Johns Hopkins EN 600 446 - Polaris Server Code: Java Implementation for TINI (24 pages)

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Polaris Server Code: Java Implementation for TINI



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Polaris Server Code: Java Implementation for TINI

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Pages:
24
School:
Johns Hopkins University
Course:
En 600 446 - Computer Integrated Surgery II

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Polaris Server Code Java Implementation for TINI Andrew A Kitchen Kevin Wiehe Computer Integrated Surgery 11 May 2001 Presentation Outline Project Overview Problems and Dependencies Deliverables Schedule What we ve learned The Near and Distant Future Polaris Server Code Java Implementation for TINI Creation of Server and Client code for distributed control of a Polaris Tracker device in Java for the TINI device The Hardware www ndigital com www dallassemiconductor com Ideal Information Flow Through Polaris Server Client Outside the Lab In the Lab Ethernet IDL Stub Client IDL Stub TINI Device JacOrb Polaris Tracker Server RS 232 Actual Information Flow Through Polaris Server Client In the Lab Across the Lab TINI Device Actual size Client Completely abstract Ethernet TCP Polaris Tracker Not actual size Server RS 232 Null Straight Java Polaris Tracker Class 1 Init send serial break to reset Polaris and initialize 2 Config set Communication baud rate number of bytes sent etc 3 GetTransformation tool return Quarternian representing translation and rotation of tool return RMS error 4 PolarisStatus returns status of tools in ports 5 Start StopTracking begin or end tracking mode Presentation Outline Project Overview Problems and Dependencies Deliverables Schedule What we ve learned The Near and Distant Future Dependencies 1 External A B C 2 Access to TINI Fulfilled Access to Polaris Partially Fulfilled JacORB ported to TINI Will Not Be Fulfilled Internal A B C D Working Java serial port code Fulfilled Basic Polaris server code Mostly Fulfilled Distributed Control with TCP Will Be Fulfilled Client code Will Be Fulfilled What s the Problem 1 Controlling the TINI serial port A The TINI won t send data across the serial port B The TINI refuses to allow control of the serial port C Acquiring ownership of serial port from native TINI control required root access which was granted by Dr Koontz The documentation support for TINI is horrendous directed toward interest groups 2



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