Qwerk Processor Board

The Qwerk board is the main processor for the TeRK robot recipes. This section gives a basic overview of the TeRK architecture as well as brief descriptions of the other Help sections.

TeRK Architecture Overview

Figure 1: Relay Server Architecture

When first launched in August 2006, the TeRK architecture was based on a single model: the relay server (see figure 1). The relay server facilitates bidirectional communication between computers and qwerks, allowing remote telepresence of qwerks from anywhere in the world.

The relay server provides authentication/authorization for access control and also solves the “firewall problem” (the difficulty or inability to communicate with robots behind a firewall). However, it requires an Internet connection and, since all communication between you and your robot passes through the relay, it can impose a speed penalty due to network latency (which typically increases with distance from the relay server).

Figure 2: Direct-Connect Architecture

To provide an alternative solution, in January 2007 we introduced a new connection model called Direct-Connect (see figure 2) with the release of version 3.0.103 of the qwerk firmware. Direct-Connect allows you to connect directly to your qwerk, using only its IP address (or domain name, if it has one). The qwerk and your computer still need a network connection, but that network need not actually be connected to the Internet (this assumes your computer is within the same network). Direct-Connect connections are typically much faster, since all communication occurs directly between the qwerk and your computer and no longer requires the relay. Although you no longer have tight control over who can connect to your qwerk–anyone knowing its IP address can connect to it–this is usually not a concern and the benefits are worth the risk.

Note that, because of its ease-of-use and security benefits, qwerks default to using the relay server connection model. The connection mode is easily changed via the qwerk’s configuration web site or its Diagnostic Tool.

Help Documentation Overview

1. First Steps – To get your new Qwerk up and running, follow these steps. Covers how to test your board’s basic hardware, obtain the board’s unique ID number, and register yourself and your board so that you can use our software and communication relay architecture to program your robots and teleoperate them anywhere.
2. Diagnostic Tool – Explains how to access and use the Qwerk’s built in Diagnostic Tool. The Diagnostic Tool allows you to check and configure the basic functionality of the Qwerk without connecting it to a network or computer.
3. Establishing a Connection – Explains how to get your Qwerk connected to the Internet and how to connect to it using one of the TeRK software applications.
4. Configuration and Status – Explains how to view the Qwerk’s configuration and status web site, which is served by your Qwerk directly.
5. Determining Firmware Version – Explains how to determine which firmware version is on your Qwerk.
6. Upgrading Firmware – Explains how to upgrade the Qwerk’s firmware.
7. Supported Devices – Lists wireless adapters and cameras known to work with Qwerks.