBridge statusPANC onnections Activator BluetoothServicelmpl bluetoothimpl fh handlerSet logger loggerSet havePANConnections makePANAndBridge statusPANConnections Figure 5 7 Bluetooth Service Class Diagram HC IDevice deviceName DAHER deviceNumber ipAddress deviceUp FIRST ELEM IPAddress z HCIDevice toSt ostro toString get DeviceNumber getElement IhciDevice Li bluetoothAddresses hciDevice forwardD elay master 1 i 1 Bluetoothimplinterface ipAddress panC onnections I panC onnections logger panNumber numberTimesEnt eredPANC onnections addToBridge spanningTreeP rotocolMember cmd h
35. peer to peer protocols covering first the history of peer to peer communication before looking at some peer to peer standards and some implementations An evaluaton is then done of those implementations 3 5 1 What exists Historically peer to peer implementations have occurred on wired networks Wired com munication topologies originally were very centralized but have become more distributed Centralized communication occurred in the 1960s between mainframes and dumb ter minals communication being at the discretion of the mainframe 62 With the rise of the personal computer PC in the late 1970s and early 1980s a shift in communication occurred going to a client server relationship Communication was at the discretion of the client PC If no requests were made of a server no communication occurred From about 2000 onwards we have seen the rise of networks where peer to peer relationships exists As a PC is both a client and a server all the PCs in a peer to peer network have the same discretion to communicate It is not true to say that no peer to peer implementations existed prior to the late 1990s One of the earliest peer to peer implementations was Usenet launched in 1979 which allowed for posting of articles to servers which would then push out the updates to other Usenet servers 76 It is true to say that peer to peer has become more prevalent with many P2P implemenations and some standards Standards There is presently no
36. sending messages and transferring skills Other means of sending messages by saying the message out loud for example are impractical for a robotic device compared to the the ease of sending it wirelessly e Operating system An operating system is required for basic functionality such as a file system control of wireless transceivers and non volatile storage e Peer to peer protocol A predefined network structure for mobile robots is un suitable To obtain an appropriate ad hoc networking structure for robotic com munication a peer to peer protocol is preferred This is so robots can share the 16 responsibility each robot providing skills to other robots as well as seeking them itself 48 This gives robustness and redundancy to the RANET Robots holding a skill can now leave without that skill disappearing Members can request the skill from more than one place the RANET sharing the load amongst its members e Skill packager A skill packager is some mechanism by which a skill can be bundled together Without some agreed way to bundle a skill there would be no common way to transfer a skill and then load it e Non volatile storage This is typically flash or hard disk storage Without such persistent storage the skills transferred could not be remembered e Dynamic skill loader After skills are transferred they need to loaded into the robot Without such loading no skills could be loaded and used It is submitted that t
37. w 1 0 2 The build cannot continue because of the following unsatisfied dependencies commons net 1 1 0 jar jsch 0 1 5 jar commons jelly tags velocity 20030303 205659 jar velocity 1 4 dev jar gt On 11 2 05 Andreas Frei lt frei inf ethz ch gt wrote gt Hi Ken 126 V V V NN NN NN NN NO VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV A File jadabs starter File is needed if it is not in the bin directory download the sources from CVS at berlios de An example of the jadabs starter is in the bin directory Cheers Andreas Von Ken Robinson mailto kenrobinsonster gmail com Gesendet Mittwoch 2 November 2005 04 03 An frei inf ethz ch Betreff Jadabs Hi Andreas I am presently doing a research masters part time in Brisbane Queensland I am looking at having robots form mobile ad hoc networks and then communicate discovering services transferring code messaging and the like I was originally looking at JXTA but through it mailing lists was lead to jadabs Jadabs has everything that I need dynamic loading of jar files weaving of new code communication using JXTA over bluetooth I ve downloaded jadabs both minimal and full but cannot get it to work I get the below error Is there anything that I should be doing regards Ken Robinson bash jadabs sh Knopflerfish OSGi framework version lt no version found gt Copyright 2003 2004 Knopflerfish All Rights Reserved See h
38. will concentrate on 802 11b s data rate of 11Mbps again 802 11b being more ubiquitous and 37 lower cost than 802 11g Each of these data rates will be reduced because of the TCP IP stack overhead We will do a paper analysis for both When looking at transmission over Bluetooth one would look at the size of the IP data gram that could be transmitted This would be dependant on the underlying Maximum Transfer Unit that could be transmitted With Bluetooth 1 x there is asymmetric transmission of data and the symmetric data transmission used in the PAN profile Under Bluetooth 1 x the symmetric data transmission can be configured to a maximum rate of 433 9 Kilo bits per second Kbps 38 pages 25 to 27 In these circumstances the number of bits of payload that can be transmitted is 2712 bits The Internet Protocol discussed would be Internet Protocol Version 4 IPv4 This IP datagram would be contained within the Bluetooth L2CAP packet The datagram has a header of 20 octets 69 page 36 Assuming there was no options this would leave 2552 bits If a TCP Datagram was used a further 24 octets of TCP header would be taken up 20 page 221 This leaves 2350 bits for the payload which reduces the amount of data proportionally to 92 1 This would give a transmission rate of 399 6 Kbps In each piconet you have one master and up to seven 7 slaves Assuming equal transmission time to each of the slaves the transmission rate would drop by
39. working group set up for peer to peer implementations apart from one for Session Initiation Protocol SIP used predominantly for Voice over IP VOIP 15 This group does separate Mul layer from the layer Further they have published an internet draft for this layer 8 refering to PAP lemanttions of Bamboo Chord Pastry Kademlia Gnutella and Gia The International Engineering Task Force IETF has a section called Internet Re search Task Force This has research groups covering various areas including the Peer to Peer Research Group It has published various preliminary documents including P2P in mobile environments 2 and internet chat protocols BEEP is a framework to build any sort of protocol over using XML in its channel initiation profile It has a published standard RFC 3080 and implementations done in C C Python and Java BEEP is not a peer to peer protocol but has all the necessary tools to make a peer to peer protocol 13 Implementations implementations can be classified in two different ways The first is upon their degree of structure The second is upon what they do file transfer messaging or distributed 24 computing like distributed databases 47 page 26 When a node joins a structured network typically they are slotted into some prede fined structure like a binary tree or a hash table This has some advantages for instance it allows for access to a node in a limited number of hops by another node with
40. y CONFIG_IRDA_DEBUG is not set Infrared port device drivers SIR device drivers CONFIG_IRTTY_SIR m CONFIG_IRPORT_SIR m Dongle support dk dk Gt Gt CONFIG_DONGLE is not set FIR device drivers CONFIG USB IRDA is not set CONFIG_NSC_FIR is not set CONFIG WINBOND FIR is not set CONFIG TOSHIBA FIR is not set CONFIG SMC IRCC FIR is not set CONFIG ALI FIR is not set CONFIG VLSI FIR is not set CONFIG_PXA_FIR m dk dk dt dt db dt dt H Gto OF ATA ATAPI MFM RLL support CONFIG_IDE y IDE ATA and ATAPI Block devices CONFIG_BLK_DEV_IDE m Please see Documentation ide txt for help info on IDE drives CONFIG_BLK_DEV_HD_IDE is not set CONFIG_BLK_DEV_HD is not set CONFIG_BLK_DEV_IDEDISK m CONFIG_IDEDISK_MULTI_MODE is not set CONFIG_IDEDISK_STROKE is not set CONFIG_BLK_DEV_IDEDISK_VENDOR is not set CONFIG_BLK_DEV_IDEDISK_FUJITSU is not set CONFIG_BLK_DEV_IDEDISK_IBM is not set CONFIG_BLK_DEV_IDEDISK_MAXTOR is not set CONFIG_BLK_DEV_IDEDISK_QUANTUM is not set CONFIG_BLK_DEV_IDEDISK_SEAGATE is not set dk dk dt dk H HH oct 89 CONFIG_BLK_DEV_IDEDISK_WD is not set CONFIG_BLK_DEV_COMMERIAL is not set CONFIG_BLK_DEV_TIVO is not set CONFIG_BLK_DEV_IDECS m CONFIG_BLK_DEV_IDECD is not set CONFIG_BLK_DEV_IDETAPE is not set CONFIG_BLK_DEV_IDEFLOPPY is not set CONFIG_BLK_DEV_IDESCSI is not set CONFIG_IDE_TASK_IOCTL is not set dk dk HHH IDE chipset support bugfixes
41. 0262 00263 00264 ANAS loadSkill file context String filterSkill Skill skillStr 4 m_serviceTrackerSkill new ServiceTracker m_context m_context createFilter filterSkill null m serviceTrackerSkill open try while true skill m_serviceTrackerSkill waitForService 1000 1 sec if skill null System out println Did not get the skill else Method reflectedSkill skill getClass getMethod invokeSkill null reflectedSkill invoke skill null T catch Exception e e printStackTrace Systen exit 1 lj private void loadSkill java io File file BundleContext context String fileURLString null try fileURLString file toURI toURL toString System out println This is the file location fileURLString Bundle bundle context installBundle fileURLString bundle start catch java net MalformedURLException e System out println Bad URL fileURLString e printStackTrace Figure 5 21 Skill Transfer Client Code Excerpt No 2 65 Chapter 6 CONCLUSIONS Chapter Summary We conclude outlining the novel aspects of the final design look at some future work and investigation and give an overall view of the process of designing the RANE 6 1 Summary In this thesis we have designed and tested a peer to peer network called JRANET that allows members to e Form ad hoc networks through a Bluetooth link that is constantly sought
42. 128MB RAM and 32MB flash The I O is very limited The form factor makes it not as robust as the Korebot It has it own version of Linux No package management is offered After comparing the above two boards the Korebot has been chosen see Item 3 of Figure for the following reasons e The need to have a built in Bluetooth transceiver or at least capacity to connect a Bluetooth transceiver e The need to have the Linux operating system supported by the vendors of the platform so the BlueZ Bluetooth software can be used e The I O offered At first it was the Personal Computer Memory Card International Association PCMCIA interface offered Eventually it came to be the USB master controller which allowed a Bluetooth USB device to be used The robustness of the platform because of the form factor e The number of utilities offered 1PC104 form factor is a ruggedised smaller version of PC motherboards used in embedded devices Familiar is a Linux distribution intended for PDAs and other small devices It uses ipkg and the JFFS2 filesystem a filesystem intended for flash memory 35 4 1 2 Wireless Transceiver With the wireless transceiver infrared WiFi and Bluetooth the most ubiquitous options have been considered To decide between Bluetooth and WiFi we need to compare their Quality of Service QoS For our purposes the Quality of Service required is that which allows collaboration between members in RANET necessary for a so
43. 13 07 07 Discovered error message relates to using 1 4 versus 1 5 java Started trying to build it from source and ran into the same problem Will now need to build using classpath generics Had problems with classpath generics building Will try later 0 95 Found problem in java util Collections java at line 6579 should be Class lt Map Entry lt K V gt gt Class Map Entry class Double cast is required because of Make log 1598 ERROR in java util Collections java at line 6579 Class lt Map Entry lt K V gt gt Map Entry class Cannot cast from Class lt Map Entry gt to Class Map Entry K V Compared 0 95 to 0 91 found need to cast it as Class first Installed to usr local classpath Now used eclipse java compiler Confirmed in debian javac defaults to ecj in usr bin ecj Had problems with pom xml file found it worked just needed fork set to true in file Got it working with generics Now to cross compile generics to target computer Korebot 16 07 07 zip r sw sw This zipped up all the files jamvm and classpath in sw redid classpath and jamvm with mnt hda sw CC arm linux gcc configure prefix mnt hda sw disable gtk peer host arm linux CC arm linux gcc configure host arm linux prefix mnt hda sw with classpath install dir mnt hda sw Able to Helloworld and the Helloworld using generics 112 18 07 07 Discovered ArrayBlockingQueue from jsri66 not in In from 0 92 bugger Trie
44. 2 4 19 kb11 kernel net bluetooth bnep bnep o BlueZ BNEP ver 1 2 Copyright C 2001 2002 Inventel Systemes Written 2001 2002 by Clement Moreau lt clement moreaulinventel fr gt Written 2001 2002 by David Libault lt david libaultCinventel fr gt Copyright C 2002 Maxim Krasnyanskiy lt maxk qualcomm com gt Test Computer Repeat the above commands Korebot Run a hcitool dev command This will show you the local Bluetooth devices hcitool dev Devices hciO 00 02 72 B0 C5 FB Now run a hcitool scan command This will hopefully show the Test Computer Blue tooth address hcitool scan Scanning 00 0A 3A 66 B8 B6 Possibility 0 C 2 Bluez libraries and utilities C 2 1 Libraries BlueZ libraries are cross compiled with the following commands configure host arm linux target arm linux prefix home krobinson bluez libs 2 25 tmp make make install Libraries have been installed in home krobinson sw bluez libs 2 25 tmp lib If you ever happen to want to link against installed libraries in a given directory LIBDIR you must either use libtool and Specify the full pathname of the library or use the LLIBDIR flag during linking and do at least one of the following add LIBDIR to the LD_LIBRARY_PATH environment variable during execution add LIBDIR to the LD RUN PATH environment variable during linking use the Wl rpath W1 LIBDIR linker flag have your system administrator add LIBDIR t
45. 3 5D 52 Sonar vars 1 2 017 2 2 568 3 3 869 4 4 72 5 4 764 6 3 505 7 2 766 8 2 5 W vortdrite worldfile cc Wi Stage driver 6665 4 0 is 6665 5 0 is Listening on po accepted client installProc txt selected 433 m Bl root Felicity Desk les ixse server File Bro gt InstallProc txt De Bl krobinson Felicity EJ Stage simple world Cie fo Figure 5 14 Skill transfer on client desktop 5 2 4 Skill transfer between laptop and desktop In all the preceding tests regarding messaging the client already knows the JXTA adver tisement used to connect to the server Although this makes sense for common services like messaging it will not do for the less needed skills This comes from the robotic soccer analysis Most of the work relates to messages sent between each robot The skills are transferred occasionally In those circumstances the client should first probe its envi ronment to see what skills are available It then should receive the advertisements showing the skills it is interested in Lastly it should then connect to the server having the skill have it transferred and loaded We have demonstrated the concept using a hello skill being able to print a pretty version of Hello see Appendix J A better example is needed We have already referred to Player Stage Gazebo in Table This is software i
46. 430 Loaded java lang Thread from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x40219008 Linking class java lang Thread Thread Ox368bc unlock on obj 0x40219008 Loaded java lang VMThread from mnt hda sw jamvmi 4 6 pre share jamvm classes Thread Ox368bc lock on obj 0x402194c8 Linking class java lang VMThread Thread Ox368bc unlock on obj 0x402194c8 Loaded java lang Comparable from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x40219660 Linking class java lang Comparable Thread Ox368bc unlock on obj 0x40219660 Loaded java lang CharSequence from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x402196f8 Linking class java lang CharSequence Thread Ox368bc unlock on obj 0x402196f8 Loaded java lang String from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x402195c8 Linking class java lang String Thread Ox368bc unlock on obj 0x402195c8 Thread Ox368bc lock on obj 0x402191d0 Thread Ox368bc unlock on obj 0x402191d0 Thread Ox368bc lock on obj 0x402191d0 Thread Ox368bc NotifyAll on obj 0x402191d0 Thread Ox368bc unlock on obj 0x402191d0 Loaded java lang Cloneable from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x40219828 Linking class java lang Cloneable Thread Ox368bc unlock on obj 0x40219828 Thread Ox368bc lock on obj 0x40219828 Thread Ox368bc unlock on obj 0x40219828 Thread Ox368bc lock on obj
47. 5A63D04E66A02 Jul 2 2007 12 33 04 AM au edu qut ranet jxme impl JXMEImpl publishGroup INFO Group BlueSoccerTeam published successfully Jul 2 2007 12 33 04 AM au edu qut ranet jxme impl JXMEImpl statusRemoteGroups INF0 trying to get remote advertisements for peer groups In JXTA test loop In JXTA test loop 1 2 JXSE 2 3 6 11 07 07 Looking at 0 91 classpath and JamVM to run JXSE 2 4 1 Problem is generics and enumerations in 1 5 13 P2PS 09 09 07 Then added all the p2ps and jdom and apache log4j classes to the classpath Found GNU Classpath did not implement the udp multicast 146 Linking class p2ps group UnknownAuthorizationMechanismException Loaded p2ps group AuthorizationException from mnt hda sw share classpath Linking class p2ps group AuthorizationException org osgi framework BundleException Activator start error at org apache felix framework Felix _startBundle Felix java 1305 at org apache felix framework Felix startBundle Felix java 1201 at org apache felix framework BundleImpl start BundleImpl java 345 at org apache felix shell impl StartCommandImpl execute StartCommandImpl jav at org apache felix shell impl Activator ShellServiceImpl executeCommand Act at org apache felix shell tui Activator ShellTuiRunnable run Activator java at java lang Thread run Thread java 712 Caused by java lang InternalError PlainDatagramSocketImpl joinGroup is not id at gnu java net VMPlainDatagramSocketImpl
48. 91 Generics has been tried This lacks the JSR166 Concurrency libraries used by 2 3 6 see Diary Excerpt in Section on how to build it and Item 23 of Figure 4 3 1 4 5 has been tried along with GNU Classpath 0 95 which includes the JSR166 Concurrency libraries Unfortunately some code changes prevent from executing Java code see Diary Excerpt in Section E 3 2 and Item 24 in F igure 4 3 In summary the Korebot the target robotic device cannot use the JXSE functionality because it cannot not run the Sun Virtual Machine The implementation requires Java 5 and the JSR166 Concurrency libraries P2PS a JXTA clone has been tried The GNU Classpath libraries do not support some UDP functionality which is required for the broadcast queries see the Diary excerpt in Section 1 3 and Item 25 of 4 4 49 Figure 5 1 Test Bench We have tried a later version of GNU Classpath on a Linux laptop and find it does not have the necessary encryption algorithms see the Diary excerpts in Section L5 detailing the error and Item 26 of 4 4 5 1 2 A Workaround In the end the component has to be tested on computers which run Sun Virtual Machines version 1 5 see Item 27 of Figure 4 4 in our case Laptops with x86 processors not ARM ones and the Sun Java virtual machines work together 2 5 has been used as it is the easiest to configure A 1 5 Sun Java Virtual Machine has been used as it likely it will be ported to embedded systems in the nea
49. 91d0 Linking class java lang Object Thread Ox3e40c unlock on obj 0x402191d0 Loaded java io Serializable from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x40219138 Linking class java io Serializable Thread Ox3e40c unlock on obj 0x40219138 Loaded java lang reflect Type from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x40219268 Linking class java lang reflect Type Thread Ox3e40c unlock on obj 0x40219268 Loaded java lang reflect AnnotatedElement from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x40219300 Linking class java lang reflect AnnotatedElement Thread Ox3e40c unlock on obj 0x40219300 Loaded java lang reflect GenericDeclaration from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x40219398 Linking class java lang reflect GenericDeclaration Thread Ox3e40c unlock on obj 0x40219398 Loaded java lang Class from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x402190a0 Linking class java lang Class 121 Thread 0x3e40c unlock on obj 0x402190a0 Loaded java lang Runnable from mnt hda sw5 share classpath Thread 0x3e40c lock on obj 0x40219430 Linking class java lang Runnable Thread Ox3e40c unlock on obj 0x40219430 Loaded java lang Thread from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x40219008 Linking class java lang Thread Thread Ox3e40c unlock on obj 0x40219008 Loaded java
50. A_USB_NETLINK y CONFIG_PXA_USB_CHAR y dk dk dt dk dk HH Gb HH H HH dk OH CLPS711X EP721X Implementations CONFIG_ARCH_AUTCPU12 is not set CONFIG_ARCH_CDB89712 is not set CONFIG_ARCH_CLEP7312 is not set CONFIG_ARCH_EDB7211 is not set CONFIG_ARCH_FORTUNET is not set CONFIG ARCH GUIDEAO7 is not set CONFIG ARCH P720T is not set CONFIG ARCH EP7211 is not set CONFIG ARCH EP7212 is not set CONFIG ARCH ACORN is not set CONFIG FOOTBRIDGE is not set CONFIG FOOTBRIDGE HOST is not set 82 CONFIG_FOOTBRIDGE_ADDIN is not set Processor Type CONFIG_CPU_32 y CONFIG_CPU_26 is not set CONFIG_CPU_ARM610 is not set CONFIG_CPU_ARM710 is not set CONFIG_CPU_ARM720T is not set CONFIG_CPU_ARM920T is not set CONFIG_CPU_ARM922T is not set CONFIG_PLD is not set CONFIG_CPU_ARM926T is not set CONFIG_CPU_ARM1020 is not set CONFIG_CPU_ARM1026 is not set CONFIG_CPU_SA110 is not set CONFIG_CPU_SA1100 is not set CONFIG_CPU_32v5 y CONFIG_CPU_XSCALE y CONFIG_XSCALE_CACHE_ERRATA y CONFIG_CPU_32v3 is not set CONFIG_CPU_32v4 is not set dk dk dt dt Gb dt dt Gb Gk Gb Gb oct Processor Features dk dk Gt Gt CONFIG_DISCONTIGMEM is not set General setup CONFIG_ISA is not set CONFIG ISA DMA is not set CONFIG ZBOOT ROM is not set CONFIG ZBOOT ROM TEXT 0 CONFIG ZBOOT ROM BS8 0 CONFIG CPU FREQ y CONFIG_HOTPLUG y CONFIG_PCI is not set PCMCIA CardBus support CONFIG_PCMCIA y CONFIG_182092
51. CONFIG_ARCH_ARCA5K is not set CONFIG ARCH CLPS7500 is not set CONFIG ARCH CLPS711X is not set CONFIG ARCH C0285 is not set CONFIG ARCH PXA y dk dk dt dt Gb dt dt Gk H Gt Gb oct dk Gt oct dk dt dt Gto Gt dk dt dt dt dt gt Gt OH dk dk dt dk H dt dk H dt dk Gb dt dk db OH CONFIG ARCH EBSA110 is not set CONFIG ARCH CAMELOT is not set CONFIG ARCH FOOTBRIDGE is not set CONFIG ARCH INTEGRATOR is not set CONFIG ARCH OMAHA is not set CONFIG ARCH L7200 is not set CONFIG ARCH MX1ADS is not set CONFIG ARCH RPC is not set CONFIG ARCH RISCSTATION is not set CONFIG_ARCH_SA1100 is not set CONFIG ARCH SHARK is not set CONFIG ARCH AT91RM9200DK is not set Archimedes A5000 Implementations Archimedes A5000 Implementations select only ONE CONFIG_ARCH_ARC is not set CONFIG_ARCH_A5K is not set Footbridge Implementations CONFIG_ARCH_CATS is not set CONFIG_ARCH_PERSONAL_SERVER is not set CONFIG_ARCH_EBSA285_ADDIN is not set CONFIG_ARCH_EBSA285_HOST is not set CONFIG_ARCH_NETWINDER is not set SA11x0 Implementations CONFIG_SA1100_ACCELENT is not set CONFIG_SA1100_ASSABET is not set CONFIG_ASSABET_NEPONSET is not set CONFIG_SA1100_ADSAGC is not set CONFIG_SA1100_ADSBITSY is not set CONFIG_SA1100_ADSBITSYPLUS is not set CONFIG_SA1100_BRUTUS is not set CONFIG_SA1100_CEP is not set CONFIG_SA1100_CERF is not set CONFIG_SA1100_H3100 is not set CONFIG_SA1100_H3600 is not set CONFIG_SA1100_H3800 is not set 8l dk H
52. CONFIG_BLK_DEV_CMD640 is not set CONFIG BLK DEV CMD640 ENHANCED is not set CONFIG_BLK_DEV_ISAPNP is not set CONFIG IDE CHIPSETS is not set CONFIG IDEDMA AUTO is not set CONFIG_DMA_NONPCI is not set CONFIG BLK DEV IDE MODES is not set CONFIG BLK DEV ATARAID is not set CONFIG BLK DEV ATARAID PDC is not set CONFIG BLK DEV ATARAID HPT is not set dk dk dk dt dk dk dt dt dk dt H db o Gt SCSI support CONFIG_SCSI m SCSI support type disk tape CD ROM CONFIG_BLK_DEV_SD m CONFIG_SD_EXTRA_DEVS 40 CONFIG_CHR_DEV_ST is not set CONFIG_CHR_DEV_OSST is not set CONFIG_BLK_DEV_SR is not set CONFIG_CHR_DEV_SG m Some SCSI devices e g CD jukebox support multiple LUNs CONFIG_SCSI_DEBUG_QUEUES y CONFIG_SCSI_MULTI_LUN y CONFIG_SCSI_CONSTANTS y CONFIG_SCSI_LOGGING y SCSI low level drivers CONFIG SCSI 7000FASST is not set CONFIG SCSI ACARD is not set CONFIG SCSI AHA152X is not set CONFIG SCSI AHA1542 is not set CONFIG SCSI AHA1740 is not set CONFIG_SCSI_AACRAID is not set CONFIG SCSI AIC7XXX is not set CONFIG SCSI AICTXXX OLD is not set CONFIG_SCSI_DPT_I20 is not set CONFIG SCSI ADVANSYS is not set CONFIG SCSI IN2000 is not set CONFIG_SCSI_AM53C974 is not set dk dk dt dk H dt dk Gb HH H dk dk dk dt 90 dk dk dt dt db dt dt Gb HH Gb dk db Gb H HH H HH dk dt db OH dk dk db Gt CONFIG_SCSI_MEGARAID is not set CONFIG_SCSI_BUSLOGIC is not set CONFIG_SCSI_DMX3191D is not se
53. CONFIG_NLS_ISO8859_4 is not set CONFIG_NLS_ISO8859_5 is not set CONFIG_NLS_ISO8859_6 is not set CONFIG NLS IS08859 7 is not set CONFIG_NLS_ISO8859_9 is not set CONFIG NLS IS08859 13 is not set dk dk dt dk HHH HH dk Gb HHH HHH HHH dk dk dk dk dk dk H dk dk H dk OH CONFIG_NLS_1508859_14 is not set CONFIG NLS 1808859 15 is not set CONFIG_NLS_KOI8_R is not set CONFIG_NLS_KOI8_U is not set CONFIG NLS UTF8 is not set Console drivers CONFIG PC KEYMAP y CONFIG VGA CONSULE is not set Frame buffer support CONFIG_FB is not set Sound CONFIG_SOUND m CONFIG_SOUND_BT878 is not set CONFIG_SOUND_CMPCI is not set CONFIG_SOUND_EMU10K1 is not set CONFIG_MIDI_EMU10K1 is not set CONFIG_SOUND_FUSION is not set CONFIG_SOUND_CS4281 is not set CONFIG_SOUND_ES1370 is not set CONFIG_SOUND_ES1371 is not set CONFIG_SOUND_ESSSOLO1 is not set CONFIG_SOUND_MAESTRO is not set CONFIG_SOUND_MAESTRO3 is not set CONFIG_SOUND_ICH is not set CONFIG_SOUND_RME96XX is not set CONFIG_SOUND_SONICVIBES is not set CONFIG_SOUND_TRIDENT is not set CONFIG_SOUND_MSNDCLAS is not set CONFIG_SOUND_MSNDPIN is not set CONFIG_SOUND_VIA82CXXX is not set CONFIG_MIDI_VIA82CXXX is not set CONFIG_SOUND_PXA_UDA1342 m CONFIG_SOUND_PXA_UDA1342_DIFF is not set CONFIG_SOUND_PXA_UDA1342_DIFF is not set CONFIG_SOUND_OSS is not set CONFIG_SOUND_VIDC is not set CONFIG_SOUND_WAVEARTIST is not set CONFIG_SOUND_PXA_AC97 m CON
54. Cooperation using a Robotic Ad Hoc Network made from Bluetooth JXTA OSGi and other commercial off the shelf COTS products Kenneth Patrick Robinson LLB QUT BInfoTech QUT School of Information Technology Faculty of Science and Technology Master of Information Technology Research 2008 A very big thank you to Andy who set me out on this journey Keywords Robot soccer robot communication wireless networks peer to peer protocols software life cycle management messaging skill transfer code transfer WiFi Bluetooth BlueZ Linux Java OSGi JXTA Abstract Abstract Mobile devices in the near future will need to collaborate to fulfill their function Collaboration will be done by communication We use a real world example of robotic soccer to come up with the necessary structures required for robotic communication A review of related work is done and it is found no examples come close to providing a RANE The robotic ad hoc network we suggest uses existing structures pulled from the areas of wireless networks peer to peer and software life cycle management Gaps are found in the existing structures so we describe how to extend some structures to satisfy the design The RANET design supports robot cooperation by exchanging messages discovering needed skills that other robots on the network may possess and the transfer of these skills The network is built on top of a Bluetooth wireless network and uses JX TA to communi
55. ERIAL KEYSPAN USA28XA is not set CONFIG USB SERIAL KEYSPAN USA28XB is not set CONFIG USB SERIAL KEYSPAN USA19 is not set CONFIG USB SERIAL KEYSPAN USA18X is not set CONFIG USB SERIAL KEYSPAN USA19W is not set CONFIG USB SERIAL KEYSPAN USA49W is not set CONFIG USB SERIAL MCT U232 is not set CONFIG USB SERIAL KLSI is not set CONFIG USB SERIAL PL2303 is not set CONFIG USB SERIAL CYBERJACK is not set CONFIG USB SERIAL XIRCOM is not set CONFIG USB SERIAL OMNINET is not set dk dt dk dt dt dk dt dt dk dt dt dk dt dt dt dt dt dt dt dt dt dk dt dt Gk dt dt Gb Gt OF USB Miscellaneous drivers CONFIG USB RIO500 is not set CONFIG USB AUERSWALD is not set CONFIG USB BRLVGER is not set dk dk Gt Gt Gb oct 99 Bluetooth support CONFIG_BLUEZ m CONFIG_BLUEZ_L2CAP m CONFIG_BLUEZ_SCO m CONFIG_BLUEZ_RFCOMM m CONFIG_BLUEZ_RFCOMM_TTY y CONFIG_BLUEZ_BNEP m CONFIG_BLUEZ_BNEP_MC_FILTER y CONFIG_BLUEZ_BNEP_PROTO_FILTER y CONFIG_BLUEZ_HIDP m Bluetooth device drivers CONFIG_BLUEZ_HCIUSB m CONFIG_BLUEZ_HCIUSB_SCO is not set CONFIG_BLUEZ_HCIUART m CONFIG_BLUEZ_HCIUART_H4 y CONFIG_BLUEZ_HCIUART_BCSP y CONFIG_BLUEZ_HCIUART_BCSP_TXCRC y CONFIG_BLUEZ_HCIBFUSB m CONFIG_BLUEZ_HCIDTL1 m CONFIG_BLUEZ_HCIBT3C m CONFIG_BLUEZ_HCIBLUECARD m CONFIG_BLUEZ_HCIBTUART m CONFIG_BLUEZ_HCIVHCI m Kernel hacking CONFIG_FRAME_POINTER y CONFIG_DEBUG_USER y CONFIG_DEBUG_INFO is not set CONFIG_
56. FFFC40 00000000 C3B01000 BFFFFC40 00000000 C3B01000 BFFFFC40 00000000 C3B01000 BFFFFB5C Function entered at lt c00bd360 gt from lt c005b2e4 gt Function entered at lt c005b0e0 gt from lt c001a5e0 gt r8 C0014784 r7 00000036 r6 00000003 r5 00000000 r4 00000430 Division by zero in kernel Function entered at lt c001fc2c gt from lt c0160938 gt Function entered at c00d01f8 from lt c00d1f28 gt Function entered at lt c00died8 gt from lt c00cOcd0 gt r8 C38FCO00 r7 00000000 r6 00000000 r5 C3B01000 r4 C38FDEB8 Function entered at lt c00c0af4 gt from lt c00c0e60 gt r6 C3B01000 r5 BFFFFBBC r4 00000000 Function entered at lt c00cOcf0 gt from lt c00c1234 gt r8 00005402 r7 C3B01000 r6 00000002 r5 BFFFFB5C r4 C3B01000 Function entered at lt c00c1010 gt from lt c00bd870 gt rb BFFFFBBC r4 C3B01000 Function entered at lt c00bd360 gt from lt c005b2e4 gt Function entered at lt c005b0e0 gt from lt c001a5e0 gt r8 C0014784 r7 00000036 r6 00000003 r5 00000000 r4 00000A30 Division by zero in kernel Function entered at lt c001fc2c gt from lt c0160938 gt Function entered at lt c00d01f8 gt from lt c00d1f28 gt Function entered at lt c00died8 gt from lt c00cOcd0 gt r8 C38FCO00 r7 00000000 r6 00000000 r5 C3B01000 r4 C38FDEB8 Function entered at lt c00c0af4 gt from lt c00c0e60 gt r6
57. FIG_SOUND_TVMIXER is not set dk dk dt dt dt dt dt HH dt dt db Gt dt Gb H dt Gb oct Multimedia Capabilities Port drivers CONFIG MCP is not set CONFIG_MCP_SA1100 is not set CONFIG MCP UCB1200 is not set CONFIG MCP UCB1200 AUDIO is not set CONFIG MCP UCB1200 TS is not set CONFIG MCP UCB1400 TS is not set dk dk dt dt dt Gt Gb OH OH USB support 97 CONFIG_USB y CONFIG_USB_DEBUG is not set Miscellaneous USB options CONFIG_USB_DEVICEFS y CONFIG_USB_BANDWIDTH is not set CONFIG USB LONG TIMEOUT is not set USB Host Controller Drivers CONFIG USB EHCI HOD is not set CONFIG USB UHCI is not set CONFIG USB UHCI ALT is not set CONFIG USB OHCI is not set CONFIG USB OHCI SA1111 is not set CONFIG USB OTG m dk dk dt dt dk H OH HF USB Device Class drivers CONFIG_USB_AUDIO is not set CONFIG_USB_EMI26 is not set USB Bluetooth can only be used with disabled Bluetooth subsystem CONFIG_USB_STORAGE m CONFIG_USB_STORAGE_DEBUG y CONFIG_USB_STORAGE_DATAFAB is not set CONFIG_USB_STORAGE_FREECOM is not set CONFIG_USB_STORAGE_ISD200 is not set CONFIG_USB_STORAGE_DPCM is not set CONFIG_USB_STORAGE_HP8200e is not set CONFIG USB STORAGE SDDRO9 is not set CONFIG USB STORAGE JUMPSHOT is not set CONFIG USB ACM is not set CONFIG USB PRINTER is not set dk dk dt dt dk dt H OH OH USB Human Interface Devices HID CONFIG_USB_HID y CONFIG_USB_HIDINPUT y CONFIG_USB_H
58. FIN is not set CONFIG SK98LIN is not set CONFIG TIGONS3 is not set CONFIG FDDI is not set CONFIG HIPPI is not set CONFIG PLIP is not set CONFIG_PPP m CONFIG_PPP_MULTILINK is not set CONFIG_PPP_FILTER is not set CONFIG_PPP_ASYNC m CONFIG_PPP_SYNC_TTY m 87 CONFIG_PPP_DEFLATE m CONFIG_PPP_BSDCOMP m CONFIG_PPPOE is not set CONFIG_SLIP m CONFIG_SLIP_COMPRESSED y CONFIG_SLIP_SMART y CONFIG_SLIP_MODE_SLIP6 y Wireless LAN non hamradio CONFIG_NET_RADIO y CONFIG_STRIP is not set CONFIG_WAVELAN is not set CONFIG_ARLAN is not set CONFIG_AIRONET4500 is not set CONFIG_AIRONET4500_NONCS is not set CONFIG AIRONETA4500 PROC is not set CONFIG_HERMES m CONFIG_HOSTAP m CONFIG_SPECTRUM_CS m dk dk dt dt Gb H Wireless Pcmcia cards support CONFIG_PCMCIA_HERMES m CONFIG_HOSTAP_CS m CONFIG_AIRO_CS is not set CONFIG_NET_WIRELESS y Token Ring devices CONFIG_TR is not set CONFIG_NET_FC is not set CONFIG_RCPCI is not set CONFIG_SHAPER is not set dk dk dt dt dt dt HF Wan interfaces dk dk Gt Gt CONFIG WAN is not set PCMCIA network device support dk dk dk Gt CONFIG NET PCMCIA is not set Amateur Radio support dk dk dt Gt CONFIG HAMRADIO is not set IrDA infrared support CONFIG_IRDA m IrDA protocols CONFIG_IRLAN m 88 CONFIG_IRNET m CONFIG_IRCOMM m CONFIG_IRDA_ULTRA y IrDA options CONFIG_IRDA_CACHE_LAST_LSAP y CONFIG_IRDA_FAST_RR
59. H HHH dt dt db HHH HHH dt dt dk dt dt dk dt dt db H dt Gk H db Gk dt dk dk dt dt db H Gt CONFIG_SA1100_H3XXX is not set CONFIG H3600 SLEEVE is not set CONFIG 841100 EXTENEX1 is not set CONFIG 841100 FLEXANET is not set CONFIG 841100 FREEBIRD is not set CONFIG_SA1100_FRODO is not set CONFIG 841100 GRAPHICSCLIENT is not set CONFIG 841100 GRAPHICSMASTER is not set CONFIG 841100 HACKKIT is not set CONFIG 841100 BADGE4 is not set CONFIG 841100 JORNADA720 is not set CONFIG_SA1100_HUW_WEBPANEL is not set CONFIG_SA1100_ITSY is not set CONFIG_SA1100_LART is not set CONFIG_SA1100_NANOENGINE is not set CONFIG_SA1100_OMNIMETER is not set CONFIG_SA1100_PANGOLIN is not set CONFIG_SA1100_PLEB is not set CONFIG_SA1100_PT_SYSTEM3 is not set CONFIG_SA1100_SHANNON is not set CONFIG_SA1100_SHERMAN is not set CONFIG_SA1100_SIMPAD is not set CONFIG_SA1100_SIMPUTER is not set CONFIG_SA1100_PFS168 is not set CONFIG_SA1100_VICTOR is not set CONFIG_SA1100_XP860 is not set CONFIG_SA1100_YOPY is not set CONFIG_SA1100_USB is not set CONFIG_SA1100_USB_NETLINK is not set CONFIG_SA1100_USB_CHAR is not set CONFIG_SA1100_SSP is not set Intel PXA250 210 Implementations CONFIG_ARCH_LUBBOCK is not set CONFIG_ARCH_PXA_IDP is not set CONFIG_ARCH_PXA_CERF is not set CONFIG_ARCH_TRIZEPS2 is not set CONFIG_ARCH_KOREBOT y CONFIG_ARCH_KOREBOT_KTEAM y CONFIG_ARCH_KOREBOT_SBOT is not set CONFIG_ARCH_KOREBOT_LE is not set CONFIG_PXA_USB y CONFIG_PX
60. Hunk 1 succeeded at 11360 offset 72 lines Hunk 2 succeeded at 13313 offset 108 lines Hunk 3 succeeded at 20587 offset 167 lines Hunk 4 succeeded at 20614 offset 167 lines Hunk 5 succeeded at 20682 offset 167 lines Hunk 6 succeeded at 20711 offset 167 lines Hunk 7 succeeded at 20728 offset 167 lines patching file Documentation devices txt patching file Documentation firmware_class firmware_sample_driver c patching file Documentation firmware_class hotplug script patching file Documentation firmware_class README patching file drivers bluetooth bfusb c patching file drivers bluetooth bluecard_cs c patching file drivers bluetooth bt3c_cs c patching file drivers bluetooth btuart_cs c patching file drivers bluetooth Config in patching file drivers bluetooth dtli_cs c patching file drivers bluetooth hci_bcsp c patching file drivers bluetooth hci bcsp h patching file drivers bluetooth hci_h4 c patching file drivers bluetooth hci_h4 h patching file drivers bluetooth hci_ldisc c patching file drivers bluetooth hci uart h patching file drivers bluetooth hci usb c patching file drivers bluetooth hci usb h patching file drivers bluetooth Makefile patching file drivers bluetooth Makefile lib patching file drivers char pcmcia serial cs c patching file drivers char serial c Hunk 1 succeeded at 860 offset 18 lines patching file drivers input Config in patching file drivers input keybdev c patching file d
61. I wegr sel o xi lgT4 6 l veez se1lq xu Mica parando giscoreTppus 6 J2T24C2 AISUNISDAO poddolp 9 240442 02 232 2Cd xl O gisoniie geisydd yy jevegso1uy Monona y p200 renee aa iunt ver fon varf sie 2 ni Li 59 nO amp up Sun Apr 6 10 10 PM 3 Applications Places System ece Ken Robinson Cp OEFENING DESIEOp RSETEITERD TET DOT Sor File Edit View Terminal Tabs Help root Felicity Desktop jxse_client felix 1 0 3 3 krobinson Felicity Desktop jxse_client feli TX packets 230 errors 0 dropped overruns 0 carrier 0 collisions 0 txqueuelen 0 RX bytes 361799 353 3 KB TX bytes 35596 34 7 KB 6 04 2008 22 10 35 au edu qut ranet bluetooth impl PAN statusPANConnections INFO java lang Exception pan8 not a bluetooth interface 6 04 2008 22 10 35 au edu qut ranet bluetooth impl PAN statusPANConnections INFO About to update bluetooth Addresses with result of PAN Connections 6 04 2008 22 10 35 au edu qut ranet bluetooth impl PAN statusPANConnections INFO PAN Master HCIDevice hciO status UP PANConnections bnep0 status DOWN Stage simple world I Sonar vars 1 2 012 2 2 567 3 3 874 4 4 751 5 4 797 6 3 503 7 2 768 8 2 554 m 6 04 2008 22 10 35 au edu qut ranet bluetooth impl PAN getBTAddresses INFO java lang NumberFormatException For input string Sc 6 04 2008 22 10 35 au edu qut ranet bluetooth impl PAN getBTAddresses INFO 00 10 60 E
62. IDDEV y CONFIG_USB_WACOM is not set USB Imaging devices CONFIG_USB_DC2XX is not set CONFIG_USB_MDC800 is not set CONFIG_USB_SCANNER is not set CONFIG_USB_MICROTEK is not set CONFIG_USB_HPUSBSCSI is not set dk dk dt dt Gk Gt OH OH USB Multimedia devices dk dk Gt odi CONFIG USB IBMCAM is not set 98 CONFIG_USB_OV511 m CONFIG_USB_PWC is not set CONFIG_USB_SE401 is not set CONFIG_USB_STV680 is not set CONFIG_USB_VICAM is not set CONFIG_USB_DSBR is not set CONFIG_USB_DABUSB is not set USB Network adaptors CONFIG_USB_PEGASUS is not set CONFIG_USB_RTL8150 is not set CONFIG_USB_KAWETH is not set CONFIG_USB_CATC is not set CONFIG_USB_CDCETHER is not set CONFIG_USB_USBNET m USB port drivers dk dk Gt Gt CONFIG USB USS720 is not set USB Serial Converter support CONFIG USB SERIAL is not set CONFIG USB SERIAL GENERIC is not set CONFIG USB SERIAL BELKIN is not set CONFIG USB SERIAL WHITEHEAT is not set CONFIG USB SERIAL DIGI ACCELEPORT is not set CONFIG USB SERIAL EMPEG is not set CONFIG USB SERIAL FTDI SIO is not set CONFIG USB SERIAL VISOR is not set CONFIG USB SERIAL IPAQ is not set CONFIG USB SERIAL IR is not set CONFIG USB SERIAL EDGEPORT is not set CONFIG USB SERIAL KEYSPAN PDA is not set CONFIG USB SERIAL KEYSPAN is not set CONFIG USB SERIAL KEYSPAN USA28 is not set CONFIG USB SERIAL KEYSPAN USA28X is not set CONFIG USB S
63. May 17 11 54 09 2006 FOO IO ACK IA OK 1063 1096 xx CONFIG USB AUERSWALD is not set CONFIG USB BRLVGER is not set Bluetooth support CONFIG_BLUEZ m CONFIG_BLUEZ_L2CAP m CONFIG_BLUEZ_SCO m CONFIG_BLUEZ_RFCOMM m CONFIG_BLUEZ_RFCOMM_TTY y 74 CONFIG_BLUEZ_BNEP m CONFIG_BLUEZ_BNEP_MC_FILTER y CONFIG_BLUEZ_BNEP_PROTO_FILTER y CONFIG_BLUEZ_HIDP m Bluetooth device drivers CONFIG_BLUEZ_HCIUSB m CONFIG_BLUEZ_HCIUSB_SCO is not set CONFIG_BLUEZ_HCIUART m CONFIG_BLUEZ_HCIUART_H4 y CONFIG_BLUEZ_HCIUART_BCSP y CONFIG_BLUEZ_HCIBFUSB m CONFIG_BLUEZ_HCIDTL1 m CONFIG_BLUEZ_HCIBT3C m CONFIG_BLUEZ_HCIBLUECARD m CONFIG_BLUEZ_HCIBTUART m CONFIG_BLUEZ_HCIVHCI m Kernel hacking 1063 1085 CONFIG USB AUERSWALD is not set CONFIG USB BRLVGER is not set Bluetooth support CONFIG_BLUEZ m CONFIG_BLUEZ_L2CAP m CONFIG_BLUEZ_SCO m Bluetooth device drivers CONFIG_BLUEZ_HCIUSB m CONFIG_BLUEZ_USB_FW_LOAD y CONFIG_BLUEZ_USB_ZERO_PACKET y CONFIG_BLUEZ_HCIUART m CONFIG_BLUEZ_HCIUART_H4 y CONFIG_BLUEZ_HCIDTL1 m CONFIG_BLUEZ_HCIVHCI is not set Kernel hacking C 1 3 Making the Kernel Make the kernel image using make dep make bzImage make modules and make modules install INSTALL_MOD_PATH tmp in the top directory of 2 4 19 kb11 di rectory This makes the image and the modules as per 6 4 of the KoreBot UserManual Then make a bootab
64. NO_PGT_CACHE is not set CONFIG_DEBUG_KERNEL is not set CONFIG_DEBUG_SLAB is not set CONFIG_MAGIC_SYSRQ is not set CONFIG_DEBUG_SPINLOCK is not set CONFIG_DEBUG_WAITQ is not set CONFIG_DEBUG_BUGVERBOSE is not set CONFIG_DEBUG_ERRORS is not set CONFIG_DEBUG_LL is not set CONFIG_DEBUG_DC21285_PORT is not set CONFIG_DEBUG_CLPS711X_UART2 is not set dk dk dt HH dt dt Gk H HH oct 100 Appendix D Bluetooth D 1 Diary Excerpt PCMCIA Bluetooth Card 17 05 06 Discoved that using make xconfig created a fresh config file and that pcmcia serial cs module could not be made Found that copying config korebot to config and then adding bluetooth stuff was enough and did compile on make dep make bzImage make modules make modules instal diff was diff c home krobinson sw linux 2 4 19 kb11 config A home krobinson sw linux 2 4 19 kb11 config korebot home krobinson sw linux 2 4 19 kb11 config Wed May 17 11 54 09 2006 home krobinson sw linux 2 4 19 kb11 config korebot Wed May 17 11 54 09 2006 FEO ACK k kkk kk k xx 1063 1096 x xxx CONFIG USB AUERSWALD is not set CONFIG USB BRLVGER is not set Bluetooth support CONFIG_BLUEZ m CONFIG_BLUEZ_L2CAP m CONFIG_BLUEZ_SCO m CONFIG_BLUEZ_RFCOMM m CONFIG_BLUEZ_RFCOMM_TTY y CONFIG_BLUEZ_BNEP m CONFIG_BLUEZ_BNEP_MC_FILTER y CONFIG_BLUEZ_BNEP_PROTO_FILTER y CONFIG_BLUEZ_HIDP m Bluetooth device drivers CONFIG_BLUEZ_HCIUSB m CONFIG_BLUE
65. NUtella flood the network with a query and have directed responses and file transfers Inbetweeners Peer to peer protocols that sit between structured and unstructured networks can be further divided in to those that deal with file transfers those that deal with messaging and those that deal with both For file transfer one can look at Bittorrent a file transfer protocol implemented in many programming languagues and having an official standard 19 For messaging internet chat protcols are in the main They include Jabber and Simple Jabber or Extensible Messaging and Presence Protcol is used for internet chat It has the advantage of being formalised as standards RFC 3920 and RFC 3921 by the It operates by sending an XML message to its Jabber server who forwards 25 it on to a remote Jabber server who lastly hands it onto the intended recipient The interesting thing is it has many extensions to the basic protocol including file transfer and remote procedure calls The disadvantage is most of these are in the draft experimental or proposed stage and there is no reference implementation covering all these extensions r7 Another instant messaging protocol is Session Initiation Protocol for Instant Messag ing and Presence Leveraging Extensions SIMPLE an extension to the session intiation protocol It allows for instant messaging and file transfer It has known implementa tions in Microsoft Office Communicator the client and Microso
66. Senese Bluetooth Application Developers Guide The Short Range Interconnect Solution Syngress Publishing Inc 800 Hingham Street Rockland MA 02370 United States of America first edition 2002 Jorunn Kassin Next generation of mobile terminals Master s thesis Faculty of Information Technology Mathematics and Electrical Engineering Department of Telematics Norwegian University of Science and Technology Norway July 2002 knopflerfish World Wide Web Knopflerfish open source OSGi website September 2006 URL http www knopflerfish org accessed on 15 09 2006 Michael Koch Jamvm man page part of Linux distribution September 2006 M Koch is the author of the JamVM man page He can be reached at kon queror gmx de 155 42 pud E 45 E A Fu No 49 50 51 52 53 54 Tetsuo Kotoku Openrtm aist A reference implementation of the robotic tech nology component specification World Wide Web Staff section of National Institute of Advanced Industrial Science and Technology AIST June 2007 URL http staff aist go jp t kotoku omg 2007Brussels robotics2007 06 10 pdf ac cessed on 12 11 2007 Korebot light edition board Published on the K Team website URL http www k team com accessed on 13 12 2007 M B McMickell B Goodwine and L A Montestruque Micabot a robotic platform for larg scale distributed robotics In Robotics and Automation 2003 Proceedings ICRA 03 IEEE Interna
67. Sequence Loaded java lang String from mnt hda sw share classpath Linking class java lang String Loaded java lang Cloneable from mnt hda sw share classpath Linking class java lang Cloneable Created primitive class char Created array class C 5 Output on gc and jnci gives nothing ken Quoted text hidden Robert Lougher lt rob lougher gmail com gt Thu Nov 16 2006 at 3 21 AM To Ken Robinson kenrobinsonsterOgmail com Hi Thanks for the info I ll work out where in the boot sequence it s getting to and see if I can see anything wrong Quoted text hidden Ken Robinson lt kenrobinsonster gmail com gt Sat Jul 21 2007 at 2 13 PM To Robert Lougher lt rob lougher gmail com gt Hi Robert I was wondering whether you had a chance to look at this problem When you didn t answer I went back to java 1 4 3 The difficulty is I now need to use generics and enumerations and so have to use classpath 0 95 and jam 1 4 5 I have run into the same problem Any ideas Quoted text hidden Robert Lougher lt rob lougher gmail com gt Sun Jul 22 2007 at 5 53 AM To Ken Robinson lt kenrobinsonster gmail com gt Hi Ken Yes I did a major re working of the threading code between 1 4 3 and 1 4 4 which appears to have introduced a number of regressions These weren t reported in time for 1 4 5 so they re currently only available via CVS Instructions for downloading can be found here http develop
68. Total Vists 8 User Profile not shown Subject Re PCMCIA errors From Ken anon Date 06 06 06 02 14 PM Tools Close This Box Reply post Reply post Edit post Disabled Edit post Go to parent Go to parent Copy post to Favorite Disabled Copy post to Favorite Send post to your friends Disabled Send post to your friends Hi What I did was reconfigure the kernel so the option was set for serial cs I found that this also did not work I then tried a different tack I bought an adapter for the usb master mini connection on the korebot I found that the usb bluetooth device worked first time I tried a Belkin F8T013 device Broadcomm chipset and a generic model CSR chipset and both work Many thanks for you help My feeling is to avoid the pcmcia bluetooth cards altogether for the moment I think there is some serious problem at least in the 2 4 19 kernel which is not rectified by applying the Mark Holtman bluetooth patch I beleive this is because of the serial cs N driver regards Ken D 3 Diary Excerpt USB Bluetooth Dongle 25 05 06 Success Went out today and purchased a bluetooth adapter Belkin 8T013 Attached this to the host computer Possibility Attached HCV Wireless bluetooth card to korebot via mini to standard usb adapter with a female plug at end Some of the appropriate messages occurred on startup Typed modprobe hci_usb lib modules 2 4 19 kb11 kernel drivers bluetooth
69. Unknown Source at java io FileInputStream init Unknown Source at java io FileReader init Unknown Source at ch ethz jadabs pluginLoader PluginLoaderImpl init PluginLoaderImpl ja va 127 at ch ethz jadabs pluginLoader PluginLoaderActivator start PluginLoaderA ctivator java 98 at org knopflerfish framework BundleImp1 1 run BundleImpl java 279 at java security AccessController doPrivileged Native Method at org knopflerfish framework BundleImpl start BundleImpl java 253 at org knopflerfish framework Framework launch Framework java 358 at org knopflerfish framework Main handleArgs Main java 283 at org knopflerfish framework Main main Main java 190 1609 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl Loading of Plug in failed Framework launched Ken Robinson lt kenrobinsonster gmail com gt Tue Nov 8 2005 at 10 26 PM To Andreas Frei lt frei inf ethz ch gt Hi Andreas I ve tried the jadabs sh from the cvs bin directory and get the same result I then tried to build using maven but get the following error This is after I copy the plugins from http osgirepo berlios de repository maven jars and put it in the plugin directory in maven Is there something basic I am doing wrong Do I need to all find and install those jar files mentioned below Should they go into the maven repository regards Ken Robnson LANA des _Apache__ ___ IVI 7 NVZ _ N intelligent projects Il LANL INZ A_ 1
70. When the RANET Multicast application begins the Bluetooth link is attempted in PANConnectionTask see Figure 5 5 After the link is established a query for a multicast service is broadcast by the client in JXTAConnection Task If the query finds the multicast service the same query delivers the message Kick the ball to me The multicast service provides a directed response Okay here it is Listed in Figure 5 6 is the client laptop s standard output The output is similar for the server laptop Bluetooth Service The Bluetooth Service see Figure 5 7 is an bundle which wraps up the Bluetooth Implementation jar file exposing only the functionality it desires The services that this bundle provide can be registered with the framework Bluetooth Implementation BluetoothImpl on initialization causes the and the ethernet bridge Bridge to be created Its two main operations after initialization is seeking and maintaining TCP IP connections and to advise other classes whether there are any PAN connections The main classes see Figures 5 8 and 8 are BluetoothImpl PANJand Bridge When using Bluetooth Implementations the following command line utilities are required e For BluetoothImpl hciconfig and hcitool 52 aie sees a sa kl start makePANAndBridge StatusPANConnections Figure 5 5 RANET Multicast Sequence Diagram
71. Z_HCIUSB_SCO is not set CONFIG_BLUEZ_HCIUART m CONFIG_BLUEZ_HCIUART_H4 y 101 CONFIG_BLUEZ_HCIUART_BCSP y CONFIG_BLUEZ_HCIBFUSB m CONFIG_BLUEZ_HCIDTLi m CONFIG_BLUEZ_HCIBT3C m CONFIG_BLUEZ_HCIBLUECARD m CONFIG_BLUEZ_HCIBTUART m CONFIG_BLUEZ_HCIVHCI m Kernel hacking 1063 1085 CONFIG_USB_AUERSWALD is not set CONFIG_USB_BRLVGER is not set Bluetooth support CONFIG_BLUEZ m CONFIG_BLUEZ_L2CAP m CONFIG_BLUEZ_SCO m Bluetooth device drivers CONFIG_BLUEZ_HCIUSB m CONFIG_BLUEZ_USB_FW_LOAD y CONFIG_BLUEZ_USB_ZERO_PACKET y CONFIG_BLUEZ_HCIUART m CONFIG_BLUEZ_HCIUART_H4 y CONFIG_BLUEZ_HCIDTL1 m CONFIG BLUEZ HCIVHCI is not set Kernel hacking 24 05 2006 Made kernel and installed it along with modules Found that config did not allow for serial_cs Need to rejig config and reinstall kernel and modules With no ip connection had to do this the hard way via minicom transfer files function Revisited man pages for pcmcia cardmgr and cardctl Will look at etc pcmcia config and bluetooth conf and blueooth for options PRODID_1 Socket PRODID_2 CF Personal Network Card Rev 2 5 PRODID_3 PRODID_4 MANFID 0104 0096 FUNCID 2 PRODID_1 SanDisk PRODID_2 SDP PRODID_3 5 3 0 6 PRODID_4 MANFID 0045 0401 FUNCID 4 Did various options in bluetooth conf with no success 102 Still got below error Will need to speak to author of patch
72. _context m_serviceTrackerBT m_serviceTracker XSE_FileClient m_serviceTrackerSkill skill skillstr taskPAN timer start stop loadSkill setupBluet ooth a Client b Server start stop setupBluetooth Figure 5 16 Skill Transfer Class Diagrams jxta MSA MSID urn jxta uuid DDC23AEDFAFFA43E98C82F503BFBCF04234N 10BB37AF674FCCBBF8A2DE126CDBF006 Name SPEC Skill Wanderer Crtr SURI Vers Version 0 1 jxta PipeAdvertisement Id urn jxta uuid 59616261646162614E5047205032N 503393B5C2F6CA7A41FBBOF890173088E79404 Type JxtaUnicast Name Skill Wanderer Figure 5 17 JXTA Module Spec Advertisement 62 wea Pp m wuse papu mumwe nasennie 00166 pipeAdv createSocketAdvertisement skillStr 00167 00168 set it in the module spec ad 00169 msAdv setPipeAdvertisement pipeAdv 00170 00171 display the advertisement as a plain text document 00172 StructuredTextDocument doc 00173 StructuredTextDocument 00174 msAdv getDocument MimeMedi aType XMLUTF8 00175 00176 StringWriter out new StringWriter 00177 doc sendTowriter out 00178 System out println out toString 00179 out close 00180 00181 publishe locally and remotely 00182 publishModulespecAd msAdv 00183 00184 serverSocket new JxtaServerSocket netPeerGroup pipeAdv 10 00185 serverSocket setSoTimeout 0 00186 00187 catch IOException e 00188 System out prin
73. after and maintained by each RANET member see Section 4 2 1 e Send and receive messages via a known pipe to each other or through another RANET member even if the otherl RANET member is on a different class of network see Sections 5 2 1 and 5 2 3 and e Discover skill on other RANE T members have one of those skills transferred to themselves load that skill and use it see Section 5 2 4 The integration of the components has been difficult and time consuming The Linux kernel on the Korebot did not have the necessary functionality for BlueZ Ethernet bridging and an earlier choice for the Bluetooth transceiver Kernel patches and extra libraries and utilities had to be added see Sections 4 1 3 and Appendix C Finding a fully functional Java virtual machine freely available for an ARM processor given its use in embedded devices was difficult with both Sun virtual machines not able to be ported either through difficulty in the codebase or the United States export restriction laws see Section E 2 The open source Java virtual machine and Java libraries GNU Classpath GCP worked up until the and P2PS peer to peer protocol libraries were used Essentially required Java version 1 5 0 and Jan VMJ GCP only had part of the 1 5 0 Java functionality available on the Korebot see Sections and For P2PS qo did not have certain multicast functionality see Sections and I 3 The Bluetooth PCMCIA card recommended by the Korebot ve
74. anas down logger panBfr getHCIDevice cmd panDaemonBegun i Sauspaveernecinad aseado Bridge havePANC onnections sendHeartBeat PAN toString statusPANC onnections toString getBTAddresses bridge cmd hciDevice logger pan SAME addToBridge Bluetoothimpl down getHCIDevice havePANConnections sendHeartBeat statusPANConnections Figure 5 8 Bluetooth Implementation Class diagram 55 E pl Bri Bluetooth Service Eros ESPANI Bridge Bluetoothimpl j statusPANConnections i statusPANConnections Figure 5 9 Bluetooth Implementation Sequence Diagram e For Bridge brctl ifconfig and route e For PAN pand hcitool ifconfig and start stop daemon When running BluetoothImpl the ulimit command needs to set the file number de scriptors to 2048 This is done by typing ulimit n 2048 Because of the slightly different behavior between earlier and later versions of the pand utility the class uses a BLUETOOTH properties like the following pandVersion 2 25 This is the pand version number JX TA Service The JX TA Service uses the JXTA implementation jar file see Figure 5 11a It makes an bundle The services that this bundle provide can be registered with the framework JX TA Implementation This DX TA Multicast implementation oper
75. arm linux gcc Wall g I usr src linux include c libbridge init c arm linux gcc Wall g I usr src linux include c libbridge misc c ar rcs libbridge a libbridge devif o libbridge if o libbridge init o libbridge misc o arm linux ranlib libbridge a make 1 Leaving directory home krobinson sw bridge utils 1 1 libbridge make 1 Entering directory home krobinson sw bridge utils 1 1 brctl arm linux gcc Wall g 02 I libbridge I usr src linux include c brctl c arm linux gcc Wall g 02 I libbridge I usr src linux include c brctl_cmd c arm linux gcc Wall g 02 I libbridge I usr src linux include c brctl disp c arm linux gcc brctl o brctl cmd o brctl disp o L libbridge lbridge o brctl make 1 Leaving directory home krobinson sw bridge utils 1 1 brctl make 1 Entering directory home krobinson sw bridge utils 1 1 doc make 1 Nothing to be done for all make 1 Leaving directory home krobinson sw bridge utils 1 1 doc And now install it The libraries libbridge a libbridge so and the utility brctl need to be transferred to the Korebot krobinson Possibility sw bridge utils 1 1 make install for x in libbridge brctl doc do make C x install done make 1 Entering directory home krobinson sw bridge utils 1 1 libbridge mkdir p home krobinson sw bridge utils 1 1 tmp include install m 644 libbridge h home krobinson sw bridge utils 1 1 tmp include mkdir p home krobins
76. atching file net bluetooth cmtp Makefile patching file net bluetooth cmtp sock c patching file net bluetooth Config in patching file net bluetooth hci conn c patching file net bluetooth hci core c patching file net bluetooth hci_event c patching file net bluetooth hci_sock c patching file net bluetooth hidp Config in patching file net bluetooth hidp core c patching file net bluetooth hidp hidp h patching file net bluetooth hidp Makefile patching file net bluetooth hidp sock c patching file net bluetooth 12cap c patching file net bluetooth Makefile patching file net bluetooth rfcomm Config in patching file net bluetooth rfcomm core c patching file net bluetooth rfcomm crc c patching file net bluetooth rfcomm Makefile patching file net bluetooth rfcomm sock c patching file net bluetooth rfcomm tty c patching file net bluetooth sco c patching file net bluetooth syms c patching file net netsyms c C 1 2 Editing the Config With the kernel you have a configuration file config korebot which you copy to config and then modify as per the diff below This should enable the BlueZ options Essentially all the BNEP options should be turned on These are used by the PAN to get the TCP IP connection diff c home krobinson sw linux 2 4 19 kb11 config home krobinson sw linux 2 4 19 kb11 config korebot home krobinson sw linux 2 4 19 kb11 config Wed May 17 11 54 09 2006 home krobinson sw linux 2 4 19 kb11 config korebot V Wed
77. ates as either client or server depending on the contexts of the JXTA properties file see Figure 5 10 A client has in one frame a query request and a message The query request looks for a JX TA Multicast Server advertisement Once such an advertisement is found a connection is made and the message is delivered The JXTA implementation see Figure 5 11b uses the JXSE Release Candidate 2 5 This implementation has many helper classes These helper classes can easily create pure ad hoc networks networks which do not require seeding of some super peer Broadcasts are done using IP multicast The IP multicast is enabled in the Bridge class see Figure 56 JXTA properties for peer group etc peerName BlueOne groupName BlueSoccerTeam groupDescription The Blue Soccer Team principal BlueOneUser password password isClient Yes timeoutServerPipe 0 timeoutClientPipe 60000 Figure 5 10 JXTA properties file JXSEMC Implinterf ace ActivatorJXTAMC Servicelmpl fh handlerSet jseMCImpl logger loggerSet configureJXTA startJXTAO startMC stopJXTA a IXTA Service b Imple mentation Figure 5 11 JX TA Multicast Class Diagrams 57 TOOL Happenstance Bo Te x DO x root Serendipity Desktop deploy felix 1 0 0 File Edit View Terminal Taos Hep Ele gdt View Terminal Tabs Help INFO java lang Exception pan not a bluetooth interface I ig Kick the ball to me 26 01 2608
78. awar navy mil index cfm accessed on 15 09 2006 Lloyd Spencer Robotics and the need for standards World Wide Web Robotic Irends website May 2005 W R Stevens TCP IP Illustrated Volume 1 The Protocols volume 1 of Addison Wesley Computing Series Addison Wesley Publishing Company One Jacob Way Reading Massachusetts United States of America first edition 1994 157 70 71 72 73 74 75 76 Swarm bots Swarm bots homepage World Wide Web Swarm bots website 2006 URL http www swarm bots org accessed on 14 09 2006 TinyOS Tinyos homepage World Wide Web TinyOS website 2006 URL http www tinyos net special mission accessed on 29 08 2006 Project Jxta v2 0 Project jxta v2 0 Java programmer s guide World Wide Web Project JXTA website 2003 Ashlee Vance The call for robotics standards is on World Wide Web The Reg ister website June 2006 URL http www theregister co uk 2006 06 22 robotics standards accessed on 11 12 2007 H Velayos and G Karlsson Techniques to reduce the ieee 802 11b handoff time Communications 2004 IEEE International Conference on 7 3844 3848 Vol 7 June 2004 Ian Wang P2PS Peer to Peer Simplified In Proceedings of 13th Annual Mardi Gras Conference Frontiers of Grid Applications and Technologies pages 54 59 Louisiana State University February 2005 Wikipedia Robot software World Wide Web Wikipedia website November 2007 URL http en wi
79. bling mobility in sensor networks In Information Processing in Sensor Networks 2005 IPSN 2005 Fourth International Symposium on pages 404 409 April 2005 Bruce Powel Douglass Doing hard time developing real time systems with UML objects frameworks and patterns Addison Wesley Longman Publishing Co Inc Boston MA USA 1999 Cameron Ross Dunne Using mobile agents for network resource discovery in peer to peer networks SIGecom Exchanges Newsletter of the ACM Special Interest Group on E Commerce 2 3 1 9 2001 The RoboCup Federation Home page World Wide Web RoboCup website 2005 http www robocup org 02 html accessed on 20 02 2005 Home page World Wide Web Federation of International Robot soccer Association website 2005 http www fira net index html accessed on 20 02 2005 154 27 28 29 30 31 32 33 34 36 37 38 40 41 Endless possibilities Published on the gumstix website http gumstix com index html accessed on 13 12 2007 Chen Hongyuan T V L N Sivakumar Leping Huang and T Kashima Topology controllable scatternet formation method and its implementation In Wireless Ad Hoc Networks 2004 International Workshop on pages 243 248 June 2004 Brian Hrolenok Jason Youngblood and other flockbots World Wide Web Flock Bots website 2005 http cs gmu edu eclab projects robots flockbots pmwiki php accessed on 11 09 2006 P Ibac
80. cate and transfer skills bundles form the skills that can be transferred To test the final design a reference implementation is done Deficiencies in some third party software is found specifically and Jam VM and GNU Classpath Lastly we look at how to fix the deficiencies by porting the JX TA C implementation to the target robotic platform and potentially eliminating the TC PIF layer using UDF instead of TCP or using an adaptive IP stack We also propose a future areas of investigation how to seed the configuration for the Personal area network Bluetooth protocol extension so a Bluetooth TCPYIP link is more quickly formed and using the STP to allow multi hop messaging and transfer of skills Contents 1 BASIC NEED FOR COOPERATION 13 ee yb DIPENDE ee ee 13 15 iig dete eau Re AR 15 2 2 Structures Required 2e 16 3 EXISTING STRUCTURES 19 LTD 19 ee oe 20 3 21 Whale wu Ax x oom ek ee we RO ek a a REOR Raw KR 5 20 Ofte Hi ee ey Gee ee TL 20 MEN ee ee ee ee ee ee ee 20 3 3 1 What exists 0 0 ee 21 ese ee aes ee ee a ce ee ee 22 AA duca aibi OR eiu UR iub op dod 22 OAL Whatexistsl lt x ce outta not nibo Bie ee tae G 22 PT 24 3 5 Peer to Peer Protocols 22e 24 3 54 Whal ksi sarissa ake 3 odo m 7 ek a a REOR we KR 4 24 jos Base 2S att Geer de we vous Pub buda qe Gok dew He Bos 3 d 26 WT 26 3 6 1 What exists 2l ll less 27 a ces See O
81. ccer game It will be defined using the following characteristics 1 The discovery time of devices in the network and subsequent connection time 2 The bandwidth this is the the throughput measured in bits per second bps A minimum throughput can be specified 20 page 795 3 Loss of data in a wireless setting this would be through wireless interference 4 Power consumption and service coverage signal strength and how it can vary over time 50 page 3 In mobile ad hoc networks excessive power consumption can cause decrease in service coverage 5 Ad hoc networking capability this relates to robustness In the absence of an ad hoc networking capability a single node is required to transmit data from one node to another If this node is taken out the networking capability disappears A minimum is not required Minimum is needed where you have hard real time requirements say a heart pacemaker sending an electrical signal every fifteen 15 milliseconds otherwise the heart will cease to beat It is hard to see the need for imposition of a minimum QoS for the RANET It is more in the nature of a soft real time requirement 23 As long as you limit the number of devices that are part of a network you can then limit the amount of traffic that is generated We cannot consider the physical transmitter in isolation Each of the mentioned characteristics are affected by the intervening software layers between the transmitter and the app
82. collections of masters or slaves close to other wanting but unable to communicate Now with the extension to the PAN Profile devices periodically flip between master and slave see Section 4 2 1 and pages 52 and 52 This means that eventually all devices will become part of the network As discussed previously this could work on scatternets as well as each slave still tries to connect even after it has made a connection with a master The slave would be members or two or more piconets and so gang together piconets into a wider scatternet If a robot was to break the link by moving too far away from the device upon coming back in contact it would eventually make the link once more Wireless services in the form of messaging or skills is available to members of a This is done by coupling the framework with Now robots can search for advertised messaging services Similarly they can search for ad vertised OSGi skills which can be transferred to the seeker loaded and invoked These bundles are remembered by the OSGi framework effectively it loads and remembers them The Ethernet bridge was previously only used on master devices in the Bluetooth PAN profile see Section 4 2 1 and Appendix D 4 Adding the Ethernet bridge to slaves allows them to have more than one Ethernet link thereby allowing scatternets The use of the Ethernet bridge allows searching for skills messaging and skill transfer to occur across multiple nodes in the see Secti
83. cs Domain Task Force JAUS has put out a standard by the same name It has been expanded on by the SAE and has been given the name SAE AS 4 SAEJhas a slew of other standards regarding com ponents and safety OMG has the Robotic Technology Component Specification All of these standards call out Institute of Electrical and Electronics Engineers standards The way these standards inter operate is the and EEE standards can be used for basic components and safety standards JAUS SAE AS 4 can be used for the message protocol between individual components and other robots The robotic standard can be used along with JAUS for management of robotic systems 68 JAUS seems to have more implementations than the specification For communciaton in Extensible Markup Language XML one could use SensorML which allows for discovery and control of sensors or RoboML no new versions since 2003 There is a need for standardization Without standard interfaces and communication protocols computer manufacturers will be forever rolling bespoke components 73 We try in our architecture to use standards wherever we can to form the RANET design 21 Implementations There are many robotic software implementations see Table on page 3 As can be seen only a few implementations follow any standards OpenJAUS and OpenRTM aist 3 3 2 An evaluation All of the above platforms use a client server model where the client needs prior knowledge
84. d a Relay peer The pushing of information is done by the Shared Resource Distributed Index When ever an advertisement is published by an edge peer details are provided to its list of Rendezvous peers This information is periodically propagated through the various Ren dezvous peers contained within the group This pushing of information increases the amount of traffic but would probably limit the extent and time of any query Queries in JX TA are done using a local broadcast and through the Rendezvous peers GNUtella has been shown not to scale well because of it group distribution information mechanism 7 JXTA would limit the amount of traffic Whether the slow push of information about advertisements would work in a RANE T is another matter The exception to this is where a direction connection cannot be made by the first querying device say where a firewall prevents a direct HT TP connection being made When this occurs the first querying device sends a Push to the servent that has the file That servent then attempts to form a connection i 42 Group Cooperation Group cooperation involves messaging to achieve some joint intention It also involves transfer of skills to assist each other in this joint intention The main thrust of this thesis is to provide a design for a network which can allow group cooperation Two questions need to be asked Firstly does the type of messaging that GNUtella or offers support the concept
85. d lib 22 09 05 Decided to go with SDK development kit but ran into configure problems libtdl is missing 27 09 05 Can t use jdk 1 3 1 Can t use 1 5 0 Need to download 1 4 2 29 09 05 Installed 1 5 0 Can use it downloaded jadabs as per jadabs website instructions started installing maven Need dependencies 03 10 05 Used instructions from berlios jadabas website to grab cvs jadabs source tree Copied TBD jar file cd ed into jadabs tree Typed maven jadabs Did not work Need all of them need to be fixed up 31 10 05 bash jadabs sh Knopflerfish OSGi framework version no version found 135 Copyright 2003 2004 Knopflerfish All Rights Reserved See http www knopflerfish org for more information Loading xargs file c SW jadabs jadabs 1 0 0 SNAPSHOT init xargs Installed and started file repository log4j jars log4j 1 2 8 osgi jar id 1 Installed file repository kobjects jars kxm12 2 1 9 osgi jar id 2 Installed and started file repository jadabs jars bundleloader 1 0 0 SNAPSHOT j ar id 3 Installed and started file repository jadabs jars pluginloader 1 0 0 SNAPSHOT j ar id 4 O main INFO ch ethz jadabs bundleLoader BundleLoaderImpl BundleLoader start ing 1594 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl jadabs starter The system cannot find the file specified java io FileNotFoundException jadabs starter The system cannot find the file s pecified at java io Fil
86. d to make 0 95 CC arm linux gcc configure prefix home krobinson Desktop sw tmp 0 95 disable gtk peer disable jni disable plugin host arm linux Read comment of 1 4 5 Need this jamvm for jsri66 collections to work CC arm linux gcc configure host arm linux prefix mnt hda sw2 with classpath install dir mnt hda sw2 Problem with callNative S 54 and 58 Proble again with 2 95 3 compiler did not like void return types make return types which was throw away setDefaultInitArgs This was done in jam h jam c init c Did not work ran across this problem mnt hda sw2 bin jamvm verbose HWG Loaded java lang Object from mnt hda sw2 share classpath Linking class java lang Object Loaded java io Serializable from mnt hda sw2 share classpath Linking class java io Serializable Loaded java lang reflect Type from mnt hda sw2 share classpath Linking class java lang reflect Type Loaded java lang reflect AnnotatedElement from mnt hda sw2 share classpath Linking class java lang reflect AnnotatedElement Loaded java lang reflect GenericDeclaration from mnt hda sw2 share classpath Linking class java lang reflect GenericDeclaration Loaded java lang Class from mnt hda sw2 share classpath Linking class java lang Class Loaded java lang Runnable from mnt hda sw2 share classpath Linking class java lang Runnable Loaded java lang Thread from mnt hda sw2 share classpath Linking class java lang Thread Loaded
87. da sw share classpath Linking class p2ps imp endpoint TCP TCPEndpoint Loaded java net Socket from mnt hda sw share classpath Linking class java net Socket Loaded java io InterruptedIOException from mnt hda sw share classpath Linking class java io InterruptedIOException Loaded java net SocketTimeoutException from mnt hda sw share classpath Linking class java net SocketTimeoutException I 4 Using JXTA with Maven and OSGI To install JXTA within the Apache Felix OSGi framework first download the JXTA 2 5 release candidate version 3 from the JXTA website www jxta org The jar files making up this release need to be made available to the maven build utility so install the JXTA jar file by entering the following commands mvn install install file DartifactId ranet jxse bcprov jdki14 Dfile bcprov jdki14 jar DgroupId au edu qut ranet Dpackaging jar Dversion 2 5_rc3 DgeneratePom true mvn install install file DartifactId ranet jxse javax servlet Dfile javax servlet jar DgroupId au edu qut ranet Dpackaging jar Dversion 2 5 rc3 DgeneratePom true mvn install install file DartifactId ranet jxse Dfile jxta jar DgroupId au edu qut ranet Dpackaging jar Dversion 2 5 rc3 147 DgeneratePom true mvn install install file DartifactId ranet jxse org mortbay jetty Dfile org mortbay jetty jar DgroupId au edu qut ranet Dpackaging jar Dversion 2 5_rc3 DgeneratePom true For each of the abov
88. dabs bundleLoader BundleLoaderImpl BundleLoader start ing 1594 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl jadabs starter The system cannot find the file specified java io FileNotFoundException jadabs starter The system cannot find the file s pecified 129 at at at at at va 127 at at at at at at at Plug V V V V NN VV VV VV VV VV VV VV VV NN VNV in failed java io FileInputStream open Native Method java io FileInputStream lt init gt Unknown Source java io FileInputStream lt init gt Unknown Source java io FileReader lt init gt Unknown Source ch ethz jadabs pluginLoader PluginLoaderImpl init PluginLoaderImpl ja ch ethz jadabs pluginLoader PluginLoaderActivator start PluginLoaderA ctivator java 98 org knopflerfish framework BundleImpl 1 run BundleImpl java 279 java security AccessController doPrivileged Native Method org knopflerfish framework BundleImpl start BundleImpl java 253 org knopflerfish framework Framework launch Framework java 358 org knopflerfish framework Main handleArgs Main java 283 org knopflerfish framework Main main Main java 190 1609 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl Loading of Framework launched Ken Robinson lt kenrobinsonster gmail com gt Mon Nov 28 2005 at 12 29 PM To jadabs dev lists berlios de Hi Andreas I am now trying to build jadabs using maven I get a compilation error as detailed below
89. dabs starter is in the bin directory Cheers Andreas Von Ken Robinson mailto kenrobinsonster gmail com Gesendet Mittwoch 2 November 2005 04 03 An frei inf ethz ch Betreff Jadabs Hi Andreas I am presently doing a research masters part time in Brisbane Queensland I am looking at having robots form mobile ad hoc networks and then communicate discovering services transferring code messaging and the like I was originally looking at JXTA but through it mailing lists was lead to jadabs Jadabs has everything that I need dynamic loading of jar files weaving of new code communication using JXTA over bluetooth I ve downloaded jadabs both minimal and full but cannot get it to work I get the below error Is there anything that I should be doing regards Ken Robinson bash jadabs sh Knopflerfish OSGi framework version lt no version found gt Copyright 2003 2004 Knopflerfish All Rights Reserved See http www knopflerfish org lt http www knopflerfish org gt for more information Loading xargs file c SW jadabs jadabs 1 0 0 SNAPSHOT init xargs Installed and started file repository log4j jars log4j 1 2 8 osgi jar id 1 Installed file repository kobjects jars kxm12 2 1 9 osgi jar id 2 Installed and started file repository jadabs jars bundleloader 1 0 0 SNAPSHOT j ar id 3 Installed and started file repository jadabs jars pluginloader 1 0 0 SNAPSHOT j ar id 4 O main INFO ch ethz ja
90. dle implements a skill interface which has a method invokeSkill Client loads and uses skill The RANET Client then loads the skill using the framework see Figure 5 16a It then starts keeping track of any services that are wandering skills When it finds one it invokes the skill see Figure 5 21 63 00152 System out println we found the service advertisement 00153 Ok get the service advertisement as a Spec Advertisement 00154 ModuleSpecAdvertisement msAdv 00155 ModuleSpecAdvertisement en nextElement 00156 00157 try 1 00158 let s print the advertisement as a plain text document 00159 StructuredTextDocument doc 00160 StructuredTextDocument msAdv getDocument 00161 MimeMediaType TEXT_DEFAULTENCODING 00162 StringWriter out new StringWriter 00163 doc sendToWriter out 00164 System out print1n out toString 00165 out close 00166 we can find the pipe to connect to the service 00167 in the advertisement 00168 pipeAdv msAdv getPipeAdvertisement 00169 Ok we have our pipe advertiseemnt to talk to the service 00170 create the output pipe endpoint to connect 00171 to the server transfer the file 00172 00173 catch Exception ex 00174 ex printStackTrace 00175 System out println Client Error connecting to service 00176 00177 00178 00179 System out println Connecting to the server 00180 00181 JxtaSocket socket null 00182 00183
91. e before It is preferred to other Bluetooth protocols in that it can dynamically form ad hoc networks Most extensions to Bluetooth protocols require either Global Positioning System GPS transceivers so the robots at intervals can transmit to each other the necessary information on each device s location and then form a scatternet based upon the reported positions or using the strength of the Bluetooth signal to decide upon who will be the master Adapting the profile in this way one can form scatternets This is because slaves can have more than one connection and slaves continue to try and make connections If the Bluetooth transceivers supported it a scatternet can form with slaves as the connection points between piconets We have turned this extension to the Bluetooth profile into an bundle see Item 18 in Figure 4 3 4 2 2 bundles JX TA and the Application is a library so we need an bundle to wrap up the JX T A libraries and call out the JX l A library functions necessary for a RANET Some code also needs to be written for thelRANET which used the Bluetooth and JX T A bundles 4 3 The design Possible choices for each structure required and the structure chosen are summarized in Table 4 2 The structures chosen are shown in Item 20 of Figure They are e Korebot for the Single board computer e Bluetooth USB stick for the wireless transceiver e Linux for the operating system e for the Peer to Peer protocol e f
92. e commands a status message like the following should come up krobinson Possibility Desktop sw jxta lib 2 4 1 mvn install install file DartifactId ranet jxta swixml jar cots Dfile swixml jar DgroupId au edu qut ranet Dpackaging jar Dversion 2 4 1 DgeneratePom true INFO Scanning for projects INFO Searching repository for plugin with prefix install INFO INFO Building Maven Default Project INFO task segment install install file aggregator style INFO INFO install install file INFO Installing home krobinson Desktop sw jxta lib 2 4 1 swixml jar to home krobinson m2 repository au edu qut ranet ranet jxta swixml jar cotsN 2 4 1 ranet jxta swixml jar cots 2 4 1 jar INFO INFO Total time 1 second INFO Finished at Wed Jul 04 22 05 40 EST 2007 INFO Final Memory 2M 3M INFO krobinson Possibility Desktop sw jxta lib 2 4 1 Part of the JXTA functionality that you must have is JXTA broadcasts JXTA broad casts require IP Multicast to work on the Bluetooth interface If multicast is enabled when running the ifconfig command the Bluetooth interface should have the word MUL TICAST as part of it status
93. e gt lt exportPackage gt au edu qut ranet jxseMC service lt exportPackage gt lt osgiManifest gt lt configuration gt lt plugin gt lt plugins gt lt resources gt lt resource gt lt directory gt lib lt directory gt lt resource gt lt resources gt lt build gt lt project gt Maven has goals which cover part or whole of the life cycle For instance by typing mvn compile you can compile the project Other goals include package install and deploy The first goal is to make a directory structure as follows mvn archetype create DgroupId au edu qut ranet bluetooth service DartifactId BluetoothService Dpackagename au edu qut ranet bluetooth service At the head of the created directory structure there is now a pom xml as per Apache Felix website http felix apache org site index html This creates a normal jar file by default This needs to be altered so a bundle jar file is created Alter the pom xml as per the documentation on the Apache Felix website Add the source code and the type the command mvn compile When the code has been tested using mvn test do a mvn install Copy the generated bundle jar file into the unzipped OSGi framework After the framework begins it prompts you for the name of the profile you wish to use Where the name of the profile is not preexisting a new profile is created Profiles in OSGi record the bundles that are installed and
94. eImp1 1 run BundleImpl java 279 at java security AccessController doPrivileged Native Method at org knopflerfish framework BundleImpl start BundleImpl java 253 at org knopflerfish framework Framework launch Framework java 358 at org knopflerfish framework Main handleArgs Main java 283 at org knopflerfish framework Main main Main java 190 1609 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl Loading of Plug in failed Framework launched VWMWVvVOvVvVVvVvVovVVvVvVvVovVoVoVoVoVoVV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV F 2 Diary excerpt re Jadabs 15 09 05 134 Tested out Jadabs Done by using JamVM 1 3 3 GNU_Classpath 0 18 and jikes 1 22 without gtk peers with jikes Got up to starting of jadabs after changing of java to jamvm Hung 19 09 05 Tried to run jadabs 1 0 0 version both minimal and prose version using bash jadabs sh and bash jadabs sh Got launch of framework but following error message 27060 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl Loading of Plugin failed Will now try building it from stratch Downloaded Maven 1 0 2 Install instructions http maven apache org start install html Set MAVEN HOME in set maven environment ToDo Check classpath for GNU Classpath May already be covered by JamVM 20 09 05 Tried to compile Problem with maven compiling it Should now try compiling it with java from sun Problem with usr local not having bin jre an
95. eInputStream open Native Method at java io FileInputStream init Unknown Source at java io FileInputStream init Unknown Source at java io FileReader init Unknown Source at ch ethz jadabs pluginLoader PluginLoaderImpl init PluginLoaderImpl ja va 127 at ch ethz jadabs pluginLoader PluginLoaderActivator start PluginLoaderA ctivator java 98 at org knopflerfish framework BundleImp1 1 run BundleImpl java 279 at java security AccessController doPrivileged Native Method at org knopflerfish framework BundleImpl start BundleImpl java 253 at org knopflerfish framework Framework launch Framework java 358 at org knopflerfish framework Main handleArgs Main java 283 at org knopflerfish framework Main main Main java 190 1609 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl Loading of Plug in failed Framework launched Got this error Looked at mailing list Found nothing Will need to email project people 09 11 05 Tried to build using maven Appears to be some problem with debian not resolving names or downloading files from remote repository 17 11 05 Started building using maven Running into problem using Linux where download does not occur from the remote repository Going through compile 27 11 05 maven E M __ Apache ___ IVI 7 _ V _ N intelligent projects IL INL IMA IlL v 1 1 beta 2 DEPRECATED the default goal should be specified in the lt build gt sectio
96. e_2_2alpha jar Installed to sw jython Changed jython script to call jamvm instead of java Got Jython 2 2a1 on javai 4 2 JIT pc lt 0000cad8 gt lr lt 00019adc gt Not tainted Sp bffff048 ip bffffO58 fp bffffO068 r10 0003a500 r9 00000000 r8 00000000 r7 0003a4e8 r6 0003a4ec r5 OO00ffcdO r4 0003a4e8 r3 00000108 r2 00000000 ri 00000000 r0 00000000 Flags nzcv IRQs on FIQs on Mode USER_32 Segment user Control 397F Table A3DD8000 DAC 00000015 SIGSEGV So whenever any user level program recevies segfault kernel prints Register dump at the time of Segfault having values like PC etc And program terminates Linking class site py Segmentation fault Done when used debian jamvm and jython on host box Similar thing when using debian jam and downloaded jython on host box 140 Did not happen with java from sun May have to use jythonc until bug fixed 25 10 06 Compiled jamvm 1 4 2 and GNU Classpath 0 20 Did not work with jython2 2 alphal at all Changed property of registry within jython so compiler javac pointer to symbolic link in usr bin javac which was gcj Got compiler to do print hello world Had trouble with class HelloWorld Question whether it would be better to use good ide as code is unreadable 141 Appendix H OSGi There are many OSGi implementations The one we have chosen was the Apache Felix implementation This was for a number of reasons The firs
97. ed those objects die Nothing about the program state is remembered This is true of most of the other popular programming languagues like C C Python and Ruby The program code is separate from the program state In other lesser known programming languagues like Lisp and Smalltalk there is no real distinction between program code and program state When an application more commonly called the image is saved both program code and program state can be pre served 61 page 477 12 In fact this is often the way applications are distributed with Lisp and Smalltalk What needs to be remembered for our purposes the application knowing what skills are available and are active A skill then is a combination of program code and program state The saved program code remembers the skill The saved program state remembers whether the skill is available and whether it is active or inactive Remembering the program code and program state can be done in a variety of ways In image based programming languagues like Lisp and Smalltalk the skill along with its state is remembered With virtualization of operating systems work has been done on remembering the state of the operating system and transfering mini operating systems as skills with state preserved 56 This is only in the preliminary stages In the absence of such image persistence the program code is generally remembered The program state could be remembered by writing new configuration files writin
98. en Robert Lougher lt rob lougher gmail com gt Sun Jul 22 2007 at 10 10 AM To Ken Robinson lt kenrobinsonster gmail com gt Hi No 1 4 3 won t work with jsri66 as it needs sun misc Unsafe which I only added n JamVM 1 4 5 I 11 go back to the original plan and see if I can work out where in the startup it s hanging Could you do one experiment In thread c comment out all calls to createVMThread or make createVMThread an empty function and then rerun with verbose This will ensure it is running single threaded during startup Thanks Rob Quoted text hidden Ken Robinson lt kenrobinsonster gmail com gt Sun Jul 22 2007 at 10 38 AM To Robert Lougher lt rob lougher gmail com gt Hi Rob 118 Here is the output Still the same Ran it with the gc and jni options and it output nothing Thanks again for all your help I remember trying to port the sun version to the arm processor Not good I then used yours and it compiled straight out of the box Very good ken mnt hda sw jamvm1_4_6 pre bin jamvm verbose HWG Loaded java lang Object from mnt hda sw5 share classpath Linking class java lang Object Loaded java io Serializable from mnt hda sw5 share classpath Linking class java io Serializable Loaded java lang reflect Type from mnt hda sw5 share classpath Linking class java lang reflect Type Loaded java lang reflect AnnotatedElement from mnt hda sw5 share classpath Linking c
99. end not to communicate with each other and do not form an ad hoc network Further skills are intended for the human observor and not other robots The flockbots again do not have a peer to peer protocol skill packager and dynamic skill loader The BUG modules are connected using wires not wirelessley and do not have a peer to peer protocol The mobile handover of a connection and TRS have no skill packager dynamic skill loader or non volatile storage 3 3 Robot platforms Having found no existing robotic ad hoc network which satisfies our need we look now to robot platforms which may meet our requirements 20 ee et us ag E a 2 E Sig BE o o o Z 2 X o a E ul Y P E LLLI MEE E 9 n a ors q 9 o 2 28 o g8 S E c amp wm T B mE E SEE A a SIS Ala iz A CotsBots Y VIV 4 Robomote Y IsI v MICAbot Y VIV 4 flockbots Y Y lv 4 BUG v 4 Y vv CERO Framework VIISIL v mobile handover of alHTTP connection v Y v wv 4 JTRS Y VIV Y Table 3 1 Existing COTS Products 3 3 1 What exists Robot platforms can be further divided into the standards upon which robot platforms are based and implementations with only a few implementations of robotic standards Standards There are a few bodies trying to define robotic standards Joint Architecture Unmanned Systems working e ONG the Society of Automotive Engineers and Object Management Group OMG Roboti
100. eption Loaded java util Hashtable 3 from usr share classpath glibj zip Linking class java util Hashtable 3 Loaded java util Hashtable ValueIterator from usr share classpath glibj zip Linking class java util Hashtable ValueIterator Loaded java lang ClassCastException from usr share classpath glibj zip Linking class java lang ClassCastException Linking class net jxta impl endpoint QuotaIncomingMessageListenerV MessageFromSource Loaded net jxta impl endpoint QuotaIncomingMessageListener MessageFromSource fatal error group creation failure Loaded java lang Throwable StaticData from usr share classpath glibj zip Linking class java lang Throwable StaticData net jxta exception PeerGroupException Could not load group implementation at net jxta impl peergroup GenericPeerGroup newGroup GenericPeerGroup javal 1361 at net jxta impl peergroup PeerGroupInterface newGroup PeerGroupInterface java 327 at net jxta peergroup PeerGroupFactory newNetPeerGroup PeerGroupFactory java 452 at net jxta peergroup PeerGroupFactory newNetPeerGroup PeerGroupFactory java 491 at au edu qut ranet jxtaold impl JXTAImpl startJXTA JXTAImpl java 99 at au edu qut ranet jxtaold service impl Activator JXTAServiceImpl startJXTAN Activator java 107 150 at au edu qut ranet app Activator start Activator java 54 at org apache felix framework util SecureAction startActivator SecureAction java 589 at org apache felix framewor
101. er berlios de cvs group_id 6545 Let me know if this fixes things for you Rob P S I m not one of those developers who change perfectly good code 116 for the fun of it The threading code was reliable but its structure was much the same since 1 0 0 I had to change it to support the JNI invocation API and 1 5 stuff Quoted text hidden Robert Lougher lt rob lougher gmail com gt Sun Jul 22 2007 at 6 02 AM To Ken Robinson lt kenrobinsonster gmail com gt Hi Yes you reported the problem to me but I couldn t track it down without gdb traces Did you see the long thread on threading issues mutexes etc on jamvm general If you didn t I wouldn t bother going back and reading it it got a bit nasty Rob Quoted text hidden Ken Robinson lt kenrobinsonster gmail com gt Sun Jul 22 2007 at 7 12 AM To Robert Lougher rob lougher Ogmail com Thanks very much Rob I will give it a try I tried to make gdb using 2 95 3 but ran into even more problems with that Thanks for all your help ken Quoted text hidden Ken Robinson lt kenrobinsonster gmail com gt Sun Jul 22 2007 at 7 17 AM To Robert Lougher lt rob lougher gmail com gt Sorry to trouble you once more Does this work with classpath 0 95 or do I need the classpath generics 0 93 I have it checked out already and built Also do I have to make sure jni is not disabled I saw that in an earlier post ken Quoted text hidden Robert Loughe
102. ere is a bad flag message which you can safely ignore In amongst all those messages you should see the login prompt Type root for user and then rootme for the password You should then get a login prompt flasd memory FlaBoot Minimal Flash Booter c 2002 2004 Stephane Magnenat amp Julien Pilet This program is GPL KoreBot ROM serial 00000001 Now loading Now booting Uncompressing Linux eee eects ERG qued de Nu OSA Qe done Linux version 2 4 19 kb9 pbureau koala33 k teami com gcc version 2 95 3 20014 CPU XScale PXA255 revision 6 Mounting local filesystems Setting the System Clock using the Hardware Clock as reference INIT Entering runlevel 2 Enabling memory overcommit Configuring network interfaces done Not recalculating module dependencies Loading modules pxa uda1342 i2c otg243 Starting OpenBSD Secure Shell server sshd Starting syslogd klogd done Starting PCMCIA services cardmgr cardmgr 195 watching 2 sockets Uniform Multi Platform E IDE driver Revision 6 31 ide Assuming 50MHz system bus speed for PIO modes override with idebus xx korebot_pcmcia_configure_socket Requesting Vcc 33 and Vpp O for socket 1 korebot pcmcia configure socket Reset off sock 1 korebot pcmcia configure socket Requesting Vcc 33 and Vpp O for socket 1 korebot pcmcia configure socket Reset off sock 1 Trying to free nonexistent resource
103. es the throughput when in fact the TCP protocol need not reduce the rate at which it send packets 50 page 11 Work has been done on modifying the protocol so it can distinguish between packet loss to due to errors as opposed to congestion Internet Layer At the internet layer the internet routing tables would still only have the tables containing the destination internet protocol address and the next internet protocol address necessary to get to that destination The difficulty lies in deriving the tables and maintaining them would have routes from one device to another which would be transitory Maintaining the routes may result in excessive traffic which is a problem in devices with limited battery life Various solutions have been put forward These include deriving the tables using modified flat and hierarchical structures changing the means of discovery of network routes to an on demand basis and limiting the degree of penetration for flood based query mechanisms Network Layer At the network layer difficulties arise with the hidden and exposed terminal problems The hidden terminal problem is where two nodes T1 and T2 not in each others range try to transmit simultaneously to a receiver R1 The exposed terminal problem is where T1 attempts to transmit to some R1 whilst T2 tries to transmit to R2 In some circumstances for local area networks using Carrier Sense Multiple Access T1 backs off when R1 would have received the transmission with
104. et CONFIG ATALK is not set dk dk dt Gt Gt Appletalk devices CONFIG DEV APPLETALK is not set CONFIG DECNET is not set CONFIG_BRIDGE m CONFIG_X25 is not set CONFIG_LAPB is not set CONFIG_LLC is not set CONFIG_NET_DIVERT is not set CONFIG_ECONET is not set CONFIG_WAN_ROUTER is not set CONFIG_NET_FASTROUTE is not set CONFIG_NET_HW_FLOWCONTROL is not set dk dk dt dt dt dt H FH 86 QoS and or fair queueing CONFIG_NET_SCHED is not set Network testing CONFIG_NET_PKTGEN is not set Network device support CONFIG_NETDEVICES y dk dk dt dt HH H Gt Gb oct ARCnet devices CONFIG_ARCNET is not set CONFIG_DUMMY is not set CONFIG_BONDING is not set CONFIG_EQUALIZER is not set CONFIG_TUN is not set CONFIG_ETHERTAP is not set Ethernet 10 or 100Mbit CONFIG_NET_ETHERNET y dk dk dt dt H dt dt H dt dt Gb Gt OH dk dk dt dt db dk dt dk H dt dk H Gto dt CONFIG ARM AM79C961A is not set CONFIG ARM CIRRUS is not set CONFIG SUNLANCE is not set CONFIG SUNBMAC is not set CONFIG_SUNQE is not set CONFIG SUNGEM is not set CONFIG NET VENDOR 3COM is not set CONFIG LANCE is not set CONFIG NET VENDOR SMC is not set CONFIG NET VENDOR RACAL is not set CONFIG NET ISA is not set CONFIG NET PCI is not set CONFIG NET POCKET is not set Ethernet 1000 Mbit CONFIG ACENIC is not set CONFIG DL2K is not set CONFIG MYRI SBUS is not set CONFIG NS83820 is not set CONFIG HAMACHI is not set CONFIG YELLOW
105. extensions we make to third party COTS components or components we make This is not a strictly paper exercise Each component has been tried and a reference implementation has been done of the RANET design 30 1 i Taken out to HCV Wireless limit Single Board Problem Computer Domain with Bluetooth 3 4 Bluetooth made as choice No decision as to Bluetooth hardware or Kareno wn software no onboard Wireless 7 Transceiver Runs Linux 2419 a 5 6 Modifications include BlueZ Patch PCMCIA Card and Ethernet bridge recommended by K in Kernel Bluetooth Team vendor of libraries and utils Korebot Chipset and Ethernet found to have Bridge utils changed so did not se E 7 USB Bluetooth worked without problems 8 LOEO combination of JORDIN OSGi JXTA and Bluetooth Did not work Figure 4 1 Evolution of the Design covers choice of single board computer Items 1 3 wireless transceiver Items 4 7 and start of peer to peer protocol Item 8 31 9 10 JXME decision made but not tried TCP IP required because of JXTA Part of kernel but shown here to represent layers used by final system Java VM required because of JXTA Sun J2ME CDC port to ARM processor unsuccessful 11 12 Sun J2ME CLDC JamVM v1 4 3 An port to ARM open source JVM processor using open source unsuccessful java libraries GNU because some Classpath GCP source subject to v0 91 US expor
106. ey can distribute necessary information 72 pages 16 to 17 A robot can distribute information about itself or other members This information is sent by a robot pushing the information to the network or a robot requesting information and another robot responding More simply information can be pushed to the network or pulled from it Whether information should be pushed or pulled would depend on how urgent it was and the traffic congestion it may cause GNUtella in the main has a pull mechanisnl Flooding of the network with the GNUtella Pings and Queries is prevented by the protocol having time to live TTL packets which are decremented at each hop At a predetermined number of hops from the first querying pinging device the packets die The protocol is silent as to whether the information is cached or disposed of both pushes and pulls its information To explain has four types of peers minimal edge peer full featured edge peer rendezvous peer and relay peer pages 15 to 16 The minimal edge peer only sends and receives messages but does not cache any advertisements or route any messages The full featured edge peer does all that a minimal edge peer can do but also caches advertisements A Rendezvous peer does all that a full featured edge peer can do but also routes discovery requests and maintains information on other peers A Relay peer routes messages to peers through firewalls A peer can have both the functionality of a Rendezvous an
107. f7000000 f700000f 70 hda SanDisk SDCFB 256 ATA DISK drive ideO at 0Oxf7000000 0xf7000007 0xf700000e on irq 37 ide_cs hda Vcc 3 3 Vpp 0 0 korebot login hda bad special flag 0x03 hda 501760 sectors 257 MB w 1KiB Cache CHS 980 16 32 Partition check dev ide host0 bus0 target0 lun0 p1 dev ide host0 bus0 target0 lun0 p1 dev ide host0 bus0 target0 lun0 p1 pe lt 40107354 gt lr 0001f270 Not tainted Sp bffffb38 ip 0001f271 fp 00088488 r10 401b4950 r9 00086468 r8 bffffba4 r7 00000001 r6 00088000 r5 401b5508 r4 00088498 r3 00000000 r2 00000049 ri 00088498 r0 00088490 Flags nZCv IRQs on FIQs on Mode USER 32 Segment user Control 397F Table A3C50000 DAC 00000015 71 Appendix C Linux This appendix covers the patching and configuration of the Linux kernel on the Korebot so it runs the BlueZ stack the Ethernet Bridge and Multicast functionality It also covers the various Bluetooth utilities which allow a TCP IP link to be made Note that you require a Linux PC The Test Computer with the latest BlueZ stack This is so the Korebot can inter operate with another BlueZ device You also need two USB Bluetooth dongles and the Korebot software CD A mini USB adapter is also required to connect the USB Bluetooth dongle to the Korebot All the software was cross compiled with a 2 95 3 gcc toolchain Later toolchain versions may not require the patches mentioned below For the BluetoothImp
108. ft Office Communications Server the server which does the peer to peer communication 46 For protocols that do both there is and P2PS comes from Project an open source project which provides a platform for peer to peer implementations and runs on a number of platforms Windows Linux and Unix Using super peers JXTA builds up a picture of nodes in a network over time both flooding the network with a query and asking known super peers the query Directed responses file transfers and messaging occur P2PS is a refactoring of the paradigms in JX TA to present a lightweight alternative to JXTA 75 It is similar in functionality in all respects to JX TA 3 5 2 An evaluaton Only really P2PS and GNUtella satisfy the needs of robots in a RANET They allow nodes to join at any time allow for nodes to leave the network ungracefully without breaking the structure and are readily available as libraries to incorporate into an appli cation Further they allow for messaging between nodes and tranmission of skills between nodes None of the peer to peer protocols have been designed with wireless transmission in mind i7 p 2 All have assumed wired connections None of them are particularly robust This is in part due to the fact that they do not need to be Most of the protocols are transmitted via the application layer of the the TCP IP stack The TCP protocol ensures that all packets are delivered for protocols However certain Quality
109. g new 27 code which it links to not a usual thing or update tables in a database with textual values or binary object instances as in Java Two Enterprise Edition with enterprise Java beans or in Python with pickled objects One extension to the Java model deserves mention a specification for a framework written in Java called It allows for an open service platform for the delivery and management of multiple applications and services to all types of networked devices in home vehicle mobile and other environments FAQ Qu 1 Several implementations have been done in Java see Knopflerfish as an example 40 With one enters a profile when beginning the framework This profile maps to a program state Each skill more properly known as a bundle can be installed updated started stopped and deleted When the framework is stopped and restarted the framework remembers that the profile has certain bundles installed and their state started stopped etc Whilst not as fine grained as a Smalltalk or Lisp image it is nevertheless enough for learning and remembering 3 6 2 An evaluation When it comes to all the things required in respect of skills packaging transmitting loading and remembering C C is not preferred Although it can package and load skills it cannot easily transmit and remember them Java with the addition of can package a skill load it and remember it It cannot transmit those skills This is done however with
110. h N Milanovic J Richling V Stantchev A Wiesner and M Malek Cero Ce robots community Software IEE Proceedings 152 5 210 214 January 2005 Infrared data association World Wide Web Infrared Data Association February 2009 URL http www irda org accessed on 16 02 2009 Jadabs cldc goals World Wide Web Swiss Federal Institute of Technology ETH Zurich Information and Communication Systems Research Group berliOS web site 10 November 2004 URL http jadabs berlios de jadabs cldc accessed on 10 01 2005 Java client World Wide Web Java Client website April 2008 URL http java player sourceforge net index php accessed on 25 04 2008 Jehn Ruey Jiang Bing Rong Lin and Yu Chee Tseng Analysis of bluetooth de vice discovery and some speedup mechanisms World Wide Web Home page of Yu Chee Tseng at NCTU Department of Computer Science Taiwan 2004 URL http www cs nctu edu tw yctseng papers pub mobile46 IJEE pdf accessed on 22 02 2009 T E Jonvik P Engelstad and D van Tanh Ad hoc formation of bluetooth piconet and ip allocation in pan In Wireless Personal Multimedia Communications 2002 The 5th International Symposium on volume 2 pages 489 493 2002 JXTA Jxta java tm standard edition v2 5 Programmers guide World Wide Web JXTA website September 2007 The jxta community Published on the JXTA website 2008 URL https jxta dev java net accessed on 13 01 2008 D Kammer G McNutt and B
111. he above structures are required Together they satisfy the demands imposed by robotic soccer 17 19220g dTJOGOY T Z ALL TAS PC TPE BEST LPP 49 SUE suory Sor og essoul 9AI92093 asessoul puog osessour oje sue1T eq Surdde 17 soA oAur peq 395 UOI3ISOd mou OY quoso1d woz jeq JM UOI3ISOd Mou 0 JUasoId Wor 9AOJA 30qox 19130 eq uonjrsod 1ogjoue aye no e UOIjISOd umo oyeTNITeO SIRS HOS aSeSsoul uoryeuriogur dnors oye ogessour SOT LW UI9IS S uorjeztipe2o ogessour uorysod eq 199208 oye Jopeo D s orureudp 98 103s o ryeoA uou Jog exoed rys 020304d raed 03 1ood urojs As 3uryelodo JOAIOOSUI SSO O ILA Jojnduroo preoq o Suts oseq 30q01 SW HOLODHVLS asessoul UOT ISOd umo oer og essour uonjrsod JOGO 19790 IJEN asessoul osuodso1 D S OLN asessoul K1onb D S oye asessoul osuodso1 KJoAOOSID ILEN asessoul K1onb I9AOOSID OLEN asessoul osuodso1 dno1c ulor oxepq asessout amp ionb dno1c utof oxepq SASSHDOUdA dnos o4 uorjeuriojur 9INQIIISIC suonoy Sor Teq PO uonjsod poeje no eo 09 eq WY UOT ISOd poemoje 03 9AOJA uorysod 1oqjoue oje no e s19U730 03 uorjrsod 93898 uor isod UMO o3eqno e SNOLLONOD YY TIVOGIAIGNT UOT ISOd 192208 JOGO ALL S D S 193SUBI STIRIS HOS S D S 19A09SI dnois utor dnois axeJA SJOGOI 19130 I9AOOSI T SNOILONAA d Our SNOILONOA SOLJSOUSeICT ULIqO Ayrarjoy SUISSOT Ayiiqedeog suryepdy sulssnqoqd UNSAL guourdo oAe T ONINIVLNIVIA
112. higher education institution To the best of my knowledge and belief the thesis contains no material previously published or written by another person except where due reference is made Signature Date 12 Chapter 1 BASIC NEED FOR COOPERATION Chapter Summary The need for robotic cooperation is stated Making a RANET from products is put forward as the solution Lastly an outline of the thesis structure is given 1 1 Introduction Cooperating mobile robots need to communicate Mobility requires that such communi cation be wireless Great advances have been made in wireless communication technology in the past two decades motivated first by mobile telephony and later by wireless com puter networking Short range wireless communication has become ubiquitous and low cost with several standardized protocols competing in the market Likewise peer to peer communication in fixed networks has an established software base Therefore instead of developing a wireless communication framework from scratch it seems more effective to combine and adapt commercial off the shelf components to the specific needs of wireless communication between mobile robots In this thesis we describe a wireless communication framework for mobile robots as illustrated in Figure built out of components This framework enables the robots to form mobile ad hoc networks send and receive messages and discover transfer load and remember skills Cooperation may in
113. i plugin and an inlined artifact lt project gt lt modelVersion gt 4 0 0 lt modelVersion gt lt packaging gt osgi bundle lt packaging gt lt name gt JXSE MC service lt name gt lt groupId gt au edu qut ranet lt groupId gt lt artifactId gt ranet jxseMC service lt artifactId gt lt version gt 0 1 lt version gt lt description gt JXSE MC service lt description gt lt dependencies gt lt dependency gt lt groupId gt org apache felix lt groupId gt lt artifactId gt org osgi core lt artifactId gt lt version gt 1 0 0 lt version gt 142 lt scope gt provided lt scope gt lt dependency gt lt dependency gt lt groupId gt au edu qut ranet lt groupId gt lt artifactId gt ranet jxseMC impl lt artifactId gt lt version gt 0 1 lt version gt lt scope gt provided lt scope gt lt dependency gt lt dependency gt lt groupId gt au edu qut ranet lt groupId gt lt artifactId gt ranet jxta swixml lt artifactId gt lt version gt 2 3 6 lt version gt lt scope gt runtime lt scope gt lt dependency gt lt dependency gt lt groupId gt au edu qut ranet lt groupId gt lt artifactId gt ranet jxse bcprov jdk14 lt artifactId gt lt version gt 2 5_rc3 lt version gt lt scope gt runtime lt scope gt lt dependency gt lt dependency gt lt groupId gt au edu qut ranet lt groupId gt lt artifactId gt ranet jxse javax servlet lt artifactld gt lt version gt 2 5_rc3 lt version
114. ies in the third party software specifically J X TA and Jam VM GN U Classpath 5 1 The Reference Implementation Some testing of the components has been done when arriving at the initial design More testing of the components has occurred when to see whether the overall design works This is where where we have found deficiencies in the open source software we used JXTA and JamVM GNU Classpath 5 1 1 Problems using JXTA and GNU Classpath together Reference implementations have been tried from the JXTA community website 37 The first one tried was version 2 1 3 see Item 21 of Figure 4 3 This is a implementation written in Java J2ME which is version 1 4 2 of the Java programming language It has been found that it cannot operate in an environment where there are no Rendezvous peers Further it cannot become a Rendezvous peer itself This means one could not have a homogeneous RANET using JXME Some RANET members would need to run This is at odds with any two robots being able to form a link see Diary Excerpt in Section for the full details Because the version of Java running on the Korebot is 1 4 2 the last version of version 2 3 6 that was meant to use version 1 4 2 has been tried see Item 22 of Figure 4 3 It has been found that although it is meant to use version 1 4 2 of Java in fact it uses Java 1 5 Generics and Enumerations see Diary Excerpt in Section I 2 Accordingly a version of 1 4 3 that uses GNU Classpath 0
115. in host arm linux target arm linux disable Werror Why did this come up config status linking include jni_md x86 linux gnu h to include jni md h CC arm linux gcc configure host arm linux prefix mnt hda sw jamvmi 4 6 pre with classpath install dir mnt hda sw5 target arm linux For host configure prefix usr local sw disable gtk peer disable gconf peer disable plugin disable Werror configure prefix usr local sw with classpath install dir usr local sw5 E 3 3 Email Trail later versions of JamVM and GCP Gmail Ken Robinson lt kenrobinsonster gmail com gt jamvm 1 4 4 hangs 21 messages Ken Robinson lt kenrobinsonster gmail com gt Wed Nov 15 2006 at 12 50 PM To jamvm general lists sourceforge net Hi I m trying to get javm 1 4 4 running on an arm processor Classpath 0 92 Finally compiled classpath 0 92 with following configure options CC arm linux gcc configure prefix sw disable gtk peer disable gconf peer disable plugin host arm linux Did make and make install Jamvm 1 4 4 CC arm linux gcc configure host arm linux prefix sw with classpath install dir sw Note my previous post where I had to eliminate single quotes 114 from comments in S files and give a return type of an int instead of void this was to a function which set defaults for later use This is so I could cross compile with a 2 95 3 toolchain Anyways I do a
116. in the network It has disadvantages in that it is not as fluid as unstructured networks With an unstructured network their is no predefined structure Their is no guaran tee on the number of hops for a node to reach another node in the network There is constrained flooding of the network and the topology is haphazard What we call inbetweeners exhibit some structure They typically have a start topology with some super peers exchanging information and lesser peers attached to these super peers see Figure 3 1 We explore structured networks unstructured networks and inbetweeners below Figure 3 1 Star topology exhibited in inbetweener networks Structured Networks Strucutured Networks include Bamboo Chord Pastry 59 P Grid 60 Kademlia Gia and P2PS running on Mozart Oz 45 Many of these use distributed hash tables which mainly index and retrieve data on a series of peers essentially distributed databases Each peer pushes the hash tables to other peers so they can accurately search the database These peer to peer protocols have mostly been used for file transfer and data storage They tend to have each node only knowing about some other nodes at the time of insertion into the network Unstructured Networks A file transfer protocol GNUtella has a published protocol specification and has been used in research before 7 Wired implementations of GNUtella include LimeWire using GNUtella Ad hoc networks like G
117. is not set CONFIG_I82365 is not set CONFIG_TCIC is not set CONFIG_PCMCIA_CLPS6700 is not set CONFIG_PCMCIA_SA1100 is not set CONFIG_PCMCIA_PXA y MMC device drivers CONFIG_MMC m CONFIG_MMC_PXA m CONFIG_MMC_BLOCK m CONFIG_MMC_PARTITIONS y CONFIG_NET y CONFIG_SYSVIPC y CONFIG_BSD_PROCESS_ACCT is not set 83 CONFIG_SYSCTL y CONFIG_XIP_KERNEL is not set At least one math emulation must be selected CONFIG_FPE_NWFPE y CONFIG_FPE_FASTFPE is not set CONFIG_KCORE_ELF y CONFIG_KCORE_AOUT is not set CONFIG_BINFMT_AOUT is not set CONFIG_BINFMT_ELF y CONFIG_BINFMT_MISC is not set CONFIG_PM is not set CONFIG_ARTHUR is not set CONFIG_CMDLINE console ttyS0 115200 mem 64M noinitrd rootfstype jffs2 init linuxrc root dev mtdblock1 rw mtdparts phys 1m kernel root CONFIG_ALIGNMENT_TRAP y Parallel port support CONFIG_PARPORT is not set Memory Technology Devices MTD CONFIG_MTD y CONFIG MTD DEBUG is not set CONFIG_MTD_PARTITIONS y CONFIG MTD CONCAT is not set CONFIG_MTD_REDBOOT_PARTS y CONFIG_MTD_CMDLINE_PARTS y CONFIG_MTD_AFS_PARTS is not set User Modules And Translation Layers CONFIG_MTD_CHAR y CONFIG_MTD_BLOCK y CONFIG_FTL is not set CONFIG_NFTL is not set RAM ROM Flash chip drivers CONFIG_MTD_CFI y CONFIG MTD JEDECPROBE is not set CONFIG MTD GEN PROBE y CONFIG MTD CFI ADV OPTIONS is no
118. ission rate of 10 86Mbps Data loss With wireless devices that work in environments with much unintentional and intentional electro magnetic emission interference with transmission and reception of data can occur We now discuss whether Bluetooth or WiFi is better at handling interference Bluetooth transmits in the 2 4GHz band and has interference from intentional emitters such as 802 11b WiFi and Home RF and unintentional emitters such as microwave ovens and overhead cables page 29 Specifically the effect at ten 10 metres or greater is negligible with the throughput staying at 90 percent page 32 At distances of less than ten 10 metres the throughput drops from about 50 percent when the receiving 38 Characteristic WiFi Bluetooth Discovery and Connec 1 15 seconds 23 55 seconds tion time Bandwidth 10 86Mbps 399 6Kbps 57 1 Kbps in 8 member piconet Data loss interference 0m 50 throughput 10m 50 through 7 5m 5 throughput put 60m 0 Data loss no interfer nodes interfere with nodes have switched ence each other network Power consumption 500mW 60mW Ad hoc networking ca Limited robust up to 8 member pability piconet Table 4 1 Wifi and Bluetooth comparison device is at 0 metres to about 5 percent at 7 5 metres 38 page 32 WiFi is similar with great interference taking place at less than ten 10 metres with throughput at 50 dropping off to ze
119. java awt EventQueue dispatchEvent EventQueue java 474 at java awt EventDispatchThread run EventDispatchThread java 85 org osgi framework BundleException Activator start error at org apache felix framework Felix startBundle Felix java 1579 at org apache felix framework Felix startBundle Felix java 1469 at org apache felix framework BundleImpl start BundleImpl java 348 at org apache felix shell impl StartCommandImpl execute StartCommandImpl javaN 82 at org apache felix shell impl Activator ShellServiceImpl executeCommand ActiN vator java 265 at org apache felix shell tui Activator ShellTuiRunnable run Activator java 1N 67 at java lang Thread run Thread java 740 Caused by net jxta exception JxtaError Canceled during configuration at net jxta impl peergroup ConfigDialog untilDone ConfigDialog java 1741 at net jxta impl peergroup DefaultConfigurator getPlatformConfig DefaultConfigurator java 133 at net jxta impl peergroup Platform initFirst Platform java 191 at net jxta impl peergroup GenericPeerGroup init GenericPeerGroup java 901 at net jxta peergroup PeerGroupFactory newPlatform PeerGroupFactory java 421 at net jxta peergroup PeerGroupFactory newNetPeerGroup PeerGroupFactory javal 489 at au edu qut ranet jxtaold impl JXTAImpl startJXTA JXTAImpl java 99 at au edu qut ranet jxtaold service impl Activator JXTAServiceImpl startJXTAN Activator java 107 at au edu qut ranet app Activator start Activato
120. java lang VMThread from mnt hda sw2 share jamvm classes Linking class java lang VMThread Loaded java lang Comparable from mnt hda sw2 share classpath Linking class java lang Comparable Loaded java lang CharSequence from mnt hda sw2 share classpath Linking class java lang CharSequence Loaded java lang String from mnt hda sw2 share classpath Linking class java lang String Loaded java lang Cloneable from mnt hda sw2 share classpath Linking class java lang Cloneable Created primitive class char Created array class C 21 07 07 CC arm linux gcc configure prefix mnt hda sw3 disable gtk peer disable jni disable plugin host arm linux CC arm linux gcc configure host arm linux prefix mnt hda sw3 with classpath install dir mnt hda sw3 113 configure disable gtk peer disable jni disable plugin configure Still hung at the same spot Did follow up post to Robert Lougher Now trying to use gdb to find source of fault CC arm linux gcc configure prefix mnt hda sw4 host arm linux Tried cacoa 0 98 CC arm linux gcc configure host arm linux prefix mnt hda sw3 with classpath install dir mnt hda sw3 Found it was picking up too many things in the host system thinking they were part of the cross compile environment Tried classpath 0 93 generics For target CC arm linux gcc configure prefix mnt hda sw5 disable gtk peer disable gconf peer disable plug
121. k I 133 get the below error Is there anything that I should be doing regards Ken Robinson bash jadabs sh Knopflerfish OSGi framework version lt no version found gt Copyright 2003 2004 Knopflerfish All Rights Reserved See http www knopflerfish org lt http www knopflerfish org gt for more information Loading xargs file c SW jadabs jadabs 1 0 0 SNAPSHOT init xargs Installed and started file repository log4j jars log4j 1 2 8 osgi jar id 1 Installed file repository kobjects jars kxml2 2 1 9 osgi jar id 2 Installed and started file repository jadabs jars bundleloader 1 0 0 SNAPSHOT j ar id 3 Installed and started file repository jadabs jars pluginloader 1 0 0 SNAPSHOT j ar id 4 O main INFO ch ethz jadabs bundleLoader BundleLoaderImpl BundleLoader start ing 1594 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl jadabs starter The system cannot find the file specified java io FileNotFoundException jadabs starter The system cannot find the file s pecified at java io FileInputStream open Native Method at java io FileInputStream init Unknown Source at java io FileInputStream init Unknown Source at java io FileReader init Unknown Source at ch ethz jadabs pluginLoader PluginLoaderImpl init PluginLoaderImpl ja va 127 at ch ethz jadabs pluginLoader PluginLoaderActivator start PluginLoaderA ctivator java 98 at org knopflerfish framework Bundl
122. k Felix _startBundle Felix java 1535 at org apache felix framework Felix startBundle Felix java 1469 at org apache felix framework Felix setFrameworkStartLevel Felix java 1064 at org apache felix framework StartLevellmpl run StartLevelImpl java 258 at java lang Thread run Thread java 740 Caused by net jxta exception PeerGroupException Missing peer group service at net jxta impl peergroup StdPeerGroup initFirst StdPeerGroup java 583 at net jxta impl peergroup ShadowPeerGroup initFirst ShadowPeerGroup java 85 at net jxta impl peergroup GenericPeerGroup init GenericPeerGroup java 901 at net jxta impl peergroup GenericPeerGroup loadModule GenericPeerGroup javal 719 at net jxta impl peergroup GenericPeerGroup newGroup GenericPeerGroup javal 1355 12 more Caused by net jxta exception ServiceNotFoundException urn jxta uuid DEADBEEFDEAFBABAFEEDBABE0000000505 at net jxta impl peergroup GenericPeerGroup lookupService GenericPeerGroupN java 519 at net jxta impl peergroup GenericPeerGroup checkServices GenericPeerGroupN java 561 at net jxta impl peergroup StdPeerGroup initFirst StdPeerGroup java 580 16 more rootOkrobinson desktop Desktop work tfr area versi Omain felix 1 0 0s 151 Appendix J RANET Documents You may wish to have a detailed view of the RANET code With the electronic copy of this document is a zipped up html directory Within that directory is an index html fi
123. kipedia org wiki Usenet accessed on 12 11 2007 Xmpp standards foundation World Wide Web XMPP website 2007 URL http www xmpp org accessed on 27 11 2007 158
124. l for a say preventing a rogue robot from joining the RANET to cause harm Group security varies between all the peer to peer protocols from nothing like GNUtella to supplying of usernames and passwords or generated keys in the case of 47 pages 22 to 38 72 3This method of discovery has been used to develop a prototype application for mobile terminals E Unfortunately the developed application could not be run on real world mobile terminals only on mobile terminal emulators 41 Leaving groups is not covered by GNUtella JXTA has the concept of resigning from a group Handover from one group to another occurs in mobile telephone networks when a mobile phone is physically leaving one cell and joining another Peer to peer protocols predominately exist at the application layer 47 pages 25 to 38 and seem to emphasize the individual There is no group or a leader that makes a decision to hand an individual device over to another group the only reviewed protocol with group functionality places the onus on the individual to leave a group and join another 72 Distribution of Information to the Group In pure peer to peer networks all nodes in the graph are similar if not the same Pure networks distribute group information to all other nodes equally In practice this rarely happens because of the flooding of the network that would occur 7 Instead some nodes form a backbone for the group such as the JXT Rendezvous nodes so th
125. l to work the Bluez kernel libraries and utilities are required from the Bluez website C 1 Bluez kernel C 1 1 Applying the Patch The Korebot toolchain provided on the CD that comes with the Korebot or downloaded from the K Team website needs to be unpacked The Linux kernel that has been modified for the Korebot also needs to obtained again from the CD or the website and unpacked Change directories so you are in the unpacked directory linux 2 4 19 kb11 The patch from patch 2 4 19 mh18 gz on the BlueZ web site URL www bluez org is required Apply the patch using the command patch p1 i patch 2 4 19 mh18 Ignore the first patch to the file It relates in fact to some Solaris I O as it refers to a SPARC processor The sequence is outline below krobinson Possibility sw linux 2 4 19 kb11 patch p1 i patch 2 4 19 mh18 can t find file to patch at input line 4 Perhaps you used the wrong p or strip option The text leading up to this was diff urN linux 2 4 19 kb11 arch arm kernel ioct132 c linux 2 4 19 mhi8 arch sparc64 kernel ioct132 c linux 2 4 19 kb11 arch arm kernel ioct132 c 2002 08 03 02 39 43 000000000 0200 linux 2 4 19 mh18 arch arm kernel ioct132 c 2004 08 01 16 29 19 000000000 0200 File to patch Skip this patch y y Skipping patch 4 out of 4 hunks ignored 72 patching file CREDITS Hunk 2 succeeded at 2593 offset 9 lines patching file Documentation Configure help
126. lang VMThread from mnt hda sw jamvmi 4 6 pre share jamvm classes Thread Ox3e40c lock on obj 0x402194c8 Linking class java lang VMThread Thread Ox3e40c unlock on obj 0x402194c8 Loaded java lang Comparable from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x40219660 Linking class java lang Comparable Thread Ox3e40c unlock on obj 0x40219660 Loaded java lang CharSequence from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x402196f8 Linking class java lang CharSequence Thread Ox3e40c unlock on obj 0x402196f8 Loaded java lang String from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x402195c8 Linking class java lang String Thread Ox3e40c unlock on obj 0x402195c8 Thread Ox3e40c lock on obj 0x402191d0 Thread Ox3e40c unlock on obj 0x402191d0 Thread Ox3e40c lock on obj 0x402191d0 Thread Ox3e40c NotifyAll on obj 0x402191d0 Thread Ox3e40c unlock on obj 0x402191d0 Loaded java lang Cloneable from mnt hda sw5 share classpath Thread Ox3e40c lock on obj 0x40219828 Linking class java lang Cloneable Thread Ox3e40c unlock on obj 0x40219828 Thread Ox3e40c lock on obj 0x40219828 Thread Ox3e40c unlock on obj 0x40219828 Thread Ox3e40c lock on obj 0x40219828 Thread Ox3e40c NotifyAll on obj 0x40219828 Thread Ox3e40c unlock on obj 0x40219828 Thread Ox3e40c lock on obj 0x40219138 Thread Ox3e40c unlock on obj 0x40219138 Thread O
127. lass java lang reflect AnnotatedElement Loaded java lang reflect GenericDeclaration from mnt hda sw5 share classpath Linking class java lang reflect GenericDeclaration Loaded java lang Class from mnt hda sw5 share classpath Linking class java lang Class Loaded java lang Runnable from mnt hda sw5 share classpath Linking class java lang Runnable Loaded java lang Thread from mnt hda sw5 share classpath Linking class java lang Thread Loaded java lang VMThread from mnt hda sw jamvm1_4_6 pre share jamvm classes Quoted text hidden Robert Lougher lt rob lougher gmail com gt Sun Jul 22 2007 at 4 48 PM To Ken Robinson lt kenrobinsonster gmail com gt Hi Ken To help pinpoint where the hang is occurring could you replace interp c with the attached and rerun Also it would be useful turning on thread and lock tracing either use configure options enable tracethread enable tracelock or edit config h Quoted text hidden interp c 73K Robert Lougher lt rob lougher gmail com gt Sun Jul 22 2007 at 7 00 PM To Ken Robinson lt kenrobinsonster gmail com gt Hi Ken Sorry a further point Could you also add a fflush stream to the end of jam fprintf in hooks c This will make sure you get all the trace output Thanks Rob Quoted text hidden Ken Robinson lt kenrobinsonster gmail com gt Sun Jul 22 2007 at 9 19 PM To Robert Lougher lt rob lougher gmail com gt Hi Rob I did all you
128. le Open that up in your favourite browser 152 Bibliography 1 A M Andersen and T Torabi A holistic framework for mobile environments In 10 11 Software Engineering Conference 2006 Australian pages 18 21 April 2006 Frank Uwe Andersen Luca Caviglione and Oliver Waldhorst Overall research di rections and problem classification in preparation of a problem statement draft World Wide Web University of Maryland Computer Science website 2007 URL http www cs umd edu projects p2prg wireless research txt accessed on 04 12 07 Joe Armstrong Programming Erlang Software for a Concurrent World The Prag matic Programmers Pragmatic Bookshelf Raleigh North Carolina first edition 2007 Mia Backlund Norberg and Terese Taaveniku A web service architecture in mobile ad hoc networks Master s thesis Computer Science and Electrical Engineering Com puter Communication Lulea University of Technology Lulea University of Technol ogy 971 87 Lulea Sweden 2005 url http epubl 1tu se 1402 1617 2005 141 index en html accessed on 27 11 2007 James Bailey Sensor model language In Sensor Networks Melbourne Australia October 2006 National ICT Australia Nick Baker Zigbee and bluetooth strengths and weaknesses for industrial applica tions IEE Computing and Control Engineering pages 21 25 April May 2005 Balazs Bakos Gergely Csucs Lorant Farkas and Jukka K Nurminen Peer to peer protoc
129. le image using the toolchain by putting in usr local korebot tools 0 1 2 src flaboot 0 2 1 the image and running make C 1 4 Installing the Kernel The 2 4 19 Korebot kernel does not work properly with 2 6 x kernels It was found that the message usbep0 setup begin zero length OUT kept repeating when an ethernet 75 connection through the USB port was tried The work around is transferring files via minicom using the file transfer utility You need to zip or tar up files before sending them across via minicom Unfortu nately the tar utility on Korebot is broken The easiest solution is to use an open source utility Info Zip Unzip from http www info zip org pub infozip UnZip html You need to change the Makefile at unix Makefile to have arm linuz gcc and arm linux as the gcc toolchain to use Cross compile and transfer it across Zip up all the files for the kernel and send them across As per the Korebot user manual do eraseall dev mtd 0 and then copy flaboot_korebot bin to dev mtd 0 This erases the old kernel and puts the new kernel in its place C 1 5 Testing the BlueZ in the kernel The drivers which are meant to be used with Bluetooth PCMCIA card are immature and at least for the card chosen do not work Use the USB Bluetooth dongles The drivers for them are mature and work for most USB Bluetooth dongles On the Korebot there are two mini master USB connections Use either of those You may need to get an adapter
130. lication Because of the choice of the peer to peer protocol see page we have to go through the stack when communicating This is true whether we choose Bluetooth or WiFi Consequently we first need to see how QoS is affected by in a wireless network We will then consider each of the above characteristics How Wireless QoS is affected by TCP IP Any message needs to go through the stack The protocol suite has proved itself on fixed line networks with client server based services However using the protocol suite in a wireless and ad hoc environment problems can arise 21 The TCP 1P protocol is broken up into the application transport internet network and hardware layers Application Layer At the application layer sufficient QoS would be given by adaptive techniques This does not occur in classical TCP IP stacks because of the independence of the layers Independence is good in that parts of the stack can be replaced with no alteration of other layers Knowledge of other layers destroys this independence In wireless networks knowledge of at least the hardware layer allows one to know whether packet loss is due to congestion or merely a temporary loss in signal strength 36 Transport Layer At the transport layer the TCP protocol assumes any packet loss relates to congestion although in fact it may relate more to errors in transmission of the data packet It then uses its congestion control and avoidance algorithms This reduc
131. line at http SqueakByExample org index html Francis Brosnan Blazquez Beep The blocks extensible exchange protocol World Wide Web BEEP website August 2007 http www beepcore org accessed on 24 11 2007 BlueZ Howto set up common pan scenarios with bluez s integrated pan support World Wide Web BlueZ website http bluez sourceforge net contrib HOWTO PAN accessed on 09 08 2006 D Bryan P Matthews A E Shim and D Willis Concepts and terminology for peer to peer sip draft ietf p2psip concepts 01 World Wide Web IETF website November 2007 http tools ietf org html draft ietf p2psip concepts 01 accessed on 28 11 2007 Products bug labs World Wide Web Bug Labs website November 2007 http www buglabs net products accessed on 06 11 2007 Lennert Buytenhek brctl man page part of Linux distribution November 2001 L Buytenhek is the author of the brctl utility He can be reached at buytenh gnu org The gnutella protocol specification v0 4 World Wide Web Clip 2 Website July 2004 Bram Cohen The bittorrent protocol specification World Wide Web Bittorrent website 2008 Douglas E Comer Internetworking with TCP IP Principles Protocols and Archi tectures Prentice Hall International 2000 M Connolly Analysis of udp performance over bluetooth In Information Technology and Telecommunications 2003 2003 K Dantu M Rahimi H Shah S Babel A Dhariwal and G S Sukhatme Robo mote ena
132. loading which is required for loading skills into the virtual machine It was found to be almost impossible From perusal of the Sun website it now appears there is at least one port of the J2ME CDC version to a Linux ARM machine The CLDC JVM was almost ported but ran foul of the United States export restrictions laws in respect of the secure socket layer SSL E 3 JamVM E 3 1 Making JamVM and GNU Classpath for the Korebot To make the JamVM one requires the Korebot arm linux gcc 2 95 3 toolchain installed on your host machine Next one needs to fetch the GNU Classpath Generics 0 91 library available from the GNU Classpath CVS repository Run the following commands CC arm linux gcc configure prefix mnt hda sw disable gtk peer host arm linux make make install The highest JamVM version that can be used on the Korebot when compiling with the 2 95 3 toolchain is 1 4 3 There is a problem with lines 54 and 58 of callNative S The gcc 2 95 3 toolchaine does not tolerate characters in code comments These need to be removed Run the following commands 111 CC arm linux gcc configure host arm linux prefix mnt hda sw with classpath install dir mnt hda sw make make install Zip up the sw directory and transfer it to the Korebot Put the sw zip in mnt hda sw and unzip it Then unzip glib zip You should have a working virtual machine E 3 2 Diary Excerpt JamVM 1 4 3 GCP 0 91 Generics
133. luetooth implementation The client bundles used see Figure 5 16a are e RANET Client Activator e JXTA Discovery File Client Service wraps up JXTA Discovery File Client imple mentation and e Bluetooth Service wraps up Bluetooth implementation The skill bundle used is a Wanderer skill which wraps up the space wanderer example Bluetooth link established The skill transfer begins with the client desktop and server laptop starting up Both the client and the server wait until the Bluetooth service establishes a Bluetooth link as per Figure 5 9 Server advertises skill The JXTA Discovery File Server Service the server advertises the Space Wanderer skill in form of a JX TA advertisement see Figure 5 16bland Figure 5 17 This is done by first 61 Bluetooth JXSE FileC lientService Bluetooth JXSE_FileServerService havePANConnections configureJXSE FileClient i makePANAndBridge request File havePANConnections configureJXSE FileServer statusPANConnections stop XSE FileClient makePANAndBridge startJXSE FileServer statusPANConnections stopJXSE FileServer bluetooth fileC lient A N bluetooth files erver 1 bluetooth fileNamestr fileServer intervalPANTask m_context m_serviceTrackerBT m serviceTracker XSE FileServer skillStr taskPAN timer bluetooth fileC lient fileNamestr intervalPANTask m
134. lution of the Design cont 33 4 4 Evolution of the Design cont 34 Ven RON pon QR egre Ae oe ok Se eR OS Ge dd di eh D Ros 40 4 0 Typical JXTA topology versusI IRANET JXTA topology 44 4 7 Adapted PAN protocol cs 9 ox oko ky x E 3 ee ae ee 46 b I IestB nch 4 sgos c ox a Ro ES o8 E ROR 4o OROR kae Ro dd 50 5 2 Two Laptops Mesaging 0 00 e 51 5 3 RANET Multicast Class Diagram lens 51 v 52 5 5 RANET Multicast Sequence Diagram o 53 CEP 54 E 55 PH 55 Vi paga De des ne do 56 gece E Pere spud OG ey eee vee ae ett Peak Ceres 57 MIL PP 57 5 12 Messaging through the Korebot 0 0005084 58 PG Be Roe 4 WO ew gow ge po He ars 59 5 14 Skill transfer on client desktop 000002 eee 60 5 15 Skill transfer on same host ees 61 hu pte m eres NR Sao oe RU 62 bus wo PUR ek ee RUE eS ER 62 5 18 Skill Transfer Server Code Excerpt llle 63 5 19 Skill Transfer Client Code Excerpt No llle 64 5 20 Wanderer Skill Code Excerpt llle 64 5 21 Skill Transfer Client Code Excerpt No 2 00 65 DRE 69 List of Tables 24 Robotic Soccer 4 8 6 p a 9 33 3 X a 18 3 1 Existing commercial off the shelf COTS Products 21 3 2 Robotic Platforms lr 23 4 1 Wifi and Bluetooth comparison sn 39 4 2 Structures Chosen lll 48 Acronyms ARQ Automatic retransmission request CERO Fra
135. mbership pse PSEKeyStoreManagerFactory Linking class net jxta imp1 membership pse PSEKeyStoreManagerFactoryl PSEKeyStoreManagerFactoryDefault Loaded net jxta impl membership pse PSEKeyStoreManagerFactoryN PSEKeyStoreManagerFactoryDefault Linking class net jxta impl membership pse KeyStoreManager Loaded net jxta impl membership pse KeyStoreManager Linking class net jxta impl membership pse CMKeyStoreManager Loaded net jxta impl membership pse CMKeyStoreManager Loaded java security KeyStore from usr share classpath glibj zip Linking class java security KeyStore Loaded java security GeneralSecurityException from usr share classpath N glibj zipl Linking class java security GeneralSecurityException Loaded java security NoSuchAlgorithmException from usr share classpath N glibj zipl Linking class java security NoSuchAlgorithmException Loaded java security KeyStoreException from usr share classpath glibj zip Linking class java security KeyStoreException Loaded java security NoSuchProviderException from usr share classpath glibj zipl Linking class java security NoSuchProviderException Linking class net jxta pipe PipeService Loaded net jxta pipe PipeService Linking class net jxta impl pipe PipeResolver Listener Loaded net jxta impl pipe PipeResolver Listener Linking class net jxta impl pipe PipeServiceImpl Linking class net jxta exception ServiceNotFoundException Loaded net jxta exception ServiceNotFoundExc
136. message bnepO Link encap Ethernet HWaddr 00 0A 3A 66 B8 B6 inet6 addr fe80 20a 3aff fe66 b8b6 64 Scope Link UP BROADCAST RUNNING MULTICAST MTU 1500 Metric 1 RX packets 37 errors 0 dropped 0 overruns 0 frame 0 TX packets 71 errors 0 dropped 0 overruns 0 carrier 0 collisions 0 txqueuelen 1000 RX bytes 20447 19 9 KiB TX bytes 21342 20 8 KiB I 5 Problems Using JXTA on JamVM These are diary excerpts showing the inability of the JamVM to process the security key used in JXTA because it lacked the necessary encryption algorithm 300807 Problem with generation of private key INFO about to make new Net Peer Group log4j WARN No appenders could be found for logger net jxta util ClassFactory log4j WARN Please initialize the log4j system properly 148 java lang IllegalStateException Failed to process private key at net jxta impl protocol PSEConfigAdv getEncryptedPrivKey PSEConfigAdv java 434 at net jxta impl protocol PSEConfigAdv getDocument PSEConfigAdv java 612 at net jxta impl peergroup ConfigDialog saveValues ConfigDialog java 2166 at net jxta impl peergroup ConfigDialog access 700 ConfigDialog java 130 at net jxta impl peergroup ConfigDialog 3 actionPerformed ConfigDialog javaN 1680 at java awt Button processActionEvent Button java 409 at java awt Button processEvent Button java 392 at java awt Button dispatchEventImpl Button java 419 at java awt Component dispatchEvent Component java 2670 at
137. mework Windows CE Robot framework COTS commercial off the shelf FIRA Federation of International Robotsoccer Association GPRS General packet radio service GPS Global Positioning System HTTP Hyper Text Transfer Protocol IEEE Institute of Electrical and Electronics Engineers IETF International Engineering Task Force IP Internet Protocol IrDA Infrared Data Association J2EE Java Two Enterprise Edition J2ME Java Two Micro Edition JAUS Joint Architecture Unmanned Systems working group JTRS Joint Tactical Radio System JXME JXTA Micro Edition JXSE JXTA Standard Edition JXTA Juxtapose JamVM open source Java Virtual Machine MTU Maximum Transfer Unit OMG Object Management Group OSGi Open Services Gateway Initiative P2P peer to peer PAN Personal area network PCMCIA Personal Computer Memory Card International Association 10 QoS Quality of Service RANET robotic ad hoc network RTC Robotic Technology Component SAE the Society of Automotive Engineers SIMPLE Session Initiation Protocol for Instant Messaging and Presence Leveraging Extensions SIP Session Initiation Protocol STP Spanning Tree Protocol TCP Tranmission Control Protocol UDP User Datagram Protocol VOIP Voice over IP WLAN Wireless local area network XMPP Extensible Messaging and Presence Protcol 11 Statement of original authorship The work contained in this thesis has not been previously submitted to meet require ments for an award at this or any other
138. minates any cycles from the topology This potentially could maintain the topology of a scatternet RANET For the the purposes of our piconet RANET we have turned off We first tried the onboard Bluetooth transceiver for the HCV single board computer As we require the BlueZ stack we had to abandon this transceiver when the vendor no longer offered Linux support see Item 2 of Figure 4 1 The vendor of the Korebot recommended a acPCMCIA Bluetooth card see Item 6 of Figure 4 1 This has not worked because of a lack of Linux driver maturity in this area see Diary Excerpt in Section and email trail excerpt in Section where the author has to patch the kernel to no avail Lastly a USB Bluetooth had been successfully tried see Item 7 of Figure and Diary Excerpt in Section D 3 BNEP O BNEP 1 PANO One IP Address BNEP 2 Figure 4 5 Ethernet Bridge 4 1 4 Peer to Peer protocol The choice of which peer to peer protocol to use has been narrowed to GNUtella and P2PS Note that P2PS is so close to JXTA in what it does that where we refer to it is taken to refer to P2PS We now assess what protocol would better suit a To do that we need to explore the concept of groups what is their composition how they are formed the ways in which information is distributed amongst its members and how they cooperate 40 Group Composition In most peer to peer protocols there is no concept of groups the composition of a group instead bei
139. mini robotics 57 What is going on The bundles involved are RANET Multicast Bluetooth Service a wrapped up BluetoothImpl jar file and JXTA Multicast Service a wrapped up JXTA Multicast Impl Each of these are discussed in turn 51 VULOZ 00163 private static class PANConnectionTask extends TimerTask 00164 00165 Bluetooth bluetooth 00166 public PANConnectionTask Bluetooth bluetooth 00167 1 00168 super 00169 bluetooth _bluetooth 00170 00171 00172 public void run 00173 00174 bluetooth 00175 bluetooth statusPANConnections 00176 Thread yield 00177 00178 00179 00180 private static class JXTAConnectionTask extends TimerTask 00181 00182 JXTA jxta null 00183 Bluetooth bluetooth null 00184 boolean result false 00185 00186 public JXTAConnectionTask JXTA _jxta Bluetooth bluetooth 00187 1 00188 super 00189 jxta _jxta 00190 bluetooth _bluetooth 00191 00192 00193 public void run 00194 00195 if bluetooth havePANConnections 00196 jxta startMC 00197 00198 Thread yield 00199 Figure 5 4 RANET Multicast Code Excerpt RANET Multicast The RANET Multicast application see Figure 3 is the bundle that uses the Bluetooth Service and the Multicast Service The Bluetooth Service and the Multi cast Service are called out in PANConnectionTask and JX l AConnection Task respectively see the code excerpt in Figure 5 4
140. n of project xml instead of maven xml Starting the reactor Our processing order 136 Dependency download null Memory 2M 3M DEPRECATED the default goal should be specified in the lt build gt section of project xml instead of maven xml build start jadabs buildall deps download build start java prepare filesystem java compile Compiling to Users kp_robinson Desktop SRC play jadabs jadabs target classes No java source files to compile build end jadabs buildbundles multiproject projects init Gathering project list Starting the reactor Our processing order Benchmark Service Jadabs Concurrent RemoteFramework API Log4j CDC JXME OSGi JXME Services API RemoteFramework Impl jadabsgui PPC Admin TestMain JXME Services Impl JXME TCP Jadabs JXME TCP Test Jadabs JXME UDP Jadabs JXME UDP Test Messenger Messenger Test MobileServices SMTPGW MobileServices SMTPGW Test MobileServices SMTPGW Test TCP Shell Gathering project list Benchmark Service Memory 4M 5M Gathering project list Jadabs Concurrent Memory 4M 5M Gathering project list RemoteFramework API Memory 4M 5M Gathering project list Log4j CDC Memory 4M 5M 137 Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M
141. n C C which has a TCP IP Server listening for commands which are sent to the robot This is the Player part A real robot can be used Alternatively a simulated robot either in two dimensions Stage or three dimensions Gazebo can be used We have used Player here A Java client has been written for Player Stage with the same people specifically Radu Bogdan Rusu providing a space wanderer example We have wrapped up the this example in an bundle along with the Java client libraries it depends upon It has been difficult to do video capture of the skill transfer on two separate devices Accordingly video capture has been done running the client and the server on one laptop see Figure 5 15 without using a Bluetooth link Next video capture of the server was done with the client on the desktop and the server on a laptop The link between them is a Bluetooth link see Figure 5 14 60 bar Desktop warkjG j se client felix 1 D 3 Tabs Help Be zdt view Temna ale Edi View Terminal Tabs Hep a krobinsong foabar Lle eres cal inks Re zdi view Clock Pulp E feras m large Fla 9 Ach charts e203 BR robo E acbinson 1 Stages feia JE Figure 5 15 Skill transfer on same host The server bundles used see Figure 5 16b are e RANET Server Activator e JXTA Discovery File Server Service wraps up JXTA Discovery File Server imple mentation and e Bluetooth Service wraps up B
142. n and Peter Druschel Pastry Scalable decentralized object location and routing for large scale peer to peer systems In IFIP ACM International Con ference on Distributed Systems Platforms Middleware pages 329 350 November 2001 Roman Schmidt P grid system overview World Wide Web P Grid Website March 2007 http www p grid org implementation P Grid Overview pdf accessed on 25 11 2007 Peter Seibel Practical Common Lisp Apress 2855 Telegraph Avenue Suite 600 Berkeley CA 94705 first edition 2005 Russell Selwyn Wireless peer to peer World Wide Web QUT OLT Website 2004 Lecture TBD in subject ITN671 Wireless Networks Gadi Shor How bluetooth uwb and 802 11 stack up on power consump tion World Wide Web Digital Home Design Line April 2008 URL http www digitalhomedesignline com accessed on 24 02 2009 Raul Siles Wireless forensics Tapping the air part one World Wide Web Secu rity Focus website January 2007 URL http www securityfocus com infocus 1884 accessed on 24 02 2009 J Sitte and P Winzer Mastering complexity in robot design Intelligent Robots and Systems 2004 IROS 2004 Proceedings 2004 IEEE RSJ International Conference on 2 1815 1819 vol 2 28 Sept 2 Oct 2004 Michael Somby A review of robotics software platforms World Wide Web Lin uxDevices com November 2007 Jtrs World Wide Web Space and Naval Warfare System Command website September 2006 URL http enterprise sp
143. n on the Korebot which only has a terminal interface With loading skills we need to load skills at runtime and also have them remembered in some way OSGi loads the skill One can then query the OSGi framework to find the service containing the skill Lastly the OSGi framework remembers what skills have been loaded and also whether they are active or dormant 4 1 7 Non volatile Storage We have add some 256MB of acPCMCIA flash to the Korebot in addition to the 32MB of flash already present This is so the robot can remember skills received by writing to persistent memory see Item 16 of Figure 4 2 4 2 Extra Structures We now have some structures the third party COTS which appears to meet the design but some analysis is necessary to ensure there were no gaps Gaps exist in the Blue tooth and not having bundles which wrap up the JXTA functionality and the business logic for the RANET 4 2 1 PAN using Ethernet Bridge The Bluetooth using the Ethernet bridge works if some robotic devices are always slaves and one robotic device was always a master However master devices can not always be expected to be available The RANET needs to work so that any RANET member can come into range of another RANET member and always form an ad hoc network This needs to occur without the constraint of always being a master or a slave The profile is adapted as follows see also Figure 4 7 1 The robot starts out a slave 2 It scans
144. n uses Bluetooth Service and JX TA Multicast Service on the two laptops and only Bluetooth Service on the Korebot An analysis of memory on the Korebot when running the Bluetooth extension shows 4108KB of memory used after startup of some components Memory usage jumps to 5368KB when starting two small bundles in this framework The persistent memory used for the framework amounts to 132 5KB The total persistent memory used amounts to 17 8MB Most of this relates to the Java libraries Execution times were recorded using a Java library supplied logger and were found to be in the order of hundreds of milliseconds 5 2 3 Messaging between two laptops on different class networks Figure 5 13 shows messaging between two laptops on different class networks This demon strates that the Ethernet bridge truly fulfils its promise of allowing different class networks to communicate to each other You do not need to have an IP address which is of the same class network to communicate The only further thing to be done is to specify the default gateway for IP addresses travelling outside the network class as per Figure 58 SHEDEERSCEOSOLCHOSAEIYTITIONTSESTSOS PTNNTeEX cuan 107 edi irure adrgindingaarwSerwsoyg ady 1degwix SYIOMJOU sse o quo1opgrp uo SULIESSIJA ELE 90814 G2 G62 442 ww Qu ELi dI 2 y 33 83 99 90 0 00 JDDOMH 12049023 00202 BUTT A A z007422uu0 h9d5 3 35 Mrd ld4T uiocisna 3ouPj jnb npa nc 62 00 77 BIOZ TO TC gr o
145. n without modification on the Korebot JXME is our JXTA choice see Item 9 of Figure 4 1 Full featured edge peers with Rendezvous Peer Backbone A o O ss 4 o 9 o Y _ Full featured edge peers in a RANET Figure 4 6 Typical topology versus topology 4 1 5 Java Virtual Machine To support we require a Java Virtual Machine JVM to run on the Korebot Attempts made at porting the Sun Java Virtual Machine CDC to the Korebot have met with little success see Section and Item 10 of Figure 4 2 Attempts at porting a smaller Sun Virtual Machine the CLDC came up against export license restrictions laws of the United States see Item 11 of 4 2 These laws prevent release of all the source necessary to port the JVM We settled on JamVM version 1 4 3 a Java Virtual Machine which is easily ported to the ARM processor see Item 12 of Figure and Section E 3 1 as to building it Although it only can interpret the bytecode it is a fully functional JVM and very small in size 411 It uses the GNU Classpath libraries version 0 91 an open source implementation of the Java libraries It is similar to the Sun CDC running Java version 1 4 2 4 1 6 Skill Packager and Dynamic Skill Loading Dynamic loading of skills is required for the robots in the RANET to learn and remember without restarting the Java Virtual Machine Two options have been considered when looking at skill packaging and dynamic skill loading Jython a
146. nd 44 Jython not Python is required because of the JX TA implementation being written in Java see Item 13 of Figure 4 2 Jython runs on the Java virtual machine and can use existing Java libraries without modification Python Jython can pickle amongst other things classes and object instances 55 This way not only can a skill s program code be packaged but also its program state Unfortunately Jython does not run on JamVM 1 4 3 or the earlier 1 4 2 version running only on Sun Java virtual machines see Diary Excerpt in Appendix G OSGilis a specification written by OSGilalliance formerly the Open Services Gateway Initiative which allows for an open service platform for the delivery and management of multiple applications and services to all types of networked devices in home vehicle mo bile and other environments Question 1 Several implementations have been done in Java see Knopflerfish as an example 40 It allows services to be loaded run paused resumed and deleted We considered at first Knopflerfish but have chosen Apache Felix see Items 14 and 15 of Figure 4 2 It has the advantage of being written in Java 1 4 2 allowing it to be run on many embedded devices Java Two Micro Edition only runs on Java 1 4 2 Later versions of Java introduced Generics and enumerations It fur ther had a text interface by default as opposed to the GUI interface used by Knopflerfish This allows it to be used without modificatio
147. ndor did not work even with patches applied see Sections and D 2 It was only through examination of the Korebot that a USB master connection was found and the idea of using a Bluetooth USB dongle was thought of see Section D 3 Using Jython pickled objects as a way of packing and loading skills did not work as Jython failed to work on GCP on the Korebot see Appendix G oSGi did work reasonably well from the very first 66 JXME did not work as advertised With JXSE It was not until version 2 5 that it was fairly intuitive and easy to use see Section 5 1 and Appendix I To conclude some open source software components do not have sufficient maturity or stability Some frameworks over complicate things where simplicity would be preferred Incomplete documentation is the norm However the support provided by the Korebot vendor the makers of Apache Felix and the author of was very good 6 2 Novel Aspects of Design It is important to highlight the novel aspects of this design They are the adhoc nature of the Bluetooth TCP IP link the provision of wireless services containing skills and the use of the Ethernet bridge on all devices Previously with Bluetooth connections the device was either a master or a slave As a master it could only accept connections As a slave it could only seek connections This meant a device needed to have prior knowledge of the other device it was trying to connect to Potentially one could have
148. net lists listinfo jamvm general Ken Robinson lt kenrobinsonster gmail com gt Thu Nov 16 2006 at 12 47 AM To Robert Lougher rob lougher Ogmail com Hi Rob As requested 1 XScale arm processor found on korebot linux 2 4 19 glibc Output on class mnt hda sw bin jamvm verbose HelloWorld Loaded java lang Object from mnt hda sw share classpath Linking class java lang Object Loaded java io Serializable from mnt hda sw share classpath Linking class java io Serializable Loaded java lang reflect Type from mnt hda sw share classpath Qa 0 IN 115 Linking class java lang reflect Type Loaded java lang reflect AnnotatedElement from mnt hda sw share classpath Linking class java lang reflect AnnotatedElement Loaded java lang reflect GenericDeclaration from mnt hda sw share classpath Linking class java lang reflect GenericDeclaration Loaded java lang Class from mnt hda sw share classpath Linking class java lang Class Loaded java lang Runnable from mnt hda sw share classpath Linking class java lang Runnable Loaded java lang Thread from mnt hda sw share classpath Linking class java lang Thread Loaded java lang VMThread from mnt hda sw share jamvm classes Linking class java lang VMThread Loaded java lang Comparable from mnt hda sw share classpath Linking class java lang Comparable Loaded java lang CharSequence from mnt hda sw share classpath Linking class java lang Char
149. ng instead of would eliminate congestion problems that may occur because of signal fade Alternatively an adaptive TCP IP stack could be used to eliminate such congestion If STP were turned on in the Ethernet bridge multi hop skill queries messaging and skill transfer could occur across RANETIscatternets The STP would need to turned on to prevent cycles from occurring and stop flooding of the network How it would contribute to traffic on the network it periodically exchanges Bridge Protocol Data Units would need to be considered Future investigation could occur on how to seed the configuration for the extension to the PAN Bluetooth protocol so a Bluetooth TCP IP link is more quickly formed Also an extension to the JXTA Client could allow them to readvertise the skill they had just received thus enabling transfer of the skill throughout the network 6 4 Some Observations We believe that is too complex More simple peer to peer protocols need to be used with the capacity to turn on and off features like security and authentication or at least allowing for different means to authenticate P2PS has this feature But for the fact that the open source Java environment did not had UDP datagrams the P2PS libraries would have worked on the Korebot For embedded programming one needs more immediate feedback Programming on a desktop computer transferring the jar files to the target and then running them is a slow process especially through
150. ng tied very closely to the network s topology The group itself is as large as the number of machines using the protocol that are reachable on the network This means that if all are reachable all are part of the group There is no real understanding of being part of a group 47 pages 25 to 38 Groups are very important in peer to peer networks Their greatest feature is not allowing communication but limiting it If messages be they data text code etc are restricted to the group it reduces flooding of the network In wireless communication anyone can send and receive just by a broadcast Groups are required so the participants in any conversation are limited It seems then that a robot would need to know that it is a member of alRANET This knowledge would mean communication could be limited to members Further not belonging to a RANET would allow a robot to not participate in any present con versation taking place This would allow for the existence of separate teams in a robotic soccer game each team not being privy to the plans of the other JXTA has the concept of a group which is known to the device In JXTA a device or peer is defined to be a member of group if it holds that group s unique ID page 7 In this way it can be a member of aJRANET Group Formation Groups must be first formed by its members This involves discovery of the group joining it and leaving it The possibility exists too of handover from one group to
151. not knowing how to make osgi install Can you help jadabs buildbundles multiproject projects init Gathering project list Starting the reactor Our processing order Benchmark Service Jadabs Concurrent RemoteFramework API Log4j CDC JXME 0SGi JXME Services API RemoteFramework Impl jadabsgui PPC Admin TestMain JXME Services Impl JXME TCP Jadabs JXME TCP Test Jadabs JXME UDP Jadabs JXME UDP Test Messenger Messenger Test MobileServices SMTPGW MobileServices SMTPGW Test MobileServices SMTPGW Test TCP Shell Gathering project list Benchmark Service Memory 4M 5M 130 Gathering project Memory 4M 5M Jadabs Concurrent Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Gathering project Memory 4M 5M Messenger Test 131 Gathering project list MobileServices SMTPGW Memory 4M 5M Gathering project list MobileServices SMTPGW Test Memory 4M 5M Gathering project list MobileServices SMTPGW Test TCP Memory 4M 5M Gathering pr
152. not set Plug and Play configuration CONFIG PNP is not set CONFIG ISAPNP is not set Block devices CONFIG BLK DEV FD is not set CONFIG BLK DEV XD is not set CONFIG_PARIDE is not set CONFIG_BLK_CPQ_DA is not set CONFIG_BLK_CPQ_CISS_DA is not set CONFIG_CISS_SCSI_TAPE is not set CONFIG BLK DEV DAC960 is not set CONFIG_BLK_DEV_UMEM is not set CONFIG_BLK_DEV_LOOP is not set CONFIG BLK DEV NBD is not set CONFIG_BLK_DEV_RAM y 85 CONFIG_BLK_DEV_RAM_SIZE 4096 CONFIG_BLK_DEV_INITRD y Multi device support RAID and LVM CONFIG_MD is not set CONFIG_BLK_DEV_MD is not set CONFIG_MD_LINEAR is not set CONFIG_MD_RAIDO is not set CONFIG_MD_RAID1 is not set CONFIG MD RAID5 is not set CONFIG MD MULTIPATH is not set CONFIG BLK DEV LVM is not set dk dk dk dt dt dk dt dt dk Gto FH Networking options CONFIG_PACKET m CONFIG_PACKET_MMAP y CONFIG_NETLINK_DEV is not set CONFIG_NETFILTER is not set CONFIG_FILTER is not set CONFIG_UNIX y CONFIG_INET y CONFIG_IP_MULTICAST is not set CONFIG_IP_ADVANCED_ROUTER is not set CONFIG_IP_PNP y CONFIG_IP_PNP_DHCP is not set CONFIG_IP_PNP_BOOTP y CONFIG_IP_PNP_RARP is not set CONFIG_NET_IPIP is not set CONFIG_NET_IPGRE is not set CONFIG_ARPD is not set CONFIG_INET_ECN is not set CONFIG_SYN_COOKIES is not set CONFIG_IPV6 is not set CONFIG_KHTTPD is not set CONFIG_ATM is not set CONFIG_VLAN_8021Q is not set dk dk dt dt dk dt dt H OH FH CONFIG IPX is not s
153. nt and provides observations on the development environment and Please note that the appendices contain non obvious software documentation largely written by the author that enables others to reproduce the system They should be read along with the main body of this work 14 Chapter 2 STRUCTURES REQUIRED FOR ROBOTIC COOPERATION Chapter Summary A real world example of robotic soccer is used to come up with the necessary structures required for robotic cooperation 2 1 A Real World Example Figure 2 1 Soccer game We have established a need for a RANET in order for robotic cooperation to occur What structures are required to make a and thus allow robotic cooperation An example which requires a RANET must be found From this example we can better look at what structures are truly required Robotic soccer shows promise There are presently two robotic soccer organizations The RoboCup Federation and Federation of International Robotsoccer Association 26 Each organization pits robotic teams against each other in a game of soccer They have found it advances and solves many issues in robotics We will analyze robotic soccer in the following sections and look at what robotic cooperation is required After deriving the robotic cooperation required we will decide upon the structures needed 15 2 2 Structures Required In teasing out what sort of robotic cooperation is required a general procedure which analyzes user demands i
154. nterface down bring up the Bluetooth interface at the hardware level add an interface to the bridge bring up the bridge interface and then listen for Bluetooth connections ifconfig usbf down ifconfig hciconfig hciO up hciconfig brctl addbr panO brctl setfd panO 0 brctl stp panO off ifconfig panO 192 168 1 1 pand listen role GN brctl addif panO bnepO On the host Linux computer become root do similar tasks scan for the Bluetooth address try to connect repeatedly using the Bluetooth address that comes up as a result of the scan Test then whether the Bluetooth interface comes up su and password hcidump show details of connections modprobe hci_usb modprobe bnep hcitool scan pand connect lt BTAddress gt have to repeatedly try before success C 5 Kernel Configuration Configuration file for the kernel is as follows Automatically generated make config don t edit CONFIG_ARM y CONFIG_EISA is not set CONFIG_SBUS is not set CONFIG_MCA is not set CONFIG_UID16 y CONFIG_RWSEM_GENERIC_SPINLOCK y CONFIG_RWSEM_XCHGADD_ALGORITHM is not set CONFIG_GENERIC_BUST_SPINLOCK is not set CONFIG_GENERIC_ISA_DMA is not set Code maturity level options CONFIG_EXPERIMENTAL y CONFIG_OBSOLETE is not set 80 Loadable module support CONFIG_MODULES y CONFIG_MODVERSIONS is not set CONFIG_KMOD y System Type CONFIG_ARCH_ANAKIN is not set
155. o etc ld so conf C 2 2 Utilities BlueZ utilities like pand which are required for the Bluetooth network Within the bluez utils there is an error that occurs at least when compiling with the 2 95 3 gcc TT toolchain Found that you need to add include sys param h file which complains that the PATH MAX variable is undefined Cross compile bluez utils by running the following commands The with bluez option is where the BlueZ libraries are located at the top of each configure host arm linux target arm linux prefix home krobinson sw bluez utils 2 25 tmp with bluez home krobinson sw bluez libs 2 25 tmp make make install C 2 3 Transfer libraries and utilities The libraries and utilities are then transferred to the Korebot and put under usr local C 3 Ethernet Bridge The ethernet bridge options can be set as a module to be linked into the kernel instead as part of the kernel Unlike most modules the Linux kernel needs to be recompiled for the ethernet bridge to work I discovered through old posts that one needs to run the command make mrproper You want to delete only the object files As this command deletes the config file and all the old object files save old config first as myconfig or the like and then run the command C 3 1 Kernel mv config myconfig make mrproper Rename the myconfig back to to old config mv myconfig config You then
156. of the method calls of the service provider with no dynamic discovery of services provided They tend to be used between robot user and robot and not as a dynamic communications medium for robots to form groups transfer skills and send and receive messages as in our proposed RANET In the main they lack the peer to peer protocol skill packager and dynamic skill loader required for a RANET 3 4 Wireless Communication Having found no existing robot platforms which satisfies our needs we will now look gen erally at products which may meet the functionality required of the individual structures We will defer the choice of a single board computer an operating system and a non volatile storage as these are less important and may be dictated by our other choices We look first at wireless transceivers 3 4 1 What exists Wireless communication was at first unrelated to computing It began with broadcast analog radio moving onto two way radio in closed groups then to directed one way pagers Data was then able to be transmitted over analog radio satellite telephones were introduced and the rise of cellular telephones with data transmission capability occurred In the military domain link 11 and link 16 protocols were used during the 1990s Wireless computer networks have come to the fore Wireless local area networks WLAN are among the most popular These are typically areas covering approximately 100m with WiFi IEEE 802 11x predominantl
157. oject list Shell Memory 4M 5M multiproject goal Starting the reactor Our processing order Benchmark Service Jadabs Concurrent RemoteFramework API Log4j CDC JXME OSGi JXME Services API RemoteFramework Impl jadabsgui PPC Admin TestMain JXME Services Impl JXME TCP Jadabs JXME TCP Test Jadabs JXME UDP Jadabs JXME UDP Test Messenger Messenger Test MobileServices SMTPGW MobileServices SMTPGW Test MobileServices SMTPGW Test TCP Shell Executing osgi install Benchmark Service Memory 4M 5M DEPRECATED the default goal should be specified in the build section of project xml instead of maven xml BUILD FAILED File sss Users kp_robinson maven cache maven multiproject plugin 1 4 1 plugin jelly Element maven reactor Line 218 Column 1 Unknown goal osgi install Total time 14 seconds Finished at Sunday November 27 2005 9 55 37 PM EST Compilation exited abnormally with code 70 at Sun Nov 27 21 55 37 On 11 8 05 Ken Robinson lt kenrobinsonster gmail com gt wrote 132 I ve tried the jadabs sh from the cvs bin directory and get the same result I then tried to build using maven but get the following error This is after I copy the plugins from http osgirepo berlios de repository maven jars and put it in the plugin directory in maven Is there something basic I am doing wrong Do I need to all find and install those jar files mentioned below Should they go into the maven reposit
158. ol evaluation in topologies resembling wireless networks an experiment with gnutella query engine World Wide Web 2002 Paper published by Nokia Research Centre P O Box 392 H 1461 Budapest Hungary Budapest University of Technology and Economics P O Box 91 H 1521 Budapest Hungary and Nokia Research Centre P O Box 407 FIN 00045 Nokia Group Finland S Baset H Schulzrinne and M Matuszewski Peer to peer protocol p2pp draft baset p2psip p2pp 01 S Bergbreiter and K S J Pister Cotsbots an off the shelf platform for distributed robotics In Intelligent Robots and Systems 2003 IROS 2003 Proceedings 2003 IEEE RSJ International Conference on volume 2 pages 1632 1637 October 2003 M Beutel J and Dyer L Meier and L Thiele Scalable topology control for deployment support networks In Information Processing in Sensor Networks 2005 IPSN 2005 Fourth International Symposium on April 2005 M Bisignano G Di Modica and O Tomarchio Jmobipeer a middleware for mobile peer to peer computing in manets Distributed Computing Systems Workshops 2005 25th IEEE International Conference on pages 785 191 6 10 June 2005 153 12 13 14 16 17 18 19 20 21 22 Andrew Black St phane Ducasse Oscar Nierstrasz and Damien Pollet Squeak by Example Square Bracket Associates September 2007 Chapter 1 A quick tour of squeak Also has contributions by Damien Cassou and Marcus Denker On
159. on B 2 2 This has demonstrated that multi hop skill queries messaging and skill transfer on a piconet can occur Also devices ina do not need need to have an address which is a member of the same network class see Section 5 2 3 This means that each device that wishes to participate in a RRANET can have an arbitrary TP address 6 3 Recommendations for improvement Deficiencies in some third party software were found specifically JX TA and GNU Classpath These deficiencies could be fixed by porting the JX TA C implementation to the target embedded platform and potentially eliminating the layer or using instead of Unlike Java which is dependant on the virtual machine the C libraries would be the same across different machines This would work on the Korebot and its ARM processor Eliminating means writing a JX TA implementation which uses Bluetooth No such implementation exists However the advantages would be great With Bluetooth 67 Device discovery is built into the protocol Automatic retransmission request ARQ of Bluetooth packets occur if they are corrupted Built in redundancy gives a greater prob ability that packets will be received Communication occurs over dedicated connections eliminating both the exposed and hidden terminal problems 51 It eliminates problems with TCP limiting the size of the packets when there is no need say through temporary signal fade It also allows for a somewhat higher data rate Usi
160. on sw bridge utils 1 1 tmp lib install m 644 libbridge a home krobinson sw bridge utils 1 1 tmp lib make 1 Leaving directory home krobinson sw bridge utils 1 1 libbridge make 1 Entering directory home krobinson sw bridge utils 1 1 brctl mkdir p home krobinson sw bridge utils 1 1 tmp sbin usr bin install c m 755 brctl home krobinson sw bridge utils 1 1 tmp sbin make 1 Leaving directory home krobinson sw bridge utils 1 1 brctl make 1 Entering directory home krobinson sw bridge utils 1 1 doc mkdir p home krobinson sw bridge utils 1 1 tmp man man8 install m 644 brct1 8 home krobinson sw bridge utils 1 1 tmp man man8 make 1 Leaving directory home krobinson sw bridge utils 1 1 doc C 3 3 Integrating ethernet bridge and Bluetooth For new instances of bnep to be added to the bridge a dev up script needs to be added to etc bluetooth pan dev up Note that for versions 3 9 and above of bluez utils a bug you require to specify where the dev up script is by using the option devup path to dev up script dev up when using pand Dev up script used from HowTo PAN for Bluetooth connection 79 cat etc bluetooth pan dev up bin sh dev up script to do dynamic bridge management brctl addif panO 1 1 is the new name passed by pand ifconfig 1 0 0 0 0 C 4 Testing Ethernet Bridge and Bluetooth We now test that everything is working On the target Korebot take a usbf i
161. one seventh 1 7 which gives a transmission rate of 57 1 Kbps With messages are transmitted in XML which is text Assuming 8 bits for each ASCII symbol we have room for 7137 letters Assuming the average series of words in XML to be 5 characters long 1427 words per second can be sent This appears to be enough for messaging However it would probably not be enough for file transfer if the files were of any large size This would have to be done in binary format Using Bluetooth with no TCP IP stack would make little difference as the transmis sion time in the same eight 8 device piconet drops to one seventh 1 7 of 433 9 Kbps giving a transmission rate of 61 9 Kbps KR080309 Where wireless interference takes place Bluetooth has an Automatic retransmission request system which allows for retransmission of lost or corrupted packets The TCP component in the stack would also retransmit that data Unfortunately the congestion control and avoidance algorithms in TCP would also kick in decreasing the size of the window in which to send data packets This would cause a fall in throughput when what was needed was a mere retransmission of a packet of the same size For WiFi the number of bytes in the underlying is generally considered to be 1500 giving 12000 bits 64 Make the same assumptions for the TP datagram and TCP header the number of bits is reduced to 11648 The throughput falls proportionally to 98 7 This would give a transm
162. or the skill packager and dynamic skill loader e acPCMCIA flash storage for non volatile storage e JamVM for the Java virtual machine e Bluetooth OSGi bundle for the extension to the Bluetooth PAN profile e bundle which uses some functions from the JXT library e bundle for the business logic 47 SUOT JOII SOI y1OdXo pue SUMIOM JOU SWAF ung Ssoujsnqoz asn jo ase Suom You UOUYIA Surg exoed D s 19339q Surgessour pue I9jgsuer AY KI9AOOSIDp D S uorjeurtoj dnois Ataaoostp dnois JU9UIUOITAUD guouidoreaop somos uodo aoloyo snhora91g z ng Ayrqedeo SUN IOMJ9U JOY pe 19339q sbox1 100d 19M0 T Syd ssouysnqod O T XU XL y30039n1g 310ddus xnur 1lopuoA SNOSVHYU uso SIMJINIAS Z y MALL NAUt ysey VIOIWOd e oso emxr vixr xnurT o 2uop JSN Yoo yon q joqo10N HaVW HOIOHO JNAUref SAA ung useg VIOINOd useg asa Toso syoofqo p pprd Sdzd vixr eno 9UON ADULT HO YOSIN IAIM q30o3enjq porera J0q910y xijsumn3 sso o114 AOH SHOIOHD W IdISSOd DUPLI en3itA Aer 9810S 9 I3 OA UO N Jopeo D s ormreudq ap doseyped MAS 020304d aea urojs s Surje1od IOAIOOSUUI SSAP M Iojnduroo preoq o Sutg Ga HraoWH SWHOILOOULS 48 Chapter 5 TESTING THE DESIGN Chapter Summary To test the final design we implemented a reference implementation and ran some tests of that implementation In doing so we find some deficienc
163. orks and then communicate discovering services transferring code messaging and the like I was originally looking at JXTA but through it mailing lists was lead to jadabs Jadabs has everything that I need dynamic loading of jar files weaving of new code communication using JXTA over bluetooth I ve downloaded jadabs both minimal and full but cannot get it to work I get the below error Is there anything that I should be doing regards Ken Robinson bash jadabs sh Knopflerfish OSGi framework version lt no version found gt Copyright 2003 2004 Knopflerfish All Rights Reserved See http www knopflerfish org for more information 125 Loading xargs file c SW jadabs jadabs 1 0 0 SNAPSHOT init xargs Installed and started file repository log4j jars log4j 1 2 8 osgi jar id 1 Installed file repository kobjects jars kxm12 2 1 9 osgi jar id 2 Installed and started file repository jadabs jars bundleloader 1 0 0 SNAPSHOT j ar id 3 Installed and started file repository jadabs jars pluginloader 1 0 0 SNAPSHOT j ar id 4 O main INFO ch ethz jadabs bundleLoader BundleLoaderImpl BundleLoader start ing 1594 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl jadabs starter The system cannot find the file specified java io FileNotFoundException jadabs starter The system cannot find the file s pecified at java io FileInputStream open Native Method at java io FileInputStream init
164. ory regards Ken Robnson M __ _Apache__ ___ IVI Z NVZ _ intelligent projects 5d the Ne m AINSI SI are 02 The build cannot continue because of the following unsatisfied dependencies commons net 1 1 0 jar jsch 0 1 5 jar commons jelly tags velocity 20030303 205659 jar velocity 1 4 dev jar On 11 2 05 Andreas Frei lt frei inf ethz ch gt wrote Hi Ken A File jadabs starter File is needed if it is not in the bin directory download the sources from CVS at berlios de An example of the jadabs starter is in the bin directory Cheers Andreas Von Ken Robinson mailto kenrobinsonster gmail com Gesendet Mittwoch 2 November 2005 04 03 An frei inf ethz ch Betreff Jadabs Hi Andreas I am presently doing a research masters part time in Brisbane Queensland I am looking at having robots form mobile ad hoc networks and then communicate discovering services transferring code messaging and the like I was originally looking at JXTA but through it mailing lists was lead to jadabs Jadabs has everything that I need dynamic loading of jar files weaving of gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt new code communication using JXTA over bluetooth gt gt I ve downloaded jadabs both minimal and full but cannot get it to wor
165. otic ad hoc networks and see if there exists a robotic system which has all these structures Finding nothing we will then look at robotic platforms to see if they satisfy our requirements In the same way we also look at wireless communications peer to peer protocols and ways of transfering skills and remembering them Lastly we give a critique of each area explaining how it meets or does not meet our needs 19 3 2 Robotic ad hoc networks and their RANET like kin 3 2 1 What exists Numerous wireless robot communication systems have been built in the past with the majority purpose built from the bottom up 30 page 210 or at the most only using off the shelf wireless transceivers 70 Sensor networks are the latest addition with TinyOS being the most prevalent type of sensor network within the research community TinyOS is an operating system designed for wireless sensor networks capable of running on a num ber of purpose built hardware platforms 71 Some work has been done on incorporating the TinyOS platform into mobile sensor networks essentially a type of robotic wireless network CotsBots 9 Robomote and MICAbot 44 involve connecting a hardware platform running TinyOS to a robot base These mobile sensor networks capture infor mation and send it back to a monitoring computer There is another class of research robots called flockbots 29 which are built from standard components and communicate using Bluetooth Recently
166. out any possibility of a collision IEEE 802 11 does have collision avoidance which solves the hidden terminal problem but does not solve the exposed terminal problem Further it only supports the best effort delivery Various solutions have been put forward which unfortunately only work with single hop wireless networks Some schemes give priority to real time traffic but again this does not solve the exposed terminal problem Hardware Layer At the hardware level for wireless networks signal to noise ratios vary over time Estimation of how this would vary would require adaption in the upper layers What seems to be the thrust of new research is softening the boundaries between the layers of the TCP IP protocol Status information is exchanged between each layer The layers then adapt to provide better We will not consider adaptive I CP IP stacks further This is to again limit the prob lem domain Consideration of any one of these layers and how to make it adaptive would be a thesis in itself In any commercial grade RANET it would have to be considered Device discovery and connection time Bluetooth has a device discovery and connection time of 23 55 seconds 34 The 802 11b standard for WiFi has a device discovery and connection time of 1 15 seconds 74 Bandwidth Bluetooth 1 x has a data rate of 433 9K bps Bluetooth 2 x s higher data rate of of 2 1 Mbps we will ignore Bluetooth 1 x being more ubiquitous and lower cost For WiFi we
167. pflerfish framework Main handleArgs Main java 283 at org knopflerfish framework Main main Main java 190 1609 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl Loading of Plug in failed Framework launched V VV VV NN NN NN NN NN N NN NN NN NN NN N NNNM Ken Robinson lt kenrobinsonster gmail com gt Tue Nov 8 2005 at 10 34 PM To jadabs devOlists berlios de I ve tried the jadabs sh from the cvs bin directory and get the same result I then tried to build using maven but get the following error This is after I copy the plugins from http osgirepo berlios de repository maven jars and put it in the plugin directory in maven Is there something basic I am doing wrong Do I need to all find and install those jar files mentioned below Should they go into the maven repository regards Ken Robnson XE _Apache__ ___ IVI 7 NVZ _ N intelligent projects IL IZA INZ A_ 1 11_ 1 v 1 0 2 The build cannot continue because of the following unsatisfied dependencies commons net 1 1 0 jar jsch 0 1 5 jar commons jelly tags velocity 20030303 205659 jar velocity 1 4 dev jar gt On 11 2 05 Andreas Frei lt frei inf ethz ch gt wrote gt Hi Ken gt gt gt gt A File jadabs starter File is needed if it is not in the bin directory gt download the sources from CVS at berlios de An example of the 128 V V V NN NN NN NN NO VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV VV ja
168. pity file Edit View Terminal Tabs Help collisions txqueuelen 8 RX bytes 71262 69 5 KiB TX bytes 8 6 8 B Jan 1 1978 12 07 11 AM au edu qut ranet bluetooth impl PAN statusPANConnections INFO java lang Exception pan not a bluetooth interface usbf Link encap Ethernet Hwaddr 70 33 01 C0 14 28 inet addr 192 168 1 2 Mask 255 255 255 0 UP RUNNING MTU 1508 Metric 1 RX packets 8 errors dropped 8 overruns 8 frame 0 TX packets 0 errors dropped 8 overruns 8 carrier collisions 8 txqueuelen 196 RX bytes 0 0 0 B TX bytes 0 0 0 B Jan 1 1978 12 07 11 AM au edu qut ranet bluetooth impl PAN statusPANConnections INFO java lang Exception usbf not a bluetooth interface Jan 1 1978 12 07 11 AM au edu qut ranet bluetooth impl PAM statusPANConnections INFO Abcut to update bluetooth Addresses with result of PAN Connections Figure 5 12 Messaging through the Korebot 5 8 with the route command route add net 224 0 0 0 netmask 240 0 0 0 dev pan0 This allows broadcasting to occur using the 224 0 1 85 IP address 5 2 2 Messaging between two laptops through the Korebot Figure shows messaging between two laptops through the Korebot This demon strates two things The first is that the Korebot is able to establish and maintain an ad hoc network The second is the Ethernet bridge on the Korebot allows connections to be made transparently The fist laptop is making a connection through the Korebot to the second laptop RANET Mai
169. r future Java 1 4 2 used to only run on Desktops with Java 1 3 0 running on embedded systems It is likely processor power will increase to such a degree that Java 1 5 will soon run on embedded systems The two final designs are referred to in Item 29 and Item 30 of Figure for the Korebot and a Laptop respectively Implementations of these two designs have been used in the tests referred to in Section 5 2 Testing the Reference Implementations The test setup is two Laptops running Ubuntu Linux and the Korebot see Figure which shows the base test bench Attached to each is a Bluetooth USB dongle The intention is to connect on a Class A 10 x x x network Monitoring is done on a Class C 192 168 x x network This ensures that no packets are transmitted erroneously through the wired ethernet Video capture is done on the monitoring computer A further test has been done using a larger computer as one of the participants in the This allows video capture to occur locally on the RANET member eliminating the need for the Class C network Note that the Bluetooth extension has worked on the Korebot The Korebot 50 POOL serendipity Desktop deploy relic 010 Some root Happenstance Desktop deploy felix 1 0 0 Jib File Edit View Terminal Tabs Help File Edit View Terminal Tabs Help ons INFO java lang Exception panO not a bluetooth interface INFO About to update bluetooth Addresses with result of PAN Connections 25 01 2008 17 31 57 au edu qut rane
170. r lt rob lougher gmail com gt Sun Jul 22 2007 at 8 10 AM To Ken Robinson lt kenrobinsonster gmail com gt Hi Ken It should work with both classpath generics 0 93 and classpath 0 95 classpath 0 95 is based on what was the generics release Yes you need JNI support for Classpath Hope this helps Rob Quoted text hidden Ken Robinson lt kenrobinsonster gmail com gt Sun Jul 22 2007 at 9 17 AM To Robert Lougher rob lougher Ogmail com Hi Rob It worked on my host box ubuntu x86 2 6 20 gcc 4 1 2 but not on the target korebot arm 2 4 18 gcc 2 95 3 The verbose switch produced the same problem that I ve seen since jamvm 1 4 4 See output below Does jamvm 1 4 3 work with the jsr 66 classes Failing that I ll leave this for now and try a version of the library I m using that does not use jsr 66 stuff Thanks for all your help Perhaps I ll rebuild the whole of the korebot using a later toolchain ken Configuration My configuration for gnu classpath 0 95 and jamvm cvs 1 4 6 pre was as follows CC arm linux gcc configure prefix mnt hda sw5 disable gtk peer 117 disable gconf peer disable plugin host arm linux target arm linux disable Werror Why did this come up config status linking include jni_md x86 linux gnu h to include jni md h CC arm linux gcc configure host arm linux prefix mnt hda sw5 with classpath install dir mnt hda sw4 target arm linux Output 7
171. r java 75 at org apache felix framework util SecureAction startActivator SecureAction java 589 at org apache felix framework Felix _startBundle Felix java 1535 6 more net jxta exception JxtaError Canceled during configuration gt 01 09 08 sic Loaded net jxta endpoint EndpointAddress UnmodifiableEndpointAddress Linking class net jxta impl membership pse PSESecurityEngineFactory Loaded net jxta impl membership pse PSESecurityEngineFactory Linking class net jxta impl membership pse PSESecurityEngineFactory PSESecurityEngineDefaultFactory Loaded net jxta impl membership pse PSESecurityEngineFactory PSESecurityEngineDefaultFactory Linking class net jxta impl membership pse PSEPeerSecurityEngine Loaded net jxta impl membership pse PSEPeerSecurityEngine Linking class net jxta impl membership pse PSESecurityEngineFactory PSEPeerSecurityEngineDefault Loaded net jxta impl membership pse PSESecurityEngineFactory 149 PSEPeerSecurityEngineDefault Linking class net jxta impl membership pse PSEAuthenticatorEngineFactory Loaded net jxta impl membership pse PSEAuthenticatorEngineFactory Linking class net jxta impl membership pse PSEAuthenticatorEngineFactoryN PSEAuthenticatorEngineDefaultFactory Loaded net jxta impl membership pse PSEAuthenticatorEngineFactoryV PSEAuthenticatorEngineDefaultFactory Linking class net jxta impl membership pse PSEKeyStoreManagerFactory Loaded net jxta impl me
172. re using tarred up and compressed In Java one would use an existing jar file In Python one would use a module generally a file which is the equivalent of a libary Transmitting the packaged skill Transmitting the packaged skill in C C would involve serializing the library This is not built into the language and would require some work essentially writing sending and receiving code which would make the transfer happen Java has the capability of serializing easily when it comes to a class but not in respect of a jar file where more work similar to C C is required Python can easily serialize a file which represents a module via the act of pickling Again some sending and receiving code would be required to allow transfer Loading the skill Loading the skill can be done in many languages using the concept of dynamic loading With dynamic loading at runtime libraries of code are loaded and unloaded at the behest of the calling client code The question then becomes how can the application remember what skills have been dynamically loaded and whether those skills are active Remembering the skill To see how a skill is remembered we must first look at the distinction between program code and program state By way of example Java code is made up of an application The program code is the executables that make up that application The program state is the objects that are created by the code and reside in memory When the program is halt
173. rivers input Makefile patching file drivers input uinput c patching file drivers isdn avmb1 capidrv c patching file drivers isdn avmb1 kcapi c patching file drivers usb Config in Hunk 1 succeeded at 41 offset 9 lines patching file drivers usb hid core c patching file include linux firmware h patching file include linux input h patching file include linux net h patching file include linux uinput h patching file include net bluetooth bluetooth h patching file include net bluetooth hci core h patching file include net bluetooth hci h patching file include net bluetooth l2cap h patching file include net bluetooth rfcomm h patching file include pcmcia ciscode h patching file kernel ksyms c Hunk 2 succeeded at 552 offset 2 lines patching file lib Config in patching file lib firmware class c patching file lib Makefile patching file MAINTAINERS Hunk 1 succeeded at 274 offset 14 lines patching file net bluetooth af bluetooth c patching file net bluetooth bnep bnep h patching file net bluetooth bnep Config in 73 patching file net bluetooth bnep core c patching file net bluetooth bnep crc32 c patching file net bluetooth bnep crc32 h patching file net bluetooth bnep Makefile patching file net bluetooth bnep netdev c patching file net bluetooth bnep sock c patching file net bluetooth cmtp capi c patching file net bluetooth cmtp cmtp h patching file net bluetooth cmtp Config in patching file net bluetooth cmtp core c p
174. ro at approximately 60 metres 38 page 33 In the absence of any wireless interference and with a limited number of devices Bluetooth comes into its own This is because at any one time one the master and one slave are communicating only one node in group is transmitting at any one time This does not occur with WiFi where two nodes in a group could transmit at the same time their signals colliding with each other Power consumption Power consumption in is Bluetooth is 60 mW versus 500 mW for WiFi 63 Ad hoc networking capability Bluetooth has efficient ad hoc networking compared to WiFi s cumbersome ad hoc net working 54 pages 484 to 485 Bluetooth has the capacity for up to 7 slaves and depending on the Bluetooth chipset some scatternet capacity An evaluation Bluetooth is preferred see Item 4 of Figure 4 1 This is because of its lower power requirements and better ad hoc networking capability 4 1 3 Operating system As previously stated the choice of wireless transceiver Bluetooth meant Linux was chosen as the operating system This is because of the need to use BlueZ software to control the Bluetooth transceiver Other factors also made it the standout choice The open source software used on Linux is a major factor We have been required during the making of the reference implementations to patch the kernel with a BlueZ change and with inspect the source code to find a bug This would have all but been impossible with
175. s applied 65 A spreadsheet is created having four columns DEMANDS FUNCTIONS PROCESSES and STRUCTURES see Table 18 and for an earlier version Appendix A We look at the users that would be involved in a soccer game robots developers maintainers and operators From the DEMANDS of these users FUNCTIONS that each robot would require are found Each FUNCTION is then carried out in a PROCESS using STRUCTURES DEMANDS FUNCTIONS PROCESSES and STRUCTURES are linked to each other in a many to many relationship At first when analyzing robotic soccer the DEMANDS FUNCTIONS and PROCESSES were almost the same For instance discover robotic group was repeated across all three areas Gradually the list of FUNCTIONS has been shortened a number of them now contributing to each user demand For example Passing ball to teammate now involves Calculate own position Calculate another position the teammate and Kick ball to calculated position yet Kick ball to calculated position also meets the demand of Kicking towards goal PROCESSES have been reduced to making messages sending messages managing skills finding one s own position localization and that of others and moving about The classification of PROCESSES into these categories makes it easier to find satisfactory STRUCTURES This analysis has benefits as localization was at first completely overlooked It was only when examining the kicking of the ball tha
176. sbane Queensland I am looking at having robots form mobile ad hoc networks and then communicate discovering services transferring code messaging and the like I was originally looking at JXTA but through it mailing lists was lead to jadabs Jadabs has everything that I need dynamic loading of jar files weaving of new code communication using JXTA over bluetooth I ve downloaded jadabs both minimal and full but cannot get it to work I get the below error Is there anything that I should be doing regards Ken Robinson bash jadabs sh Knopflerfish OSGi framework version no version found Copyright 2003 2004 Knopflerfish All Rights Reserved See http www knopflerfish org for more information Loading xargs file c SW jadabs jadabs 1 0 0 SNAPSHOT init xargs Installed and started file repository log4j jars log4j 1 2 8 osgi jar id 1 Installed file repository kobjects jars kxm12 2 1 9 osgi jar idit2 Installed and started file repository jadabs jars bundleloader 1 0 0 SNAPSHOT j ar id 3 Installed and started file repository jadabs jars pluginloader 1 0 0 SNAPSHOT j ar id 4 O main INFO ch ethz jadabs bundleLoader BundleLoaderImpl BundleLoader start ing 1594 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl jadabs starter The system cannot find the file specified java io FileNotFoundException jadabs starter The system cannot find the file s pecified at java io FileInputStream open
177. se a graphical development kit for describing behaviours It has a graphical development kit it calls this a visual programming language and a simulation environment It is written in C and provides extensive libraries for motion and control but no simulation libraries This is a robot special purpose scripting languague with parallelism It has voice recognition voice synthesis face detection face recognition SLAM color blob detection and SIFT based object recognition modules This offers control of hardware through a Iranmission Control Protocol Internet Protocol server using Player in 2D with Stage and 3D with Gazebo This is an open source version of the Joint Architecture for Unmanned Systems CLARAty is a software platform developed by Jet Propulsion Laboratories with various algorithms on position estimation navigation path planning localization etc It suffers from a licence allowing use of its software only for non commercial activities This is an implementation of parts of the specification 42 Table 3 2 Robotic Platforms 23 3 4 2 An evaluation Zigbee is not as freely available and as low cost as Bluetooth and WiFi For that reason it has been eliminated from further consideration Because IrDA requires line of sight to communicate with another device it is also not suitable for a Bluetooth and WiFi remain the only two contenders 3 5 Peer to Peer Protocols Next we look generally at
178. simple Hello World program which hangs When I do it with verbose it seems to get up to Loading C Class Array I haven t got the exact message with me Any Ideas ken Michael Koch lt konqueror gmx de gt Wed Nov 15 2006 at 4 48 PM To Ken Robinson lt kenrobinsonster gmail com gt Cc jamvm general lists sourceforge net Quoted text hidden Can you attach gdb to see where it actually hangs Michael http www worldforge org Robert Lougher lt rob lougher gmail com gt Wed Nov 15 2006 at 9 59 PM To Ken Robinson lt kenrobinsonster gmail com gt Cc jamvm general lists sourceforge net Hi To help you I ll need some more details e g ARM processor Linux version and whether you re using glibc or uclibc The _exact_ output from running JamVM with verbose gc verbose class verbose jni would also be useful Attaching gdb would be ideal but I m assuming you have no development tools on the target Depending on the details above I may need to ask you to compile in more tracing information Rob Quoted text hidden Quoted text hidden Take Surveys Earn Cash Influence the Future of IT Join SourceForge net s Techsay panel and you ll get the chance to share your opinions on IT amp business topics through brief surveys and earn cash http www techsay com default php page join php amp p sourceforge amp CID DEVDEV Jamvm general mailing list Jamvm generalOlists sourceforge net https lists sourceforge
179. some degree of complexity Python cannot transmit them but it can package a skill load it and remember it It does this with a degree of simplicity For this reason it is preferred over 3 7 Summary We determined there were no existing implementations of robotic systems which had all the necessary structures to make a RANET We then looked at individual robots which had most of the structures of a RANET Again nothing was found We then covered the areas of wireless communication peer to peer protocols and skill packagers and loaders to see if existing structures could be found which we could then put together to form a deferring the choice of a single board computer operating system and non volatile storage until later For the wireless transceiver we narrowed our choice to Bluetooth and WiFi The peer to peer protocol was narrowed to XTA P2PS and GNUtella For the skill packager and skill loader our choice is now limited to Python and OSGi with Python perferred In the next chapter we will look at the evolution of our design based upon these initial choices 28 Chapter 4 STRUCTURES IN A RANET Chapter Summary We decide upon the structures in the RANET This is done by first referring to the structures required for robotic collaboration for a RANET from Chapter Over time we evolve the design using existing structures from Chapter 5 and where gaps occur extending some existing structures 4 1 Evolution of the Design In
180. suggested Here is the output with verbose switch mnt hda sw jamvmi 4 6 pre bin jamvm verbose HWG Loaded java lang Object from mnt hda sw5 share classpath 119 Thread Ox368bc lock on obj 0x402191d0 Linking class java lang Object Thread Ox368bc unlock on obj 0x402191d0 Loaded java io Serializable from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x40219138 Linking class java io Serializable Thread Ox368bc unlock on obj 0x40219138 Loaded java lang reflect Type from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x40219268 Linking class java lang reflect Type Thread Ox368bc unlock on obj 0x40219268 Loaded java lang reflect AnnotatedElement from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x40219300 Linking class java lang reflect AnnotatedElement Thread Ox368bc unlock on obj 0x40219300 Loaded java lang reflect GenericDeclaration from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x40219398 Linking class java lang reflect GenericDeclaration Thread Ox368bc unlock on obj 0x40219398 Loaded java lang Class from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x402190a0 Linking class java lang Class Thread Ox368bc unlock on obj 0x402190a0 Loaded java lang Runnable from mnt hda sw5 share classpath Thread Ox368bc lock on obj 0x40219430 Linking class java lang Runnable Thread Ox368bc unlock on obj 0x40219
181. t restriction laws Jython Did not work on JavaVM 14 A Knopflerfish Did not work on J2ME because Korebot lacked a Desktop interface and used Java 1 4 2 15 16 Apache Felix OSGi Works on Java 1 4 2 and has text interface PCMCIA Storage 256MB N Figure 4 2 Evolution of the Design cont includes balance of choice for peer to peer protocol Item 9 Java virtual machine Items 10 12 skill packager dynamic skill loader Items 13 15 and non volatile storage Item 16 32 Rearrangement of components to reflect interaction and connections 18 s Colours also added to reflect layer JXTA into Agit Application Application JVM JVM Kemel and Kernel and Unitas Utilities Hardware Bicdware Kemel and Utilites broken up into main functionallity used Initial Design 19 20 Application Application JVM jvm Linux Linux Kanaa M Kernel and Utilities Hardware Hari 21 22 Application Application Jm JM Linux Linux Kernel and Kernel and Utilities Utilities Hardware Hardvare 23 24 Application Application NM jvm Linux Linux Kernel and Kernel and Utilities Utilities Hardware Hardware Figure 4 3 Evolution of the Design cont includes use of bundles Item 18 breakup of kernel utilities into main functionality Item 19 initial design Item 20 2 1 3 and 2 3 6 failures Items 21 22 1 4 3 GCP 0 91 upgrade which lacked JSR166 concurrency Item 23 and 1
182. t CONFIG_SCSI_DTC3280 is not set CONFIG_SCSI_EATA is not set CONFIG_SCSI_EATA_DMA is not set CONFIG_SCSI_EATA_PIO is not set CONFIG_SCSI_FUTURE_DOMAIN is not set CONFIG_SCSI_GDTH is not set CONFIG_SCSI_GENERIC_NCR5380 is not set CONFIG_SCSI_INITIO is not set CONFIG_SCSI_INIA100 is not set CONFIG_SCSI_NCR53C406A is not set CONFIG_SCSI_NCR53C7xx is not set CONFIG_SCSI_PAS16 is not set CONFIG_SCSI_PCI2000 is not set CONFIG_SCSI_PCI2220I is not set CONFIG_SCSI_PSI240I is not set CONFIG_SCSI_QLOGIC_FAS is not set CONFIG_SCSI_SIM710 is not set CONFIG_SCSI_SYM53C416 is not set CONFIG_SCSI_T128 is not set CONFIG_SCSI_U14_34F is not set CONFIG_SCSI_DEBUG is not set PCMCIA SCSI adapter support CONFIG_SCSI_PCMCIA is not set Synchronous Serial Interface CONFIG_SSI m SSI Bus Drivers CONFIG_SSI_PXA m dk dk dt dt HH dk db Gt Gt dk dk db Gt CONFIG_SSI_KNET is not set SSI Device Drivers CONFIG_SSI_JUNO is not set 120 device support CONFIG_I20 is not set CONFIG_I20_BLOCK is not set CONFIG_I20_LAN is not set CONFIG_I20_SCSI is not set CONFIG_I20_PROC is not set ISDN subsystem CONFIG_ISDN is not set Input core support 91 CONFIG_INPUT y CONFIG_INPUT_KEYBDEV m CONFIG_INPUT_MOUSEDEV m CONFIG_INPUT_MOUSEDEV_SCREEN_X 1024 CONFIG_INPUT_MOUSEDEV_SCREEN_Y 768 CONFIG_INPUT_JOYDEV m CONFIG_INPUT_EVDEV y CONFIG_INPUT_UINPUT m Character devices CONFIG_VT y CONFIG_VT_CONSOLE y
183. t bluetooth impl PAN statusPANConnec Received message from urn jxta uuid 59616261646162614E504720503250336B23 tions 2A780E4745E6A805864ABBC30EDF03 0 0 0 0 INFO About to update bluetooth Addresses with result of PAN Connection Kick the ball to me s Sending message Okay here it is Sending message Kick the ball to me 25 01 2008 17 31 59 net jxta impl pipe BlockingWireOutputPipe init Received message from urn jxta uuid 59616261646162614E504720503250337B INFO Created output pipe for urn jxta uuid 59616261646162614E50472050325 60FB55E9DC42ABB816F7956CE24A1E03 0 0 0 0 03393B5C2F6CA7A41FDB0F890173088E79404 Okay here it is 25 01 2008 17 31 59 net jxta impl pipe BlockingWireOutputPipe close 25 01 2008 17 31 58 au edu qut ranet bluetooth impl PAN statusPANConnec INFO Closing queue for urn jxta uuid 59616261646162614E5047205032503393B tions 5C2F6CA7A41FDBOF890173088E79404 INFO PAN Slave HCIDevice hci0 status UP PANConnections bnepO status 25 01 2008 17 31 59 au edu qut ranet bluetooth impl PAN statusPANConnecti UP ons 25 01 2008 17 31 58 au edu qut ranet bluetooth impl PAN getBTAddresses INFO PAN Master HCIDevice hci0 status UP PANConnections bnepO status INFO java lang NumberFormatException For input string Sc UP 25 01 2008 17 31 58 au edu qut ranet bluetooth impl PAN getBTAddresses 25 01 2008 17 32 01 net jxta impl endpoint tcp TcpMessenger closeImpl INFO 00 0A 3A 66 B8 B6 INFO Normal close open 117143ms of socket to tcp
184. t is it uses version 1 4 2 of the Java programming language Version 1 4 2 also known as J2ME does not need a computer with as much memory and processing power as later versions It is ideal for computers with some memory and processing power the Korebot falls into this class The second reason is the Apache Felix implementation does not require a GUI framework to interact with the framework a textual user interface TUI is used The Korebot has only a serial terminal display and so requires a TUI To install the OSGi framework go to the Apache Felix website Download the latest implementation Unzip the directory Go into the unzipped directory Enter the command java jar bin felix jar This starts up the Apache Felix OSGi framework java jar bin felix jar gt ps START LEVEL 1 ID State Level Name 0 Active 0 System Bundle 1 0 0 1 Active 1 Apache Felix Shell Service 1 0 0 2 Active 1 Apache Felix Shell TUI 1 0 0 3 Active lt 1 Apache Felix Bundle Repository 1 0 0 4 Active JO 1 Bluetooth Service 0 1 5 Active 1 JXTA Service 0 1 6 Resolved 1 RANET Application 0 1 Each row represents a bundle along with its present status Each bundle is made using maven an open source build tool http maven apache org website The code and any dependencies are generated using an XML file called pom xml The one shown is a fairly detailed pom xml referring to dependencies the OSG
185. t it was realized that calculating the position of oneself and others would be important The STRUCTURES derived are presently abstract We will look at existing structures narrowing them down to those that satisfy the needs of a in Chapter The design will then evolve through trying out and discarding of existing structures until we end up with the final design in Chapter For the purposes of limiting the problem domain we have eliminated the localization system and the robot base Do the following remaining structures satisfy the needs of general purpose robotic communication e Single board computer Most of the user demands require some computing device upon which to execute the PROCESSES Without some sort of computer messages could not be made and messages and skills sent or received A single board com puter is a computer built on one circuit board This departs from the traditional structure of desktops where some of the functionality such as graphics ethernet and signal processing reside in cards which plug into the motherboard A single board computer is not strictly required but to satisfy general robotic communication needs size is a factor Single board computers are the right size for a communications mod ule It could plug into an existing robot or potentially be also the main processing module e Wireless transceiver A wireless transceiver allows data to be transmitted and received using electro magnetic waves This is needed for
186. t set CONFIG MTD CFI INTELEXT y CONFIG MTD CFI AMDSTD is not set CONFIG MTD RAM is not set CONFIG MTD ROM is not set CONFIG MTD ABSENT is not set CONFIG MTD OBSOLETE CHIPS is not set CONFIG_MTD_AMDSTD is not set CONFIG MTD SHARP is not set CONFIG MTD JEDEC is not set dk dk dk dt dt dk dto HF Mapping drivers for chip access 84 CONFIG_MTD_PHYSMAP y CONFIG_MTD_PHYSMAP_START 0 CONFIG_MTD_PHYSMAP_LEN 2000000 CONFIG_MTD_PHYSMAP_BUSWIDTH 4 dk dk dk dt dt db dt dt db dt dt db dt OH OH CONFIG_MTD_LUBBOCK is not set CONFIG_MTD_NORA is not set CONFIG_MTD_ARM_INTEGRATOR is not set CONFIG_MTD_CDB89712 is not set CONFIG_MTD_SA1100 is not set CONFIG_MTD_DC21285 is not set CONFIG_MTD_IQ80310 is not set CONFIG_MTD_FORTUNET is not set CONFIG_MTD_PXA_CERF is not set CONFIG MTD EPXA is not set CONFIG MTD AUTCPU12 is not set CONFIG MTD EDB7312 is not set CONFIG_MTD_IMPA7 is not set CONFIG MTD TRIZEPS2 is not set CONFIG MTD PCI is not set Self contained MTD device drivers CONFIG MTD PMC551 is not set CONFIG_MTD_SLRAM is not set CONFIG MTD MTDRAM is not set CONFIG MTD BLKMTD m dk dk db Gt dk dk dt dt db Gt Gt dk dt dk dt Gt dk dk dt dt dt dt dt dk dt dt dt Gt OH Disk n Chip Device Drivers CONFIG MTD D0C1000 is not set CONFIG MTD D0C2000 is not set CONFIG MTD D0C2001 is not set CONFIG MTD DOCPROBE is not set NAND Flash Device Drivers CONFIG MTD NAND is
187. t set CONFIG_NCPFS_PACKET_SIGNING is not set CONFIG_NCPFS_IOCTL_LOCKING is not set CONFIG_NCPFS_STRONG is not set CONFIG_NCPFS_NFS_NS is not set CONFIG_NCPFS_OS2_NS is not set CONFIG_NCPFS_SMALLDOS is not set CONFIG_NCPFS_NLS is not set CONFIG_NCPFS_EXTRAS is not set CONFIG_ZISOFS_FS is not set CONFIG_ZLIB_FS_INFLATE y dk dk dt dt HH dt dt dt H FH Partition Types CONFIG_PARTITION_ADVANCED is not set CONFIG_MSDOS_PARTITION y CONFIG_SMB_NLS is not set CONFIG_NLS y Native Language Support CONFIG_NLS_DEFAULT is08859 1 CONFIG_NLS_CODEPAGE_437 is not set CONFIG_NLS_CODEPAGE_737 is not set CONFIG_NLS_CODEPAGE_775 is not set CONFIG_NLS_CODEPAGE_850 is not set CONFIG_NLS_CODEPAGE_852 is not set CONFIG_NLS_CODEPAGE_855 is not set CONFIG_NLS_CODEPAGE_857 is not set CONFIG_NLS_CODEPAGE_860 is not set CONFIG_NLS_CODEPAGE_861 is not set CONFIG_NLS_CODEPAGE_862 is not set CONFIG_NLS_CODEPAGE_863 is not set CONFIG_NLS_CODEPAGE_864 is not set CONFIG_NLS_CODEPAGE_865 is not set CONFIG_NLS_CODEPAGE_866 is not set CONFIG_NLS_CODEPAGE_869 is not set CONFIG_NLS_CODEPAGE_936 is not set CONFIG_NLS_CODEPAGE_950 is not set CONFIG_NLS_CODEPAGE_932 is not set CONFIG_NLS_CODEPAGE_949 is not set CONFIG_NLS_CODEPAGE_874 is not set CONFIG_NLS_ISO8859_8 is not set CONFIG_NLS_CODEPAGE_1250 is not set CONFIG_NLS_CODEPAGE_1251 is not set CONFIG_NLS_ISO8859_1 is not set CONFIG_NLS_ISO8859_2 is not set CONFIG_NLS_ISO8859_3 is not set
188. t set CONFIG_REISERFS_PROC_INFO is not set CONFIG_ADFS_FS is not set CONFIG_ADFS_FS_RW is not set CONFIG_AFFS_FS is not set CONFIG_HFS_FS is not set CONFIG_BFS_FS is not set CONFIG_EXT3_FS is not set CONFIG_JBD is not set CONFIG_JBD_DEBUG is not set CONFIG_FAT_FS m CONFIG_MSDOS_FS m CONFIG_UMSDOS_FS is not set CONFIG_VFAT_FS m CONFIG_EFS_FS is not set CONFIG_JFFS_FS is not set CONFIG_JFFS2_FS y CONFIG_JFFS2_FS_DEBUG 0 CONFIG_CRAMFS y CONFIG_TMPFS y CONFIG_RAMFS y CONFIG_ISO9660_FS is not set CONFIG_JOLIET is not set CONFIG_ZISOFS is not set CONFIG_MINIX_FS is not set CONFIG_VXFS_FS is not set CONFIG_NTFS_FS is not set CONFIG_NTFS_RW is not set CONFIG_HPFS_FS is not set CONFIG_PROC_FS y CONFIG_DEVFS_FS y CONFIG_DEVFS_MOUNT y CONFIG_DEVFS_DEBUG is not set CONFIG_DEVPTS_FS y dk dk dk dt dt db dt dt db dt dt dk dt dt HOH OH dk dk dt dt Gb Gt OH OH CONFIG QNXA4FS FS is not set CONFIG QNXA4FS RW is not set CONFIG_ROMFS_FS y CONFIG_EXT2_FS y CONFIG_SYSV_FS is not set CONFIG_UDF_FS is not set CONFIG_UDF_RW is not set CONFIG_UFS_FS is not set CONFIG_UFS_FS_WRITE is not set dk dk dk Gt Network File Systems CONFIG CODA FS is not set CONFIG_INTERMEZZO_FS is not set CONFIG_NFS_FS y CONFIG_NFS_V3 y CONFIG_ROOT_NFS y 95 CONFIG_NFSD is not set CONFIG_NFSD_V3 is not set CONFIG_SUNRPC y CONFIG_LOCKD y CONFIG_LOCKD_V4 y CONFIG_SMB_FS is not set CONFIG_NCP_FS is no
189. t to your friends Hi I ve managed to intall the 2 4 19 kb11 kernel and modules with the latests bluez patch applied The kernel came up fine along with the modules The problem is the socket bluetooth card that I use was not recognized as a serial device I looked in the pcmcia directory in the modules transferred across and found that no serial_cs o existed I ve read in http pcmcia cs sourceforge net ftp README 2 4 that it would be better to use the kernel PCMCIA Is this what has been done for the kbii kernel If so how do I use it If not is it just a case of me enable that config option when making the kernel and modules many thanks for your help ken About This Post Close This Box Status Comment Rating Member Vists 4 Total Vists 87 About Author Close This Box pbureau Email pbureau k team com Status Registered User Bio Homepage User Profile Subject Re PCMCIA errors From pbureau Date 05 23 06 07 47 AM Tools Close This Box Reply post Reply post Edit post Disabled Edit post Go to parent Go to parent Copy post to Favorite Disabled Copy post to Favorite Send post to your friends Disabled Send post to your friends Hello Is this option available as a module Could you tell me where exactly to find the option in the kernel configuration Best 107 Pierre About This Post Close This Box Status Comment Rating Member Vists 8
190. their state So enter some profile name Now install jfile where jfile is the path to the jar file known in Apache Felix as the bundle to be installed install file ranet appMC nobt 0 1 jar If you type ps the bundle should appear with the other existing bundles showing its status as inactive Enter the command start bundle id number and type ps again The bundle status should come up as active 144 Appendix I JXTA I 1 JXME 2 1 3 24 06 07 At stage can search for local ads and remote ads for PeerGroups Where none found can create Group Found through inspection of code base cache is updated upon discovery events being received in a synchronous fashion After peer group done Look at advertising skills First skill message Second skill code of hello world Add pipes for these skills 26 06 07 It appears we need to pay more attention to ChatDemo and GroupDemo ConfigurationFactory is required and it seems we may need to call explicitly those things which push ads to that cache 30 06 07 svn co file home svn svnreposranet for checkout 02 07 07 Found that code for JXME does not support RendezvousService startRendezvousService Have sent off log to jxta forum for answer Appear to be in Endpoint propogate Howevery none of the error message come up Appears to have no value in propogate at 496 of ResolverServiceImpl if null rendezvous 1 Walk the message rendez
191. tion website FAQS section January 2005 URL http www osgi org about faqs asp section accessed on 10 01 2005 B Patil Y Saifullah S Faccin S Sreemanthula L Aravamudhan S Sharma and R Mononen JP in Wireless Networks Prentice Hall Professional Technical Reference 2003 pickle python object serialization World Wide Web Python website September 2006 http docs python org lib module pickle html accessed on 15 01 2008 156 56 57 60 61 62 63 68 69 Himanshu Raj Balasubramanian Seshasayee Keith J O Hara Ripal Nathuji Karsten Schwan and Tucker Balch Spirits Using virtualization and pervasive ness to manage mobile robot software systems In Self Managed Networks Sys tems and Services SELFMAN 2006 pages 116 129 Dublin Ireland 2006 IEEE Computer Society s Task Force on Autonomous and Autonomic Systems TFAAS http www springerlink com content mw63815701312834 accessed on 05 12 2007 Kenneth Patrick Robinson and Joaquin Sitte Wireless robotic ad hoc network using commercial off the shelf cots products In Ulrich R ckert Joaquin Sitte and UIf Witkowski editors Proceedings of the 4th International Symposium on Autonomous Minirobots for Research and Edutainment AMiRE 2007 pages 181 188 Buenos Aires October 2007 Robo markup language home page Web page on Roboml Website 2003 URL http www roboml org roboml html accessed on 18 11 2007 Antony Rowstro
192. tional Conference on volume 2 pages 1600 1605 September 2003 Boris Mejias and Kevin Glynn A service based architecture for deploying ro bust peer to peer applications In Self Managed Networks Systems and Services SELFMAN 2006 Dublin Ireland 2006 IEEE Computer Society s Task Force on Autonomous and Autonomic Systems TFAAS Slide presentation on P2PS and P2PKit presented at conference Microsoft office communicator World Wide Web Microsoft web page 2008 D Milojicic V Kalogeraki R Lukose K Nagaraja J Pruyne B Richard S Rollins and Z Xu Peer to peer computing technical report 2002 World Wide Web Hewlett Packard Website 2002 Dejan S Milojicic Vana Kalogeraki Rajan Lukose Kiran Nagaraja Jim Pruyne Bruno Richard Sami Rollins and Zhichen Xu Peer to peer computing Technical Report HPL 2002 57R1 HP Laboratories Palo Alto California United States of America 2003 www hpl hp com techreports 2002 HPL 2002 57R1 pdf J Misic and V B Misic Modeling bluetooth piconet performance Communications Letters IEEE 1 1 18 20 January 2003 P Mohapatra C Gui and J Li Group communications in mobile ad hoc networks Computer February 2004 R Morrow Bluetooth Operation and Use McGraw Hill Two Penn Plaza New York NY 10121 2298 first edition 2002 NICTA Introduction In Sensor Networks Melbourne Australia October 2006 National ICT Australia Faqs Published on the OSGi organiza
193. tln failed to create a server socket 00189 e printStackTrace 00190 System exit 1 00191 F 00192 00193 while true 00194 try 1 00195 System out println Waiting for connections 00196 Socket socket serverSocket accept 00197 if socket null 00198 System out println New socket connection accepted 00199 Thread thread new Thread new ConnectionHandler socket Connection Handler Thread 00200 thread start 00201 l Annan A FTT aded ES d eNO Figure 5 18 Skill Transfer Server Code Excerpt making a Class Spec advertisement From this a Module Class Id is used to create the Module Spec advertisement Lastly a Pipe advertisement representing a JxtaServerSocket is created and added to the Module Spec advertisement Note the Name field of both the Module Spec advertisement and the Pipe advertisement contains Skill Wanderer The Module Spec advertisement is published so other devices can see the advertisement and the JxtaServerSocket waits for connections see Figure 5 18 Client discovers and obtains skill The JXTA Discovery File Client Service the JX TA client searches for the Module Spec advertisement containing the words SPEC Skill Wanderer When it finds the Module Spec advertisement the client extracts the Pipe advertisement see Figure 5 19 It uses this to connect to JxtaServerSocket The skill is transferred and saved to disk The skill The Wanderer see Figure bun
194. ttp www knopflerfish org lt http www knopflerfish org gt for more information Loading xargs file c SW jadabs jadabs 1 0 0 SNAPSHOT init xargs Installed and started file repository log4j jars log4j 1 2 8 osgi jar id 1 Installed file repository kobjects jars kxm12 2 1 9 osgi jar id 2 Installed and started file repository jadabs jars bundleloader 1 0 0 SNAPSHOT j ar id 3 Installed and started file repository jadabs jars pluginloader 1 0 0 SNAPSHOT j ar id 4 O main INFO ch ethz jadabs bundleLoader BundleLoaderImpl BundleLoader start ing 1594 main ERROR ch ethz jadabs pluginLoader PluginLoaderImpl 127 jadabs starter The system cannot find the file specified java io FileNotFoundException jadabs starter The system cannot find the file s pecified at java io FileInputStream open Native Method at java io FileInputStream lt init gt Unknown Source at java io FileInputStream lt init gt Unknown Source at java io FileReader lt init gt Unknown Source at ch ethz jadabs pluginLoader PluginLoaderImpl init PluginLoaderImpl ja va 127 at ch ethz jadabs pluginLoader PluginLoaderActivator start PluginLoaderA ctivator java 98 at org knopflerfish framework BundleImpl 1 run BundleImpl java 279 at java security AccessController doPrivileged Native Method at org knopflerfish framework BundleImpl start BundleImpl java 253 at org knopflerfish framework Framework launch Framework java 358 at org kno
195. unction entered at r8 C38FC000 r7 r4 C38FDEB8 Function entered at r6 C3B01000 Function entered at r8 00005402 r7 r4 C3B01000 Function entered at r5 BFFFFC40 r4 Function entered at r5 Function entered at r8 C001A784 r7 r4 00000430 Division by zero entered at at at r7 Function Function entered Function entered r8 C38FC000 r4 C38FDEB8 Function entered at r6 C3B01000 Function entered at r8 00005402 r7 r4 C3B01000 Function entered at rb BFFFFC40 r4 Function entered at r5 Function entered at r8 C0014784 r7 r4 00000A30 Division by zero Function entered at at at r7 Function entered Function entered r8 C38FC000 r4 C38FDEB8 Function entered at r6 C3B01000 Function entered at r8 00005402 r7 r4 C3B01000 Function entered at rb BFFFFC40 r4 Function entered at r5 Function entered at r8 C001A784 r7 r4 00000A30 Division by zero Function entered at Function entered at Function entered at r8 C38FC000 r7 r4 C38FDEB8 Function entered at r6 C3B01000 Function entered at r8 00005402 r7 r4 C3B01000 Function entered at r5 BFFFFB5C r4 r5 c00d01f8 from lt c00d1f28 gt cO0died8 from lt c00c0cd0 gt 00000000 r6 00000000 r5 lt c00c0af4 gt from lt c00c0e60 gt BFFFFC40 r4 00000000 lt c00cOcf0 gt from lt c00c1234 gt C3B01000 r6 00000002 r5 lt c00c1010 gt from
196. vides a better method of skills discovery An evaluation The peer to peer protocol has all the necessary functionality group discovery group formation skill discovery file transfer and messaging We have decided each robot would be a full featured edge peer able to send and receive messages and also cache advertisements It discovers other robots in the RANET by doing a local area broadcast There will be no backbone of Rendezvous peers as per Item 1 Figure 4 6 upon which information would be distributed Being full featured edge peers the robots form a homogeneous environment as per Item 2 Figure With JX TA there is e Jadabs a version written in Java which has a JX TA implementation also combines and uses Bluetooth instead of 22 e P2PS a JX TA clone written in Java e JXTAIC a version written in the C programming language e a version written in Java intended for desktop computers and servers e a version written in Java intended for embedded devices P2P2 JX TALC JXSE and J XME all run on Jadabs has been tried see Item 8 of Figure 4 1 Unfortunately the reference implementation is incomplete so the author cannot run a precompiled version or compile Jadabs See the email trail in Section 43 F 1 and the Diary excerpt in Section F 2 regarding the author s efforts It is not worth the effort to port the JX l ALC libraries to the Korebot as there is Java byte code the JXME libraries that should ru
197. volve two or more robots Because of the dynamic nature of ROBOT 1 e 9 e 7 e 0 RANET LE a N e e L e Figure 1 1 Robot wanting to join and communicate with RANET 13 cooperative work new robots may join and robots of the group may head off for other tasks Also because of obstacles to wireless transmission communication may drop out for short or long periods of time A predefined network structure is unsuitable for such conditions therefore an ad hoc network structure is required We will call the desired network a RANET The objective and scope of this thesis is to design and test a reference implementation of a Success wil be measured by the seeking and transfer of a skill from one robot to another This will use separate physical devices which will mimic robot functionality The skill will be the capability to navigate a two dimensional room in a simulated environment This thesis is organized as follows Chapter 2 covers the abstract structures required for robotic cooperation Chapter 3 looks at existing structures which may satisfy robotic cooperation Chapter 4 describes evolution of a design including any protocols which sat isfy robotic cooperation needs Chapter 5 describes a reference implementation to test the design and some basic tests of that reference implementation and lastly Chapter 6 gives a summary highlighting the novel aspects of the design suggesting some recommendations for improveme
198. vous walk Message queryMsg clone handlerName outQueName RendezVousService DEFAULT TTL propagate to local net as well rendezvous propagateToNeighbors queryMsg handlerName outQueName 2 else endpoint propagate queryMsg handlerName outQueName 145 Running au edu qut ranet jxme impl JXMEImplTest Jul 2 2007 12 33 01 AM au edu qut ranet jxme impl JXMEImpl init INFO about to make new Net Peer Group Creating a new group advertisement FATAL 2007 07 02 00 33 03 896 PeerView run 2380 Uncaught Throwable in thread PeerView Timer for urn jxta uuid 9E992C1CE00345F68981E5A63D04E66A02 java lang NullPointerException at net jxta impl resolver ResolverServiceImpl sendQuery N ResolverServiceImpl java 496 at net jxta impl discovery DiscoveryServiceImpl getRemoteAdvertisements N DiscoveryServiceImpl java 302 at net jxta impl discovery DiscoveryServiceImpl getRemoteAdvertisements N DiscoveryServiceImpl java 253 at net jxta impl rendezvous PeerView discoverRdvAdverisements N PeerView java 708 at net jxta impl rendezvous PeerView seed PeerView java 1937 at net jxta impl rendezvous PeerView kick PeerView java 966 at net jxta impl rendezvous PeerView access 900 PeerView java 138 at net jxta impl rendezvous PeerView KickerTask run PeerView java 2377 at java util Timer Scheduler run Timer java 399 at java lang Thread run Thread java 710 Group BlueSoccerTeam Group ID urn jxta uuid 9E992C1CE00345F68981E
199. want to make some new configuration for the ethernet but keep all the options in the config This is done by running the command make oldconfig which prompts you to answer questions if it does not find the answer in the config file or the arch arm defconf file make oldconfig The kernel is then made using make dep and make bzImage The modules are made using make modules make dep make bzImage make modules Copy the image to flaboot in the Koreboot cross toolchain and run make cp zImage usr local korebot tools 0 1 2 src flaboot 0 2 1 make Transfer flaboot_korebot bin to the Korebot Then erase the previous kernel install the new kernel and shutdown eraseall dev mtd O mv flaboot korebot bin to dev mtd 0 halt The new kernel should take effect on startup 78 C 3 2 Utilities The utility bretl is still required and so configure the bridge krobinson Possibility sw bridge utils 1 1 configure host arm linux target arm linux prefix home krol config status creating libbridge config h config status executing depfiles commands And now make it krobinson Possibility sw bridge utils 1 1 make for x in libbridge brctl doc do make C x done make 1 Entering directory home krobinson sw bridge utils 1 1 libbridge arm linux gcc Wall g I usr src linux include c libbridge devif c arm linux gcc Wall g I usr src linux include c libbridge if c
200. while socketConnected 00184 try 00185 socket new JxtaSocket netPeerGroup 00186 no specific peerid 00187 null 00188 pipeAdv 00189 connection timeout 5 seconds 00190 5000 00191 reliable connection 00192 true 00193 setSocketConnected true Figure 5 19 Skill Transfer Client Code Excerpt No 1 00023 public class Activator 1mplements BundleActivator 00024 1 00025 public void start BundleContext context 00026 00027 Properties props new Properties 00028 props put Skill Wanderer 00029 context registerService 00030 SpacewandererExampleService class getName 00031 new SpaceWandererExampleImpl 00032 props 00033 t 00034 00040 public void stop BundleContext context 00041 1 00042 NOTE The service is automatically unregistered 00043 i 00044 00048 public static class SpaceWandererExampleImpl 00049 implements SpaceWandererExampleService Skill 00050 00051 public void invokeskill 00052 begin 00053 00054 00055 public void begin 00056 1 00057 SpaceWandererExample ex 00058 new SpaceWandererExample 00059 ex begin 00060 00061 Figure 5 20 Wanderer Skill Code Excerpt 64 00224 00225 00226 00227 00228 00229 00230 00231 00232 00233 00234 00235 00236 00237 00238 00239 00240 00241 00242 00243 00244 00245 00246 00247 00248 00249 00250 00251 00252 00253 00254 00255 00256 00257 00258 00259 00260 00261 0
201. x3e40c lock on obj 0x40219138 Thread Ox3e40c NotifyAll on obj 0x40219138 Thread Ox3e40c unlock on obj 0x40219138 Created primitive class char Created array class C java lang Thread lt init gt Ljava lang VMThread Ljava lang String 1Z V REDISPATCH 42 0 O DISPATCH 42 0 O REDISPATCH 183 REDISPATCH 183 REDISPATCH 183 REDISPATCH 183 REDISPATCH 183 REDISPATCH 183 REDISPATCH 183 REDISPATCH 183 REDISPATCH 183 REDISPATCH 183 Quoted text hidden PRPrPrPRPRPRPRPRR OO PRPRPRPRPRPRPRP RE PRPrPRPRPRPRP PRB 122 Ken Robinson lt kenrobinsonster gmail com gt Wed Jul 25 2007 at 12 47 AM To Robert Lougher lt rob lougher gmail com gt Sorry Robert Did you get this post ken Quoted text hidden Robert Lougher lt rob lougher gmail com gt Wed Jul 25 2007 at 1 56 AM To Ken Robinson lt kenrobinsonster gmail com gt Hi Ken Just a quick email to let you know I did get it I spent a while analysing where it was hanging and I don t really understand it yet I ll write a longer email with my analysis questions later as I m just going out the door Thanks Rob Quoted text hidden 123 Appendix F Jadabs F 1 Email Trail Gmail Ken Robinson lt kenrobinsonster gmail com gt Jadabs 5 messages Ken Robinson lt kenrobinsonster gmail com gt Wed Nov 2 2005 at 1 03 PM To frei inf ethz ch Hi Andreas I am presently doing a research masters part time in Bri
202. y used IPANP have supplemented these WLANs They are usually have a range of 10 metres with Bluetooth IEEE 802 15 prevalent Bluetooth allows for PAN called piconets consisting of one master who controls up to seven slaves These piconets can be connected together into a scatternet by either a slave or a master participating in two or more piconets 38 Some studies of Bluetooth have centred on scatternet protocols and in particular the simulation of these scatternets 49 The most relevant is a piconet only protocol In this protocol all devices in a potential piconet elect the most connected device to be master 35 This protocol requires a period where all devices share information as to which is the most connected Only recently have some scatternet implementations been acheived 10 28 Sensor networks are the latest popular wireless network with Zigbee IEEE 802 15 4 becoming the standard Zigbee can cover vast areas have low data rates use little power and has the capacity for 65000 nodes in a network 6 Lastly there is infrared with technologies like Infrared Data Association with data rates between 2 4Kbps and 14Mbps 31 22 Platform ERSP Microsoft Robotics Studio OROCOS URBI Player Stage Gazebo OpenJAUS CLARAty OpenRTM aist Description From Evolution Robotics It is a proprietary offering having a visual pattern recognition system a simultaneous localization and mapping system and can u

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