1. Team Project: A Surveillant Robot System
SW & HW Test Results : 04/18/2005
Little Red Team
Chankyu Park (Michel)
Seonah Lee (Sarah)
Qingyuan Shi (Lisa)
Chengzhou Li
JunMei Li
Kai Lin

2. Technology Investigation Feasibility Experiment
Task Plan
Today
~ 3.24 (5)
~ (4)
~ (3)
~ (2)
~ (1)
~ (0)
SD 1-2
SD 1-2
SD 2-2
Implementation
SD 1-1
SD 2-1
SD 2-3
SD 3-1
Readiness Demo
SD 4-1
SD 4-1
SD 4-2
SD 3-2
Project Demo
Software Test Plan,
Basic Model Test
Software Test
Test
Hardware Test Plan.
Hardware Test
System Test Plan,
System Test
Technology Investigation
Wall Setting
Environment for Demo
Preparation
Feasibility Experiment
T-shirts, etc.
Basic System
Final System
Test
Demo
Now
May 4, 2019

3. System Overview Room May 4, 2019 Control robots,
Play a bridge role between
robots and remote user,
Provide live video
A lab assistant
Internet
Remote Control robots,
Receive a detected signal,
See behavior of robots
USB
Surveillant controller
intruder controller
A remote user IR
Communication
The invader
Robot
A WebCam
The surveillant
robot
Room
USB
InfraRed
Internet
System & User
Legend
May 4, 2019

4. Deployment view RCX RCX Remote User Surveillant Robot Controller
Legend
Remote User
RCX
MindStorm
Robot
Camera
RMI/JINI
Interface
InfraRed
Channel
Camera USB
Surveillant Robot
Controller
Notebook
Computer
Main Cam
Intruder Robot
Controller
RCX
RCX
May 4, 2019

5. Software Lists SW Lists for Surveillant Functions
The remote user program & Webcam receiver/transmitter
The surveillant controller & vision detector
The embedded program of the surveillant robot
SW Lists for Intruding Functions
The intruder controller
The embedded program of the intruding robot
May 4, 2019

6. Implementation finished
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 internet
Now, we directly implemented webcam program to integrate control panel for remote user
Implementation finished
May 4, 2019

7. SD#1: remote user program
Basic User Interface
Mode Selector
Remote control
Remote User
Surveillance
Start
Stop
Actual Implemented UI
Role of webcam
Implementation finished
May 4, 2019

8. Receiver/Transmitter for webcam
For receiver; remote user
For video Transmitter
Implementation finished
Actual Implemented UI
May 4, 2019

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 arrow
Pass if the client receives the response from the server, when the remote user presses the right arrow
Pass if the client receives the response from the server, when the remote user presses the forward arrow
Pass if the client receives the response from the server, when the remote user presses the backward arrow
Test finished
May 4, 2019

10. ST#1: remote user program
STC 1-2: To check the status of the robot
Pass if the client receives the information whether the robot is ready or not from the server
Pass if the client sends the information whether the robot is controlled or autonomous, and the server sets the mode according to the information
Test finished
Ready
Stand-by
Stop
Start
Stop
Start
Wandering
Controlling
Stop
Run
Start
Detect
Pausing &
Alarming
Time-out
May 4, 2019

11. SD#2: Surveillant Controller
Call services
Detection Vision & Region
Provide services
RMI/JINI Interface
2-1
Basic User Interface
2-2
Surveillant Robot Controller
Control
Remote
Surveillant
Task
Alarm
Raise
Robot
Camera
Main Cam
2-3
Color Setting
Vision
Detection
Not Yet Tested
& Implemented
(80%)
2-4
Video
Transmission
leJOS API
Live Video
Camera
Control robot
May 4, 2019

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 left
Pass if the robot is moving right while the server program is receiving the command to move right
Pass if the robot is moving forward while the server program is receiving the command to move forward
Pass if the robot is moving backward while the server program is receiving the command to move backward
Test finished
May 4, 2019

13. ST#2: Surveillant Controller
STC2-2: To get the detection information
Pass if the server program gets the detection information when the robot detects an intruder
Pass if the server program have robot raise an alarm when 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 robot
Not Yet
Test finished
May 4, 2019

14. SD#4: The embedded program
RS-232C/IR
IN Channel
Out Channel
Surveillant Robot
Dispatcher Thread
4-1
RCX
Main Thread
Remote
Control
Model
Surveillant
Navigation
Mode
4-2
Java TINY VM
Implementation finished
RCX FirmWare
Sensors
Motors
May 4, 2019

15. ST#4: The embedded program
STC4-1: To check dispatcher thread
Pass if the robot is controlled by the server program (STC2-1, STC2-2, STC2-3)
STC4-2: To check main thread
Pass if the robot navigates in the way expected by the lab experimenter
Test finished
May 4, 2019

16. SD#3: The control program
Detection Vision & Region
3-1
Basic User Interface
RunAway
Intruder Robot Controller
Robot
Camera
Vision
Detection
3-2
leJOS API
Not Yet Tested
& Implemented
(80%)
RS-232C/USB
Color Setting
Control robot
May 4, 2019

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 left
Pass if the robot is moving right while the control program is receiving the command to move right
Pass if the robot is moving forward while the control program is receiving the command to move forward
Pass if the robot is moving backward while the control program is receiving the command to move backward
Test finished
May 4, 2019

18. ST#3: The control program
STC3-2: To get the detection information
Pass if the control program gets the detection information when the robot detects the surveillant robot
Pass 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 robot
Not Yet
Test finished
May 4, 2019

19. SD#5: The embedded program
RS-232C/IR
IN Channel
Out Channel
Intruder Robot
Dispatcher Thread
5-1
RCX
Main Thread
Intruder
Navigation
Mode
Runaway
Navigation
Mode
5-2
Java TINY VM
Except for
RCX FirmWare
Implementation finished
Sensors
Motors
May 4, 2019

20. ST#5: The embedded program
STC4-1: To check dispatcher thread
Pass if the robot is controlled by the control program (STC3-1, STC3-2, STC3-3)
STC4-2: To check main thread
Pass if the robot navigates expected by the lab experimenter
Test finished
Test finished
May 4, 2019

21. Hardware Lists HD1: The Surveillant Robot HD2: The Intruding Robot
Lego mindstorms : lejOS (Java)
Lego mindstorms : Vision command camera
IR Tower
HD2: The Intruding Robot
HD3: The WebCam
Logitech Quickcam Camera
HD4: Wall parts
May 4, 2019

22. Hardware Lists HD5: A remote PC HD6: Surveillant controller PC
HD7: Intruder controller PC
May 4, 2019

23. The Surveillant Robot HTC1-1: To change its direction
Pass if the surveillant robot changes the direction when it detects a wall by using touch sensors and light sensor
HTC1-2: To wander in the room
Pass if the robot moves around the every room without troubles
HTC1-3: To detect the intruding robot
Pass if the robot raises an alarm in 5 seconds when the intruding robot is in the same room
Test finished
Test finished
Not yet
May 4, 2019

24. The Intruder Robot HTC2-1: To intrude into the room
Pass if the robot comes into the room where the surveillant robot is, controlled by a lab assistant
HTC2-2: To detect the surveillant robot
Pass if the robot begins to move another direction from the surveillant robot in 5 seconds after the two robots are in the same room
Pass if the robot shows runs away behavior
Not Yet
Not Yet
May 4, 2019

25. The WebCam HTC3-1: To show the room where the robot is
Pass if the WebCam shows the room in their computers.
Test finished
May 4, 2019

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
May 4, 2019

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 properly
Pass if vision detector is installed in the computer, and operates properly
Test finished
May 4, 2019

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 properly
Pass if vision detector is installed in the computer, and operates properly
Not Yet
May 4, 2019

29. summary
Last week, we had one integration test at the robot lab for 4 hour.
There are some problems as we expected.
Navigation
Color detection for light sensor
IR tower sensitivity
Demo 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
May 4, 2019