Phage display
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Robot Control
Software&Hardware
Software&Hardware
Communication
RS/6000 station
Sunshine
Switch
Communication
Bus-Bus
Speaker
Display
JIFFE station
Software&Hardware
Software&Hardware
Communication
Robot Control
RS/6000 station
Camera
Microphone
Bus-Bus
Communication
SUN station
High-Speed ATM Network
Operator SideRobot Side
(master)(slave)
Arm
Arm
OS ResourcesSystem Parameters
Network ResourcesNetwork QoS Parameters
I/O DevicesApplication QoS Parameters
User Interface
ATM Network Interface
Transport Subsystem (Network)
Application Subsystem (Application)
S
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S
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(
O
S
)
U
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S
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(
O
S
)
Negotiate/Renegotiate
Network QoS Parameters
Negotiate/Renegotiate
Application QoS Parameters
’reject’(Bidirectional Translation)Peer-to-PeerCommunication’accept’
Set Application QoS Parameters
QoS Translator
Layer-to-Layer
Communication
PARK PositionREADY Position
Translation between media and network quality parameters
Negotiation/Renegotiation of application QoS
(Application)
Negotiation/Renegotiation of network QoS
(Network)
Integration/Disintegration of media quality parameters
QoS Translator
Media Relations
Analysis of media relations
(integrate/disintegrate)
Net QoS
Net QoS
Net QoS
Net QoS
Net QoS
Net QoSApplication QoSMultimedia Stream DescriptionVideo VCI for
video
audio
4
3
2
connection
VCI 1
Audio
Media Quality 3
Media Quality 2
Media Quality 1
Sensor data
VCI
4th8th12th
Header
VCI 1Transport SubsystemApplication SubsystemRobotics ApplicationVCI 2HeaderVCI 3VCI 4
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