1. Remote Surveillance Vehicle Design Review By: Bill Burgdorf Tom Fisher Eleni Binopolus-Rumayor

2. Outline The Vision User Interface Design UI Software Implementation Hardware Design and Implementation Wireless Network Design Milestones Design Issues Cost Analysis Final Project Thoughts

3. The Vision The user would effectively be able to “drive” the vehicle and view the updated position from the software user interface. This type of project design could be practical applied to various remote control applications. This project will include the use of: A software user interface communicating with a vehicle using a wireless ad-hoc network. A microprocessor which is used for motor control and wireless communication A video sensor is used to capture images of the cars environment. The captured images of the car's position will be displayed on the UI The movement of the car position would then be controlled from the user interface.

4. User Interface: Proposed

5. User Interface: Implementation

7. User Interface Design The user interface for this project will be done entirely in software. The application will communicate with and control the network adapter to connect to the car's wireless card via an Ad-Hoc connection. The interface application will act as an input receiving the video image from the car. The application will also contain all of the vehicle movement controls. Increase/decrease speed and turn left/right. A joystick can also be used to control of the vehicle. Joysticks produce two continuous values in the range of -1.0 to 1.0 that correspond to the x translation component (left and right) and the y translation component (forward and reverse).

8. UI Software Implementation Java based platform. Eclipse will be used as the development environment. As for UI components SWT will be used. Dialog boxes for authentication Message boxes for error messages SWT browser used to display video image Slider Bar to indicate steering position Application will receive joystick input from Java 3D, which stores the position information as a transform matrix with an identity rotation Data will be transferred via a UDP protocol. java.net.DatagramPacket: provides a wrapper for an array of bytes from which data will be sent or into which data will be received. java.net.DatagramSocket: creates a local connection to a port that does the sending and receiving.

9. Wireless Network Design

10. Hardware Design and Implementation WRAP.2C Single Board Computer 1 Compact Flash, 2 miniPCI, 1 Serial, 1 I2C 128MB Compact Flash Disk Plenty of storage for OS and custom code Atheros miniPCI 802.11 Adapter Supported by MADWIFI open source Linux driver Devantech SD20 Servo Controller I 2 C bus will control both servos ME2000 Embedded Linux Environment Derivative of LEAF Network Appliance OS D-Link DCS-900W Wireless Camera Independent wireless connection Embedded web server for video streaming

11. Wireless Network Design

12. Design Issues Bandwidth required for the wireless link. The video image captured will need to be displayed at a low resolution (320x240) Frame rate my also need to be reduced (1 - 20 FPS) Range of the wireless network. At some point the signal will be dropped and all communication will be lost with the car. The solution to this issue will be having the car stop immediately if the link is lost Power consumption

13. Milestones Car computer software environment configured with access to 802.11b adapter. Computer and car have established a wireless link. Design user application shell with control codes being sent Car computer correctly controls speed control and servo. Car receives codes from the user interface via the wireless link. Car computer transmits video to the user application. Finish user application to read video and display it on the screen correctly.

14. Cost Analysis Estimated Total Cost: $420-$500 Movement Control Car Kit - $25 Speed Control - $30 Servo - $15 Board Microcontroller with wireless - $176 Servo Controller - $17.50 Video Sensor Web Camera - $105 Camera Battery - $39 User Interface Joystick - $10.95

15. Final Project Thoughts The technical hurdle in this implementation will come from actually configuring the wireless connection links between the devices. Other difficulties may come from accurately controlling the cars position and camera delay.