1. Ruslan Masinjila Aida Militaru

2.  Nature of the Problem  Our Solution: The Roaming Security Robot  Functionalities  General System View  System Design  Integration  Testing and Validation  Reliability of Solution  Completion of Project  Modifications to original ideas and plans  Team Organization  Marketing

3.  Improving security services offered by human patrols inside buildings.  Remove the need of human presence to perform rounds within a dangerous environment.  Reduce the number of security personnel required within an area

4.  Continuous patrolling along a set path within the building.  Video surveillance of area being patrolled  Event alerts: intruder or fire.  Operator control of the robot

5.  Wireless communication between an operator and the robot  Wireless live-stream video of the robot surroundings  Manual robot navigation  Autonomous navigation along a pre-defined path  Human, fire and obstacle detection

7.  Establishes and maintains communication with the robot.  Captures, displays and stores images and other sensor outputs  Alerts the operator if anything anomalous is detected by the sensors.  Accepts keyboard inputs from the operator and sends them as commands to the robot.

10. 1. Main Arduino Microcontroller 2. Peripheral Arduino Microcontroller 3. DIY Hydrogen Wireless Shield 4. Parallax PING Ultrasonic Sensor 5. Serial LCD 16X2 Display 6. 8 Pixel Thermal Array Sensor 7. Futaba Servo Motors and Wheels 8. Line Tracker Optical Sensors 9. NiCad Batteries 10. Wireless USB Camera

12.  Can automatically detect and support a wide range of image acquisition devices.  Acquire images and video from cameras and frame grabbers.  Built in Matlab.

13.  Displays video, snapshots and all information transmitted by the server.  Alerts operator if something anomalous is detected(Heat and obstacles).  Allows the operator to control the robot manually.  Built in Matlab

14.  Center of the client system.  Communicates with all other modules.  Processes and storing images from Image acquisition module  Updates the GUI every 0.1 of a second  Exchanging information with Communication module via API  Built in Matlab

15.  Establishes and maintains communication with the Server.  Sends and receives messages concurrently.  Delivers messages from the Server to the processing unit, and vice versa, via an API.  Built in Java.

16.  Capable of following a line in a straight path as well as curves  Mark detection  State machine based algorithm  Utilizing interrupts to detect state transitions  Can handle recovery from minor line interruptions

17.  Sonar and Thermal Array polled periodically to acquire data.  Distance to an object indicated by sonar determines obstacle presence ◦ Obstacle present if distance < 25cm  Temperatures registered by thermal array are analyzed for human presence and fire ◦ Human temperature range: 36 °C - 40 °C ◦ Possibility of a fire: Ambient > 45°C or Spot Temperature > 90 °C

18.  Control the movement of the robot remotely  Server receives commands from the client and forwards them to the peripheral Arduino which controls the wheel servo motors

19.  Server run on the Main Arduino  Establishes wireless communication with client making use of the Hydrogen Shield.  Interprets received commands from Client and transmits appropriate alert messages to Client.  Minimal number of messages sent to avoid network clogging and high maintain transmission speeds.

23.  Each component from the client side and server side was tested individually  Overall system testing ◦ Establish connection. ◦ Manual control of the robot using GUI. ◦ Switching between autonomous and manual control. ◦ Sending and receiving messages from the server and displaying alerts. ◦ Live video streaming ◦ Fulfills surveillance requirement.

24.  The current solution is reliable for its use in surveillance for the following reasons ◦ Camera transmission is independent of a network. ◦ Provides both autonomous and manual navigation. ◦ Client acquires, and stores images independent of a network. ◦ Additional microcontroller  However, Communication between robot and human operator is as reliable as the network over which it takes place

25.  First term achievements: ◦ Control of wheel movement ◦ Sonar operation and obstacle detection ◦ Wireless communication establishment ◦ Server Implementation ◦ Graphical User Interface  Second term achievements: ◦ Line following functionality and mark detection ◦ Video streaming ◦ Redesign of GUI to suit new application ◦ Thermal array operation and human/ fire detection ◦ Integration of system

27.  One of original main requirement: Human detection based on image processing.  Replaced by Thermal sensor.  Two microcontrollers instead of one.  Smoke detector will not be included.

28.  Tasks distributed equally amongst both team members. Both members participated during the integration and testing phases.  Constant cooperation and communication of ideas between members, especially during testing and debugging periods.

29.  Overall cost of system: $800 (in components)  Targeting corporations and organizations looking to improve an already existing security system. ◦ Museums, art galleries, retirement homes, hospitals, storage facilities etc.  Robotic system can perform continuous patrolling and oversee a larger area. Provide event alerts.  Easy to operate  Financially feasible solution

30. Questions ?