INTERNET-CONTROLLED ROBOTS AND WIRELESS SENSOR NETWORKS COMMUNICATION: PROBLEMS AND ISSUES. by JITENDRA

OF THESIS GRADUATE SCHOOL, UNIVERSITY OF ALABAMA AT BIRMINGHAM Degree M.S.EE. Program Electrical Engineering g Name of Candidate Jitendra Jaising Gaikwad g Committee Chair Dale W Callahan v Title Internet-Controlled Robots and Wireless Sensor Networks Communication: f----Problems and Issues f Robotic systems have been widely utilized in factory automation, space exploration, military service and even in our daily life. Various control methods have been traditionally used for the robotic systems such as radio, microwave, computer networks etc. These control methodologies are the methods of teleoperation of robotic system. Internet is a dominating medium of communication. The robotic systems have turned to the Internet for remote accessibility. Internet-based teleoperation of robotic systems is coming of age. The sensors are increasingly striving to operate in the wireless ad-hoc network performing myriad functions and presenting umpteen utilities. Providing Internet connectivity to such sensor networks would make them truly ubiquitous. The presented work identifies the problems and issues related to the Internetbased robotic teleoperation and the sensor networks. Current efforts in Internet-based robotic teleoperation carried out by individual groups lead to scores of specific solutions instead of a general framework. This work motivates the need for a general framework, which would bring about an overall solution and also address the Internet-related issues. Also the framework attempts to facilitate Internet connectivity to each of the architectures thus making an endeavor to uphold the paradigm of ubiquitous computing.