1. EE 496 Scout ROV Project Graphical User Interface (GUI) by Chris McLeod & Autonomous Systems Lab

2. Background S.A.U.V.I.M. Semi - Autonomous Underwater Vehicle for
Intervention
Missions
A.S.L Site Visit 2005

3. Objective of the Scout ROV
Object identification
Arm manipulation
Connect to underwater communication and data stations.
Self inspection

4. Project Outline Phase I - 396
Design, build, and demonstrate a prototype for a very small Remotely Operated Underwater Vehicle.
Phase II - 496
Design and implement a Graphical User Interface for remotely operated vehicle.

5. Phase I: Completed (Summer 2005)
Demonstrate feasibility
Smallest design possible
Inexpensive components
Low power consumption
Visual and sensor capabilities

6. Phase II: User Interface
Video display
Sensory data
Basic operational information
Depth
Yawl
Tilt
Simple user control
Cross platform use

7. Phase II: Software DevC++ http://www.bloodshed.net
full-featured Integrated Development Environment (IDE) for the C/C++ programming language.
wxWidgets
wxWidgets is a free cross-platform toolkit to help you build desktop and mobile GUI applications on multiple operating systems, from the same source code.
OpenCV & IPL
Open Source Computer Vision Library (OpenCV) for Intel® architecture and Intel® Image Processing Library (IPL)
OpenGL
Used to develope portable, interactive 2D and 3D graphics applications

9. Phase II: User Interface
CAMERA
ATTITUDE
THRUSTERS
LAPTOP
COMPUTER
MICROPROCESSOR
JOYSTICK

10. Phase II: Class Structure
VideoCanvas - OpenCV
Captures images from camera
Displays image in target window
Serial_Com
Communicates with microprocessor
JoyStick - wxWidgets
Gets joystick events and sends them to processor
Gauge - OpenGL
Creates the gauges and updates GUI based on events

11. OpenGL - Masking

13. Phase II: Problems
Time
Algorithm
Robustness

14. Thank you. For more information http://www2.hawaii.edu/~cmcleod/other.htm Any questions?