Human-Robot Interaction at a distance of 1800 km

Human-Robot Interaction at a distance of 1800 km using 4K/HD3D video feedback over a 40G connection Marc Lyonnais, Ciena Wladimir Mufty, SURFnet Migiel de Vos, SURFnet Roeland Nuijts, SURFnet, Ciena TIP 2013 - January 16, 2013

Agenda Introduction Demonstration Network: 40 GBit/s connection Robotics: The HapticMaster Transmission: video MOTR Video: Live uncompressed 4K UHDTV & Full HD 3D Lessons learned

Introduction Technology partner SURFnet (The Netherlands) SURFnet relations day Event for ICT contacts within research and education. Informal evening program with innovative demo s. Idea: provide a interactive (computer) game or demonstration for the visitors. Ended up with: multiple NREN s, a university, a researcher, willing hardware vendors and a exciting game for overenthusiastic ICT professionals.

Demonstration

Demonstration - interaction

Demonstration video feedback

Demonstration Network

Demonstration Details

Problem to resolve The Objective of this joint collaboration was to enhance the robot interaction in order to facilitate a Haptic Demonstration over a long distance. One main goal was to reduce the regenerators to none and to use the best latency free technology possible over an 1800km. Since this application required live feedback loop, it was crucial that it was maintainable over a highly reliable link. The choice of Ultra Long Haul technology combine with no-compression of the images was pretty much what we had to live with. In order to not use regenerators, we face the fact where we could not transport the data over a single photonic system and it was not the same vendor (Ciena and Adva). Ciena has developed a technology which allows the video to be encapsulated inside Ethernet frame with no compression. This allowed for 4k High resolution and 3D video displays to be used.

Network (1) 40 Gbit/s all optical connection 1800 km transmission distance SURFnet (NL) Poznan Supercomputing and Networking Center (PL) Ultra Long Haul alien wavelength Low link latency (18 ms roundtrip) Ciena 40G ULH in over ADVA DWDM system Mainly G.655 fiber without regeneration

P F X F X P F X P F X I C O G P F X P F X P F X P F X 4 I x10 C O G Network (2) Poznan Main Location ADVA DWDM Amsterdam2 (Telecity) Asd002A CPL3P19 WSS 40G WSS Amsterdam1 (Sara) Asd001A Asd001A CPL3P19 40G CPL12 WSS CMD44 scmd8g7 40G Hamburg SURFnet Hb001A CPL01 scmd8g7 Hb - MMR patch Hamburg - PSNC ADVA DWDM DWDM 40G ULH 10km 5dB Pzn001A 40G _OME01 ULH JNP 10G 535la WSS 40G JNP 10G 83hb Pzn001 Pzn001 A_565 A_565 10G 10G HD-SDI 3G-SDI HD-SDI HDMI 3G-SDI HDMI Gefen 3G-SDI HDMI 3G-SDI HD 3D 4K Asd002A_ 5410_xy SP 10G CMD44 WSS Asd002A CPL3P18 WSS WSS Asd001A_ 5410_xy SP 10G CMD44 WSS Asd001A CPL3P18 WSS WSS Poznan - 4K Studio 1G Switch 10/100M n*lambda n*lambda Juniper IP Connectivity 1x10G baselr Client Nhout001A T-XFP _5150_01 FlightCase T-XFP Ledn001A CPL02 scmd-x (G-y) CMD (Group6) 10G-IP-DWDM Ledn001A_O5M01 Ledn001A CPL01 scmd4 (Group8) 83CD 83HB 10G-IP-DWDM 10G HD 3D HDMI HDMI AJA HD-SDI Nhout001A_O5M01 10G Nhout001A _OME01 40G FlightCase ULH P 4 x1 0 10G-IP/14km/4.5dB Fiber Lijbrand T-XFP Nhout001A _5410_01 T-XFP Nhout001A 40G ULH _5410_02 T-XFP T-XFP 10G 4K HDMI HDMI HDMI HDMI 3G-SDI 10G 1G 40G ULH 10G-IP-DWDM Ledn001A_CPL04 10/100M Switch Atrium - Noordwijkerhout Nhout001A_CPL01 FlightCase FMT (Fiber Mgt. Tray) GMD MLA (Midstage Amp) no DSCM FMT (Fiber Mgt. Tray) scmd-x (Group-y) FMT (Fiber Mgt. Tray) Server Room - Noordwijkerhout Basement - Noordwijker hout 45 km (24.5dB@1578nm) Fiber KPN FMT (Fiber Mgt. Tray) GMD MLA (Midstage Amp) no DSCM FMT (Fiber Mgt. Tray) scmd-x (Group-y) FMT (Fiber Mgt. Tray) 10G-IP-DWDM Leiden

Robotics (1) Haptic devices: interact with objects in a remote location Feel, touch and manipulate three-dimensional objects in virtual environments

Robotics (2) HapticMaster: 3 degrees of freedom Possible applications: simulation, autonomous robots, and robotic rehabilitation Fields: e-health, remote engineering, e-education, real-time collaboration

Transmission (1) Uncompressed High-definition multimedia transmission Ciena video MOTR multimedia networking card Transports uncompressed video stream over Synchronous Ethernet SDI video signals 6x 3G-SDI lanes, each lane operating at nominally 2.97Gb/s = 18Gb/s 4x 4K + 2x Full HD 3D

Transmission (2) Services video MOTR Client ports: 1x 10GE or GE, 3x FE or GE Video protocols: SD-SDI, HD-SDI, DCI (3G SDI), DVB-ASI 8 ports available for video services (270M, 1.5G and 3G) up to an aggregate of 10G Auto-detection of video rates Built in pattern generation and other video applications Optical and electrical client variants for video protocols Synchronous Ethernet E-SPRing protection (G.8032) Line Side Dual line for built-in protection or increased bandwidth Line XFP SR or DWDM (40, 80 & 175km dispersion reach) OTU-2 line w/ RS-8 or Strong FEC Native 10GE line mapping

Transmission (3)

Video (1) 4K UHDTV video (3840x2160 pixels) ITU video standard since August 2012 Full HD 3D video (2* 1920x1080 pixels) Let the user choose! No significant differences in usage Common modus operandi: 3D for picking up and overview, 4K details for the exact placement.

Video (2)

Video (3)

Demonstration overview

Lessons learned The importance of using non-regenerated optical waves reduced the network latency to its minimal. Alien wavelength is always difficult to predict, so the importance was also about trying it and see how much margin we had (3dB). The key about uncompressed video is that you get no latency in the image processing which makes the distance latency immediately go away. For Medical application 3D in combination with High Resolution may be necessary.

Impression

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