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Software Framework for Teleoperated Vehicles

Software Framework for Teleoperated Vehicles. Team Eye-Create ECE 4007 L01 Karishma Jiva Ali Benquassmi Safayet Ahmed Armaghan Mahmud Khin Lay Nwe. Project Overview. Created a prototype of a software framework that enables teleoperation

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Software Framework for Teleoperated Vehicles

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  1. Software Framework for Teleoperated Vehicles Team Eye-Create ECE 4007 L01 Karishma Jiva Ali Benquassmi Safayet Ahmed Armaghan Mahmud Khin Lay Nwe

  2. Project Overview • Created a prototype of a software framework that enables teleoperation • Enables teleoperation and streaming data in real time • Software is customized for test platform that demonstrates functionality

  3. Hardware Dataflow Webcam MAX232 Level Converter Board REHI MAX232 Level Converter e-Box GPS receiver iRobot Create Sonar sensor Phidget board Router LCD panel Computer with QT support.

  4. Mechanical Assembly

  5. Start Initialize Serial Port Success Initialize Server Failure Close Connection Success No Still connected Wait for connection Wait to receive commands Yes Is Quit Command No Execute Command End Yes Robot Executive Structure

  6. Start Initialize Peripheral Success Initialize Server Failure Success Wait for connection Read data from peripheral Send data to client Still connected Wait some time End Yes No Robot Data Server Structure

  7. Control Interface Webcam Image Longitude/ Latitude Altitude Sonar Data Control Buttons Heading GPS Data

  8. Control InterfaceDataflow Between Classes

  9. Control InterfaceFlowchart for Thread Run Methods

  10. Specifications • Product features • Remote control of robot/hardware • Flexible software architecture • Can accommodate various sensors • GUI for user control • Prototype features – using iRobot Create • Control over wireless network • Video feedback from robot • GPS data from robot • SONAR data from robot • GUI Control Interface • Data displayed in GUI

  11. Demonstration • Verification specs • Robot control over network • User Interface • Video feedback • GPS data • Sonar data • USB port • Serial port • Video

  12. Marketing and Cost • Targeted Customers • Has a hardware platform • Need a teleoperable robot • Rescue missions, exploration, military operations • Cost • Selling Price: $30,000 • Selling 60 units in 6 years • Profit: $242,860

  13. Time line

  14. Further work • Integrate Joystick to allow easier control • Enable the use of cell phone networks for communication

  15. Questions? Acknowledgements • Professor Hamblen • Edgar Jones • James Steinberg

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