1. Remote Data Acquisition and Touch- based Control of a Mobile Robot using a Smart Phone Yong-Ho Seo, Chung-Sub Lee, Hyo-Young Jung and Tae-Kyu Yang Department of Intelligent Robot Engineering Mokwon University

2. Contents Introduction Mobile Robot Platform, CRX10 User Interface Design for the Smart Phone Application Touch-based Odometic Information Generation for Mobile Robot Navigation Experimental Results Conclusion

3. Introduction Camera Geo Magnetic GPS Wifi/Bluetooth Gravity Touch Smart phone based robot application -Remote Data Acquisition -Navigation control of a mobile robot -Autonomous Driving Anytime Anywhere Features of Smart Phone Robot Application Microcontroller Remote Data Acquisition and Touch-based Control of a Mobile Robot using a Smart Phone

4. Application Software of Smart Phone.Net Compact Framework and Dalvik VM based Smart Phone Development Environment

5. Mobile Robot Platform, CRX10 Hardware specifications of the mobile robot platform, CRX10 H/W ItemSpecification MicrocontrollerATmega128 (main), ATmega88 (sensor) WheelFour wheels driven by two DC motors Display8x8 LED dot-matrix SensorPSD sensor - 3EA Flower IR sensor - 7EA Magnetic encoder - 2EA Bumper Sensor - 3EA CommunicationBluetooth 2.4Gh / Serial RS232 Transport speedMAX. 1m/s Battery/Run timeLi-ion cell 11.1V 2600mA / Up to 4 hours Charging time2.5Hours

6. User Interface Design for the Smart Phone Application Main Menu of the Mobile Robot Application Track ball and direction buttons for mobile robot remote control

7. Sensor Data Visualization and LED dot- matrix Interfaces PSD, Encoder sensor data output UI and Obstacle Avoidance 8x8 dot-matrix location output UI and Indication

8. User’s Touch Event Input order of a curve from a user’s touch event Action ItemDetailed Explanation Action_DOWNPush the screen by a finger Action_UP Action_MOVE Move a finger away from the screen Move the finger on the screen while the finger is contacting the screen Types of Touch Events

9. Touch-based Odometic Information Generation for Mobile Robot Navigation (1)(2)

10. Experimental Results Obstacle avoidance experiment –Three PSD sensors are placed on the front side of the mobile robot. –Information on surrounding obstacles is acquired and an avoidance algorithm is applied

11. Experimental Results Gravity Sensor Steering Experiment –User can control the mobile robot as if a user drives a car with steering handle of car –Smart phone simulates the car handle by estimating current pose using 3-axis gravity sensor

12. Experimental Results Touch-based Odometic Information Generation for Mobile Robot Navigation –Touch event on the smart phone screen was registered as Action_UP –Five major points were displayed as red dots Extraction of major points from the drawn curve experiment

13. Experimental Results Touch-based odometric information generation and mobile robot navigation experiment

14. Conclusion Proposed a method to remotely acquire information on a remote robot and remotely control the robot Suggested technology for generation of odometric information of a mobile robot and following technology based on the use of a smart phone touch event Confirmed that it is possible to control a mobile robot through the use of remote data acquisition and the acquired the path of a mobile robot

15. Thank you