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BSc thesis: "Web-based Remote Control of a Lego Mindstorms NXT Robot augmented with Android Smartphone" ----------- P08-TIC-04282 UE/regional funded project
Author: Pedro-Jose Serrano-Pitalua
Supervised by Dr. Juan-Antonio Fernandez-Madrigal Dr. Ana Cruz-Martin
DRIVING TEST THROUGH AN OBSTACLE COURSE
The smartphone is just held below the sonar sensor. It communicates with the robot through Bluetooth and with the remote web client through WiFi. The smartphone runs a Jetty web server.
This first test is just for showing the main components of the remote web interface (right-bottom corner of the video).
In this test the robot is guided by direct visual contact since the communication delays due to the high camera resolution prevent truly remote control.
OBSTACLE CLOSE-UP: ------- 1.-RAMP (inertial sensors) 2.-LAMP (light sensor) 3.-WALL (sonar sensor)
1.-RAMP Inertial sensors of the smartphone (they are zoomed up in the left-bottom corner of the video)
2.-LAMP Light sensor of the NXT robot
3.-WALL Ultrasound sensor of the NXT robot (here the communication delays are more evident)
All the panels of the interface can be hidden or deployed to optimize information feedback.
HISTORY The interface is able to store and retrieve all the sensory requests of the previous tests
Tabular time-stamped form
Time series of delays
Histogram of delays
Robot pose estimated by odometry through integration of the robot wheel encoders
DRIVING TEST WITHOUT LINE OF SIGHT FOR THE REMOTE OPERATOR
In this second test we prove true remote operation with a more powerful smartphone, disabling the history or requests, and reducing the image quality of the camera.
Left-top corner of the video: interface as seen by the operator
The operator himself ;)
The client PC is a high-performance one. We use push protocol for serving data from the smartphone to the interface (only supported by Firefox).
The center-top panel of the interface is showing a google map with the geolocalization of the robot.
The left-top panel shows information about the status of batteries (both robot and smartphone) and also wireless links.
We go out to a long corridor.
5x speed not to bore the audience.
At this point the line of sight is definitely lost.
Weeeeee! Going back!
Maybe someday Lego robots will actually move that fast... (sigh)
The shoes are of the camera assistant ;P
Thanks for your kind attention! ------------- System Engineering and Automation Dpt. ETSI Informatica University of Malaga (Spain) http://www.isa.uma.es