Team Project:A Surveillant Robot System

Little Red TeamChankyu Park (Michel)

Seonah Lee (Sarah)Qingyuan Shi (Lisa)

Chengzhou LiJunMei Li

Kai Lin

SW & HW Test Results : 04/18/2005

April 17, 2005 2

Task Plan

Basic SystemBasic System

~ 3.24 (5) ~ 3.31. (4) ~ 4.07. (3) ~ 4.14. (2)

DemoDemoNowNow

Implementation

Test

Preparation

~ 4.21. (1) ~ 4.28. (0)

Final SystemFinal System TestTest

Readiness Demo

Project Demo

Software Test

System Test

Hardware Test

Software Test Plan,

System Test Plan,

Hardware Test Plan.

SD 1-2

SD 1-1

SD 1-2

SD 2-1

SD 2-2

SD 2-3 SD 3-1

SD 4-2 SD 3-2

Technology Investigation Wall Setting

Environment for Demo

Basic Model Test

Feasibility Experiment

SD 4-1

T-shirts, etc.

SD 4-1

Today

April 17, 2005 3

System Overview

IR Communication

A remote user

The invaderRobot

The surveillantrobot

Surveillant controller

Room

Remote Control robots,Receive a detected signal,

See behavior of robots

Control robots,Play a bridge role between

robots and remote user,Provide live video

A WebCam

USB

Internet

USB

InfraRed

Internet

System & User

Legend

A lab assistant

intruder controller

April 17, 2005 4

Deployment view

RCXRCX

RCX MindStormRobot

Camera

RMI/JINI Interface

InfraRedChannel

Camera USB

NotebookComputer

Legend

Remote User

Surveillant RobotController

Intruder RobotController

Main Cam

April 17, 2005 5

Software Lists

SW Lists for Surveillant FunctionsThe remote user program & Webcam receiver/transmitterThe surveillant controller & vision detectorThe embedded program of the surveillant robot

SW Lists for Intruding FunctionsThe intruder controllerThe embedded program of the intruding robot

April 17, 2005 6

ST#0: WebCam part

STC 0-1: To view the room where the surveillant robot is, via the internet

Pass if the remote user sees the robot via the internetNow, we directly implemented webcam program to integrate control panel for remote user

Implementation finished

April 17, 2005 7

SD#1: remote user program

Remote User

Remote control

Surveillance

Start

Stop

Mode Selector

Basic User Interface

Actual Implemented

UI

Role of webcam

Implementation finished

April 17, 2005 8

Receiver/Transmitter for webcam

Actual Implemented

UI

For receiver; remote user For video Transmitter

Implementation finished

April 17, 2005 9

ST#1: remote user program

STC 1-1: To check the connection of RMI/JINI Interface between the client and the server

Pass if the client receives the response from the server, when the remote user presses the left arrowPass if the client receives the response from the server, when the remote user presses the right arrowPass if the client receives the response from the server, when the remote user presses the forward arrowPass if the client receives the response from the server, when the remote user presses the backward arrow

Test finished

April 17, 2005 10

ST#1: remote user program

STC 1-2: To check the status of the robotPass if the client receives the information whether the robot is ready or not from the serverPass if the client sends the information whether the robot is controlled or autonomous, and the server sets the mode according to the information

Stand-by

Run

Pausing &Alarming

Ready

Wandering

StartStop

DetectStart

Time-out

StopControlling

StartStop

Test finished

April 17, 2005 11

SD#2: Surveillant Controller

RMI/JINI Interface

Call servicesProvide services

Basic User Interface

Surveillant Robot Controller

Main Cam

Detection Vision & Region

Color Setting

Video Transmission

leJOS APIR

em

ote

Co

ntro

l

Su

rveilla

nt

Task

Raise

Ala

rm

Vision Detection

RobotCamera

Live VideoCamera

Control robot

2-2

2-4

2-3

2-1

Not Yet Tested& Implemented

(80%)

April 17, 2005 12

ST#2: Surveillant Controller

STC 2-1: To control the robot when the robot is ready

Pass if the robot is moving left while the server program is receiving the command to move leftPass if the robot is moving right while the server program is receiving the command to move rightPass if the robot is moving forward while the server program is receiving the command to move forwardPass if the robot is moving backward while the server program is receiving the command to move backward

Test finished

April 17, 2005 13

ST#2: Surveillant Controller

STC2-2: To get the detection informationPass if the server program gets the detection information when the robot detects an intruderPass if the server program have robot raise an alarmwhen the program gets the information

STC2-3: To have the surveillant robot to wander in the room

Pass if the robot starts navigating the room within 3 seconds after the server commands to start the robot Pass if the robot stops navigating the room within 3 seconds after the server commands to stop the robotTest finished

Not Yet

April 17, 2005 14

SD#4: The embedded program

Surveillant Robot

Remote ControlModel

RCX

SurveillantNavigation

Mode

Java TINY VM

RCX FirmWare

IN Channel Out Channel

RS-232C/IR

Sensors Motors

Dispatcher Thread

Main Thread

4-1

4-2

Implementation finished

April 17, 2005 15

ST#4: The embedded program

STC4-1: To check dispatcher threadPass if the robot is controlled by the server program(STC2-1, STC2-2, STC2-3)

STC4-2: To check main threadPass if the robot navigates in the way expected by the lab experimenter

Test finished

April 17, 2005 16

SD#3: The control program

Basic User Interface

Intruder Robot Controller

Detection Vision & Region

Color Setting

leJOS API

RunAway

Vision Detection

RobotCamera

Control robot

RS-232C/USB

3-1

3-2

Not Yet Tested& Implemented

(80%)

April 17, 2005 17

ST#3: The control program

STC 3-1: To control the robot when the robot is ready

Pass if the robot is moving left while the control program is receiving the command to move leftPass if the robot is moving right while the control program is receiving the command to move rightPass if the robot is moving forward while the control program is receiving the command to move forwardPass if the robot is moving backward while the control program is receiving the command to move backward

Test finished

April 17, 2005 18

ST#3: The control program

STC3-2: To get the detection informationPass if the control program gets the detection information when the robot detects the surveillant robotPass if the control program has robot run away when the program gets the information

STC3-3: To have the intruding robot to wander in the room

Pass if the robot starts navigating the room within 3 seconds after the server commands to start the robot Pass if the robot stops navigating the room within 3 seconds after the server commands to stop the robotTest finished

Not Yet

April 17, 2005 19

SD#5: The embedded program

Intruder Robot

RCX

IntruderNavigation

Mode

Java TINY VM

RCX FirmWare

IN Channel Out Channel

RS-232C/IR

Sensors Motors

Dispatcher Thread

Main Thread

RunawayNavigation

Mode

5-1

5-2

Implementation finished

Except for

April 17, 2005 20

ST#5: The embedded program

STC4-1: To check dispatcher threadPass if the robot is controlled by the control program(STC3-1, STC3-2, STC3-3)

STC4-2: To check main threadPass if the robot navigates expected by the lab experimenter

Test finished

Test finished

April 17, 2005 21

Hardware Lists

HD1: The Surveillant RobotLego mindstorms : lejOS (Java)Lego mindstorms : Vision command cameraIR Tower

HD2: The Intruding RobotLego mindstorms : lejOS (Java)Lego mindstorms : Vision command cameraIR Tower

HD3: The WebCamLogitech Quickcam Camera

HD4: Wall parts

April 17, 2005 22

Hardware Lists

HD5: A remote PCHD6: Surveillant controller PCHD7: Intruder controller PC

April 17, 2005 23

The Surveillant Robot

HTC1-1: To change its directionPass if the surveillant robot changes the directionwhen it detects a wall by using touch sensors and light sensor

HTC1-2: To wander in the roomPass if the robot moves around the every room without troubles

HTC1-3: To detect the intruding robotPass if the robot raises an alarm in 5 seconds when the intruding robot is in the same room

Not yet

Test finished

Test finished

April 17, 2005 24

The Intruder Robot

HTC2-1: To intrude into the roomPass if the robot comes into the room where the surveillant robot is, controlled by a lab assistant

HTC2-2: To detect the surveillant robotPass if the robot begins to move another directionfrom the surveillant robot in 5 seconds after the two robots are in the same roomPass if the robot shows runs away behavior

Not Yet

Not Yet

April 17, 2005 25

The WebCam

HTC3-1: To show the room where the robot isPass if the WebCam shows the room in their computers.

Test finished

April 17, 2005 26

A remote PC

HTC5-1: To check the environment of the remote PC

Pass if the remote user program is installed in the computer, and operates properly

Test finished

April 17, 2005 27

A surveillant controller

HTC6-1: To check the environment of the surveillant controller

Pass if RMI server program is installed in the computer, and operates properlyPass if vision detector is installed in the computer, and operates properly

Test finished

April 17, 2005 28

Another control computer

HTC7-1: To check the environment of the control computer

Pass if RMI server program is installed in the computer, and operates properlyPass if vision detector is installed in the computer, and operates properly

Not Yet

April 17, 2005 29

summary

Last week, we had one integration test at the robot lab for 4 hour.There are some problems as we expected.

NavigationColor detection for light sensorIR tower sensitivityDemo environment

Results so far : 90% of the whole system is implemented, and 60% of whole tests is tested.this week, we have the plan to do two integration test and demo preparation at the robot lab