The corresponding Player Server and use the Player Interfaces. Full remote
The corresponding Player Server and use the Player Interfaces. Complete remote access has been one of several crucial specifications within the design of this testbed. A Graphical User Interface (GUI) was developed to provide remote customers with on the internet full manage on the experiment which includes programming, debugging, monitoring, visualization and logs management. It connects to all of the Player Servers and gathers each of the data of interest of the experiment. The GUI might be presented in Section five. Numerous measures have been adopted to stop possible uncontrolled and malicious remote access. A Virtual Private Network (VPN) is applied to safe communications by means of the world wide web making use of encrypted channels based on Safe Sockets Layer (SSL), simplifying system setup and configuration. As soon as 
the customers connect to the VPN server in the University of Seville, they have secure access for the testbed as if they had been physically in the testbed premises. The architecture also enables user applications operating remotely, at the premises on the user, as shown in the figure. They can access all the data from the experiment by means of the VPN. This significantly reduces the developing and debugging efforts. Figure 5 shows with blue colour the modules supplied as aspect from the testbed infrastructure. The user need to provide only the programs using the experiment he wants to carry out: robot applications, WSN applications, central applications, and so forth. The testbed also incorporates tools to facilitate experimentation, for example a set of commonlyused simple functionalities for robots along with the WSN (that substitute the user programs) as well as the GUI. They are going to be described in Section five. four.. RobotWSN IntegrationIn the presented testbed we defined and implemented an interface that makes it possible for transparent communication amongst Player and also the WSN independently on the internal behavior in every of them, such as operating program, messages interchanged amongst the nodes, node models used. The objective will be to specify a prevalent “language” between robots and WSN and, at the very same time, give flexibility to let a higher quantity of experiments. Hence, the user has freedom to style WSN and robot programs. This interface is made use of for communication among person WSN nodes (or the WSN as a entire working with a gateway) and individual robots too as for communication involving person WSN nodes (or the WSN as a whole using a gateway) as well as the group of robots as a entire. The robotWSN interface contains three kinds of bidirectional messages: information messages, requests and RQ-00000007 site commands, allowing a wide range of experiments. For instance, inside a constructing security application the robots can request the measurements from the gas concentration sensor from the WSN node they carry. Also, in WSN localization the robot can communicate its existing groundtruth location towards the node. In addition, in an active perception experiment, the robot can command the WSN node to deactivate sensors when the measurements don’t provide info. Furthermore, a WSN node can command the robot to move in a certain path so as to strengthen its perception. Note that robots can communicate not merely together with the WSN node it carries, but in addition with any other node in the WSN. In that case the robot WSN node simply forwards the PubMed ID:https://www.ncbi.nlm.nih.gov/pubmed/20450445 messages. Thus, the robot can request the readings from any node in the WSN and any WSN node can command any robot. As an example, within a robotWSN information muling experiment 1 node could command a robot to approach a previously calculated location. Also, this robotWSN communicatio.
