Communication & Robotics Laboratory 1 Students: Jason Gorski, Aleksandra Krsteva, Yuanyuan Chen Faculty: Imad H. Elhajj Department of Computer Science and Engineering Communications and Robotics Laboratory Sensor Network Assisted Teleoperation

2 The Idea : Internet Remote Site Sensor Network Teleoperated Robot Operator Interface Site Force Feedback Haptic Device

3 Challenges, Difficulties & Applications Applications:  Military  Safe/Efficient Navigation  Search and Recovery  Automotive  Collision Avoidance  Exploration  Space  Deep Sea  Environmental  Oil Spill Containment/Avoidance  Tracking Challenges  Collect and aggregate data  Interfacing sensor network to a human and a robot  Synchronization of data Difficulties  Dynamic and Unknown Environment  Localization of the sensor network and the mobile robot  Sensory Errors  Energy and Processing Constraints

4 Theory – Vector Approach Mobile Robot Sensor Node Area of Interest Light Intensity Bearing Scalar Distance Intensity Position

5 Q2 Q3Q4 Q1 Theory – Quadrant Approach Mobile Robot Sensor Node Area of Interest Where: C = Confidence Level of Sensor Readings I = Average Intensity Q = Quadrant Location of Each SN

6 Experimental Setup Sensor 1 Sensor 2 Sensor 3 Mobile Robot

7 Results – Dual Sensors Single Sensor Results – For Reference

8 Results Data Fusion Using Quadrant Approach Data Fusion Using Vector Approach