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Team Project: A Surveillant Robot System Functional Analysis Little Red Team Chankyu Park (Michael) Seonah Lee (Sarah) Qingyuan Shi (Lisa) Chengzhou Li JunMei Li Kai Lin Legend Internet InfraRed System & User USB System Overview Control robots, Play a bridge role between

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team project a surveillant robot system

Team Project:A Surveillant Robot System

Functional Analysis

Little Red Team

Chankyu Park (Michael)

Seonah Lee (Sarah)

Qingyuan Shi (Lisa)

Chengzhou Li

JunMei Li

Kai Lin

system overview

Legend

Internet

InfraRed

System & User

USB

System Overview

Control robots,

Play a bridge role between

robots and remote user,

Provide live video

Internet

A lab experimenter

Remote Control robots,

Receive a detected signal,

See behavior of robots

USB

Robot main controller

A remote user

IR

Communication

The invader

Robot

A WebCam

The surveillant

robot

Room

top level function
Top-level function

1: Manage system

A remote user, A remote Computer

Connect

Send video

control

Notify

2: Manage Robots

3: Transfer live video

A lab experimenter, Robot main controller

A lab experimenter,

Robot main controller

Runaway

Alarm

Control camera

status

Notify

Control

Robot

Status

4: Wandering

5: Detect an intruder

/an survelliant

6: Raise alarm

7: Runaway

Both cameras

Both robots

A survelliant robot

A intruder robot

2 nd level functions 1 7

1.7: Stream buffering

1.8: Display video

Video

Stream

1.1a: select function

1.2: RMI proxy

Control robots

1.1b: configure connection

1.6: open connection

Connect video

2nd-level functions (1/7)

A remote computer

1: Manage system

A Remote User

Client Program

RMI Registry

1.3: RMI Proxy

1.4: Notify detection to the user

Receive Notify

RMI Registry

Client Program

A Remote User

P2P cam software

FTP

FTP

P2P cam software

2 nd level functions 2 7
2nd-level functions (2/7)

Main Control Computer

2: Manage Robots

Initiate

2.7: transfer camera command

2.3: Camera proxy

A Remote User

Control

camera

2.1: RMI proxy

2.4: command dispatcher

Vision Recognition SW

Server Program

Control from remote

2.8: transfer robot command

2.2: IR proxy

Control

robots

RMI Registry

Server Program

Server Program

IR Tower

2.2: IR proxy

2.5: analyze status

2.1: RMI proxy

Notify to remote

Status of robot

RMI Registry

Server Program

IR Tower

2.2: IR proxy - survellinet

Raise alarm

IR Tower

2.3: camera proxy

2.6: conversion of notification

2.2: IR proxy - intruder

Notify from camera

IR Tower

runaway

Vision Recognition SW

Server Program

2 nd level functions 3 7
2nd-level functions (3/7)

Main Control Computer

3: Transfer live video

Initiate

A Remote User

3.1: Initialization

P2P cam software

3.2: Open connection

Connect

Video

P2P cam software

3.3: Sending Video

FTP

Video stream

Web Cam

P2P cam software

FTP

2 nd level functions 4 7
2nd-level functions (4/7)

Both robots

4: Wandering

4.1: Start wandering

4.2: Control Wandering

Control

Robots

Status of robot

Embedded program

Embedded Program

4.2

4.1

4.2.1: decide direction

4.2.2:

control motors

4.1.1: Initialization

Motors

Wheels

4.1.3:

Run

4.2.3: detect wall

4.2.4: receive signal from sensor

4.1.2: Standby

Motors

Wheels

Touch Sensors

Walls

2 nd level functions 5 7
2nd-level functions (5/7)

Both cameras

5: Detection of Intruder/Survelliant

5.1: Start detection

5.2: Control detection

Control

Notify from the camera

IR Tower

Vision Recognition SW

Vision Command

Vision Recognition SW

Vision Command

5.2

5.1

5.1.1: Initialization

5.2.1: capture video

5.2.4: recognize object

5.1.3:

Run

5.2.2:

Divide region

5.2.3: detect color

5.1.2: Standby

Motors

Wheels

2 nd level functions 6 7
2nd-level functions (6/7)

A survelliant robot

6: Raise alarm

6.1: IR Proxy

6.2: Raise alarm

Alarm

IR Tower

Embedded program

Sound device

Intruder robot

7: Runaway

7.1: change runaway mode

7.2: start runaway

runaway

Status

IR Tower

Embedded program

Motors

Wheels

states and modes 1
States and Modes - 1

States of survellient robot

Modes of both robots

Stand-by

Stop

Ready

Stop

Start

Run

Wandering

Stop

Start

Detecting

Pausing &

Alarming

Time-out

Test Mode

slide11

States and Modes - 2

States of intruder robots

Modes of both robots

Stand-by

Stop

Ready

Stop

Start

Start

Wandering

Run

Stop

Start

Detecting

Runaway

Test Mode

functional architecture
Functional Architecture

1..n

1..n

RCXTM Microcomputer

A Remote Computer

GUI

P2P Cam

Software

8-bit processor

Commander

32kb RAM

Mode Checker

A serial data communication port

FTP

RMI

IR

Operator

Robot Main Controller

1

Wandering

Vision Recognition

P2P Cam

Software

Robot Controller

Input port

Output port

IR Tower

Web Cam

Vision Command

2 Touch Sensors

2 Motors