Ruslan MasinjilaAida Militaru

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

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

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

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

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.

1. Main Arduino Microcontroller

2. Peripheral Arduino Microcontroller

3. DIY Hydrogen Wireless Shield

4. Parallax PING Ultrasonic Sensor

5. Serial LCD 16X2 Display6. 8 Pixel Thermal Array

Sensor 7. Futaba Servo Motors and

Wheels8. Line Tracker Optical

Sensors9. NiCad Batteries10. Wireless USB Camera

Can automatically detect and support a wide range of image acquisition devices.

Acquire images and video from cameras and frame grabbers.

Built in Matlab.

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

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

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.

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

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

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

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.

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.

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

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

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.

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.

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

Questions ?