**5.2 Platform-setup in robotic education**

It is undisputed that remote laboratories are not able to replace traditional face-to-face laboratory lessons, but they present some benefits of remote accessible experimentation:


This section presents another application of the architecture proposed. We emphasize that this architecture allows a remote user to access the services of control, programming and operation of robots located in the CIIDIT-Mechatronic laboratories in Monterrey; Mexico.

**Teleprogramming**. The objective of the teleprogramming is that the students use the BASIC microcontroller language in order to program the PICAXE microcontroller. In this platform, the student can use the basic instructions in order to program the robot: servo*, goto, serin, serout, pause, if, for*.

The student can program the PICAXE microcontroller using the flowchart method programming. Flowchart is an excellent means of pedagogy; the software shows a panoramic and graphical view of the programming sequence.

**Telecontrol**. The platform allows sharing the DLL resources so that the student can design programs in Visual basic, C, Matlab, or other languages. In the telecontrol option, the student can design and prove algorithms, using simulation software in local mode, subsequently if the capacity of the network is not large and it does not affect the stability of the systems, then it can be proven on-line on the robot.

**Teleoperation**. This platform offers the teleoperation services, so that the student can use all the services of the platform in remote mode. In this case, the platform shared the services of teleoperation using the Skype and logmeIn services.

Figure 10 showing the laboratory scheme located in CIIDIT laboratory in Mexico. The hexapod robot is acceded from the *PC Controller* Computer using two communication channels, RS232 and video. In the *PC Controller* Computer one is located the *Controller Module Server (CMS)*. The end user uses the services of the CMS in remote mode in order to control the hexapod robot.

Figure 11 showing the *screenshot* of a computed located in the IRCCyN Laboratory accessing to CIDDIT laboratory using the *LogmeIn* services.


It is undisputed that remote laboratories are not able to replace traditional face-to-face laboratory lessons, but they present some benefits of remote accessible experimentation:

• Student can use other educative means as Internet documentation, simulations,

This section presents another application of the architecture proposed. We emphasize that this architecture allows a remote user to access the services of control, programming and operation of robots located in the CIIDIT-Mechatronic laboratories in Monterrey; Mexico.

**Teleprogramming**. The objective of the teleprogramming is that the students use the BASIC microcontroller language in order to program the PICAXE microcontroller. In this platform, the student can use the basic instructions in order to program the robot: servo*, goto, serin,* 

The student can program the PICAXE microcontroller using the flowchart method programming. Flowchart is an excellent means of pedagogy; the software shows a

**Telecontrol**. The platform allows sharing the DLL resources so that the student can design programs in Visual basic, C, Matlab, or other languages. In the telecontrol option, the student can design and prove algorithms, using simulation software in local mode, subsequently if the capacity of the network is not large and it does not affect the stability of

**Teleoperation**. This platform offers the teleoperation services, so that the student can use all the services of the platform in remote mode. In this case, the platform shared the services of

Figure 10 showing the laboratory scheme located in CIIDIT laboratory in Mexico. The hexapod robot is acceded from the *PC Controller* Computer using two communication channels, RS232 and video. In the *PC Controller* Computer one is located the *Controller Module Server (CMS)*. The end user uses the services of the CMS in remote mode in order to

Figure 11 showing the *screenshot* of a computed located in the IRCCyN Laboratory accessing

• Figure 11.A shows the surroundings of the hexapod robot from a internal camera (eye

• Figure 11.B presents the hexapod robot from a external camera (auxiliary camera).

• The student is motivated when he is seeing his experiments and results.

**5.2 Platform-setup in robotic education** 

• Flexible schedule vs. restricted schedule.

• Student self-learning is promoted.

software, etc.

*serout, pause, if, for*.

control the hexapod robot.

hexapod).

• Individual experimentation vs. group experimentation. • Access from any computer vs. access only in the laboratory.

panoramic and graphical view of the programming sequence.

the systems, then it can be proven on-line on the robot.

teleoperation using the Skype and logmeIn services.

to CIDDIT laboratory using the *LogmeIn* services.

• Figure 11 C shows the computers of the remote laboratory. • Figure 11 D. showing Controller Module Client (CMC).

In the experiment, such a move-and-wait strategy is implemented of initiating control move then waiting to see the response of distant robot: then initiating a corrective move and waiting again to realize the delayed response of the distant system and the cycle repeats until the task is accomplished.

Let us define N(I) to be the number of individual moves initiated by the operator according to the move-and-wait strategy. The number N(I) depends only on the task difficulty and is independent of the delay value according to experiments (Hocayen & Spong, 2006). Consequently, the completion time, t(I), of the certain task can be calculated based on the value N(I) as follows:

$$t(I) = t\_r + \sum\_{i=1}^{N(I)} (t\_{mi} + t\_{wi}) + (t\_r + t\_d)N(I) + t\_g + t\_d \tag{1}$$

Where , , ,, *r mi wi <sup>g</sup> <sup>d</sup> tt t tt* are human`s reaction time, movement times, waiting times after each move, grasping time and delay time introduced into communication channel, respectively.

Fig. 10. CIIDIT Laboratory schema.

Web-Based Laboratory Using Multitier Architecture 249

The main characteristic of the proposed platform has been outlined in this paper by means

This work was supported by CONACYT, ECOS-NORD, PAICYT-UANL, Mexico and

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**7. Acknowledment** 

0278-0046.

17 - 19 .

**8. References** 

France.

Fig. 11. Experimentation from IRCCyN, Nantes France.
