Mobile robot control with a mobile device respectively cell phones and smartphones R&D1: Thorsten Linder Academic advisor: Dr. Hartmund Surman

State of the Art: Telerobotic Def.: A teleoperator is a physical device which is enabling an operator to move about, sense or mechanically manipulate objects by using a robot. If the teleoperator is a laptop or a similar device they are also called Operator Control Units (OCU). Def.: A semi-automatic robot which is controlled in supervisory way or any robot which is complete remote controlled, is called a telerobot. Thus a telerobot is a robot which has the ability to be remote controlled and can have semi- autonomic behaviors.

State of the Art: Mobile Telerobotic ROTEX:  DLR (German Aerospace Research Establishment) developed a outer space remote manipulator  flown in space during the spacelab mission D2 on space shuttle flight STS 55 from April 26 to May 1993  DLR did teleoperat the ROTEX from the ground with a combination of joysticks and workstation

State of the Art: Mobile Telerobotic

USAR  inspection of structural damages  hazardous material  explosive ordinance disposal e.g. TELEROB tEODor iRobot PackBot Explorer  designed for high mobility and rough terrain  laptop like OCUs  main sensory equipment: several cameras  main functionality of there OCUs is camera oriented navigation  controlled via tether/wire or wireless.  human interfaces: joystick or game pad for movements notebook screen to show the camera views or additional sensors

State of the Art: Mobile Telerobotic Cell-phone guided vehicle  C. Kelber et al  cell-phone to control a remote guided vehicle  small electrical car equipped with sensor for navigation obstacle detection unit for remote control  used Dual Tone Multiple Frequency (DTMF)-technology (phone key tones)  Hence limited cammonds and no back channel Human robot interaction via cellular phones  A. Sekmen et al  developed a J2ME application to control two different robots  communication architecture TCP/IP socked based,  able to drive there robots and read there internal stats,  predefined command set control the robot  representation of the sensor data: raw data  limited in its usability

Problem Description Most approaches make use of PCs or workstations to setup there system OCU. Some few approaches deal with mobile devices, e.g. PDAs or cell phones All of them faced the limitations of mobile devices Many approaches make use of low-level commands “Cut-off” the restriction to special robots and to show an approach how a widespread set of robots can be controlled with one OCU application running respectively on a mobile device and smart phone In fact mobile devices have strong limitations in the fields of user in- and outputs. Therefore is to evaluate if the classical usability criteria (ISO 9241) can be adapted to the field or mobile robotic control via mobile devices.

Approach Develop an OCU application with a no previous knowledge about the command set Let the robot tell the OCU how it can be controlled Set-up a architecture to exchange capability descriptions between the smart phone and the robots  set of well-Known commands  set of robot specific commands  XML-Files for the sets  Exchange over available Bluetooth or WiFi

Approach Planned robots: UAV (Quadrotor) and UGV

Approach

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