Team Project:
A Surveillant Robot System
SW & HW Test Results : 04/18/2005
Little Red Team
Chankyu Park (Michel)
Seonah Lee (Sarah)
Qingyuan Shi (Lisa)
Chengzhou Li
JunMei Li
Kai Lin
Task Plan
~ 3.24 (5)
Implementation SD 1-2
SD 1-1
SD 4-1
~ 3.31. (4)
~ 4.14. (2)
~ 4.07. (3)
~ 4.21. (1)
SD 2-1
SD 4-1
SD 2-3
Readiness
Demo
SD 3-1
SD 4-2
Project
Demo
SD 3-2
Basic Model
Test
Software
Test
Hardware
Test
Hardware
Test Plan.
System
Test
System
Test Plan,
Preparation
Technology
Investigation
Wall Setting
Feasibility Experiment
Now
April 12, 2020
~ 4.28. (0)
SD 2-2
SD 1-2
Software
Test Plan,
Test
Today
Environment
for Demo
T-shirts, etc.
Basic System
Final System
2
Test
Demo
System Overview
Control robots,
Play a bridge role between
robots and remote user,
Provide live video
A lab assistant
Internet
Remote Control robots,
Receive a detected signal,
See behavior of robots
USB
Surveillant controller
A remote user
The invader
Robot
intruder controller
IR
Communication
A WebCam
Room
Legend
System & User
April 12, 2020
Internet
InfraRed
USB
3
The surveillant
robot
Deployment view
Legend
RCX
Remote User
MindStorm
Robot
Camera
RMI/JINI
Interface
InfraRed
Channel
Camera USB
Surveillant Robot
Controller
Notebook
Computer
Main Cam
RCX
April 12, 2020
Intruder Robot
Controller
RCX
4
Software Lists
 SW Lists for Surveillant Functions
 The remote user program & Webcam
receiver/transmitter
 The surveillant controller & vision detector
 The embedded program of the surveillant robot
 SW Lists for Intruding Functions
 The intruder controller
 The embedded program of the intruding robot
April 12, 2020
5
ST#0: WebCam part
 STC 0-1: To view the room where the
surveillant robot is, via the internet
 Pass if the remote user sees the robot via the
internet
 Now, we directly implemented webcam program to
integrate control panel for remote user
Implementation finished
April 12, 2020
6
SD#1: remote user program
Basic User Interface
Mode Selector
Remote control
Surveillance
Remote User
Start
Stop
Actual
Implemented
UI
Role of
webcam
Implementation finished
April 12, 2020
7
Receiver/Transmitter for webcam
For receiver; remote user
For video Transmitter
Implementation finished
Actual
Implemented
UI
April 12, 2020
8
ST#1: remote user program
 STC 1-1: To check the connection of RMI/JINI
Interface between the client and the server
 Pass if the client receives the response from the server,
when the remote user presses the left arrow
 Pass if the client receives the response from the server,
when the remote user presses the right arrow
 Pass if the client receives the response from the server,
when the remote user presses the forward arrow
 Pass if the client receives the response from the server,
when the remote user presses the backward arrow
Test finished
April 12, 2020
9
ST#1: remote user program
 STC 1-2: To check the status of the robot
 Pass if the client receives the information whether the
robot is ready or not from the server
 Pass if the client sends the information whether the
robot is controlled or autonomous, and the server
sets the mode according to the information
Test finished
Ready
Stand-by
Stop
Stop
Run
Start
Wandering
Start
10
Start
Controlling
Detect
Pausing &
Alarming
April 12, 2020
Stop
Time-out
SD#2: Surveillant Controller
Call services
Provide services
RMI/JINI Interface
2-1
Detection Vision & Region
Basic User Interface
2-2
Surveillant Robot Controller
Raise
Alarm
Surveillant
Task
Remote
Control
Main Cam
Robot
Camera
2-3
Color Setting
Not Yet Tested
& Implemented
(80%)
Vision
Detection
leJOS API
Control robot
April 12, 2020
11
Video
Transmission
2-4
Live Video
Camera
ST#2: Surveillant Controller
 STC 2-1: To control the robot when the robot is
ready
 Pass if the robot is moving left while the server
program is receiving the command to move left
 Pass if the robot is moving right while the server
program is receiving the command to move right
 Pass if the robot is moving forward while the server
program is receiving the command to move forward
 Pass if the robot is moving backward while the server
program is receiving the command to move backward
Test finished
April 12, 2020
12
ST#2: Surveillant Controller
 STC2-2: To get the detection information
 Pass if the server program gets the detection
information when the robot detects an intruder
 Pass if the server program have robot raise an alarm
when the program gets
the information
Not Yet
 STC2-3: To have the surveillant robot to
wander in the room
 Pass if the robot starts navigating the room within 3
seconds after the server commands to start the robot
 Pass if the robot stops navigating the room within 3
finished
seconds after the Test
server
commands to stop the robot
April 12, 2020
13
SD#4: The embedded program
RS-232C/IR
Surveillant Robot
IN Channel
Out Channel
Dispatcher Thread
RCX
Main Thread
Remote
Control
Model
Surveillant
Navigation
Mode
Java TINY VM
RCX FirmWare
Implementation finished
Sensors
April 12, 2020
4-1
14
Motors
4-2
ST#4: The embedded program
 STC4-1: To check dispatcher thread
 Pass if the robot is controlled by the server program
(STC2-1, STC2-2, STC2-3)
 STC4-2: To check main thread
 Pass if the robot navigates in the way expected by
the lab experimenter
Test finished
April 12, 2020
15
SD#3: The control program
Detection Vision & Region
3-1
Basic User Interface
RunAway
Intruder Robot Controller
Vision
Detection
Robot
Camera
3-2
leJOS API
Not Yet Tested
& Implemented
(80%)
RS-232C/USB
Color Setting
Control robot
April 12, 2020
16
ST#3: The control program
 STC 3-1: To control the robot when the robot is
ready
 Pass if the robot is moving left while the control
program is receiving the command to move left
 Pass if the robot is moving right while the control
program is receiving the command to move right
 Pass if the robot is moving forward while the control
program is receiving the command to move forward
 Pass if the robot is moving backward while the
control program is receiving the command to move
backward
Test finished
April 12, 2020
17
ST#3: The control program
 STC3-2: To get the detection information
 Pass if the control program gets the detection
information when the robot detects the surveillant
robot
 Pass if the control program
has robot run away when
Not Yet
the program gets the information
 STC3-3: To have the intruding robot to wander
in the room
 Pass if the robot starts navigating the room within 3
seconds after the server commands to start the robot
 Pass if the robot stops navigating the room within 3
seconds after the Test
server
commands to stop the robot
finished
April 12, 2020
18
SD#5: The embedded program
RS-232C/IR
Intruder Robot
IN Channel
Out Channel
Dispatcher Thread
RCX
Main Thread
Intruder
Navigation
Mode
Except for
Implementation finished
April 12, 2020
5-1
Java TINY VM
RCX FirmWare
Sensors
19
Runaway
Navigation
Mode
Motors
5-2
ST#5: The embedded program
 STC4-1: To check dispatcher thread
 Pass if the robot is controlled by the control program
(STC3-1, STC3-2, STC3-3)
Test finished
 STC4-2: To check main thread
 Pass if the robot navigates expected by the lab
experimenter
Test finished
April 12, 2020
20
Hardware Lists
 HD1: The Surveillant Robot
 Lego mindstorms : lejOS (Java)
 Lego mindstorms : Vision command camera
 IR Tower
 HD2: The Intruding Robot
 Lego mindstorms : lejOS (Java)
 Lego mindstorms : Vision command camera
 IR Tower
 HD3: The WebCam
 Logitech Quickcam Camera
 HD4: Wall parts
April 12, 2020
21
Hardware Lists
 HD5: A remote PC
 HD6: Surveillant controller PC
 HD7: Intruder controller PC
April 12, 2020
22
The Surveillant Robot
 HTC1-1: To change its direction
 Pass if the surveillant robot changes the direction
when it detects a wall by using touch sensors and
light sensor
Test finished
 HTC1-2: To wander in the room
 Pass if the robot moves around the every room
without troubles
Test finished
 HTC1-3: To detect the intruding robot
 Pass if the robot raises an alarm in 5 seconds when
the intruding robot is in the same room
Not yet
April 12, 2020
23
The Intruder Robot
 HTC2-1: To intrude into the room
 Pass if the robot comes into the room where the
surveillant robot is, controlled by a lab assistant
Not Yet
 HTC2-2: To detect the surveillant robot
 Pass if the robot begins to move another direction
from the surveillant robot in 5 seconds after the two
robots are in the same room
 Pass if the robot shows runs away behavior
Not Yet
April 12, 2020
24
The WebCam
 HTC3-1: To show the room where the robot is
 Pass if the WebCam shows the room in their
computers.
Test finished
April 12, 2020
25
A remote PC
 HTC5-1: To check the environment of the
remote PC
 Pass if the remote user program is installed in the
computer, and operates properly
Test finished
April 12, 2020
26
A surveillant controller
 HTC6-1: To check the environment of the
surveillant controller
 Pass if RMI server program is installed in the
computer, and operates properly
 Pass if vision detector is installed in the computer,
and operates properly
Test finished
April 12, 2020
27
Another control computer
 HTC7-1: To check the environment of the
control computer
 Pass if RMI server program is installed in the
computer, and operates properly
 Pass if vision detector is installed in the computer,
and operates properly
Not Yet
April 12, 2020
28
summary
 Last week, we had one integration test at the
robot lab for 4 hour.
 There are some problems as we expected.




Navigation
Color detection for light sensor
IR tower sensitivity
Demo environment
 Results so far : 90% of the whole system is
implemented, and 60% of whole tests is tested.
 this week, we have the plan to do two
integration test and demo preparation at the
robot lab
April 12, 2020
29