Team Project: A Surveillant Robot System Little Red Team Chankyu Park (Michael) Seonah Lee (Sarah) Qingyuan Shi (Lisa) Chengzhou Li JunMei Li Kai Lin Functional Analysis

October 17, System Overview IR Communication A remote user The invader Robot The surveillant robot Robot main controller Room Remote Control robots, Receive a detected signal, See behavior of robots Control robots, Play a bridge role between robots and remote user, Provide live video A WebCam USB Internet USB InfraRed Internet System & User Legend A lab experimenter

October 17, Top-level function 2: Manage Robots A lab experimenter, Robot main controller Alarm 1: Manage system 5: Detect an intruder /an survelliant A remote user, A remote Computer 3: Transfer live video A lab experimenter, Robot main controller Send video control Notify 4: Wandering Both robots Control Robot Both cameras 6: Raise alarm Control camera Notify A survelliant robot 7: Runaway A intruder robot Runaway Connect status Status

October 17, nd -level functions (1/7) 1: Manage system A remote computer Receive Notify 1.3: RMI Proxy 1.4: Notify detection to the user Video Stream 1.7: Stream buffering 1.8: Display video Control robots 1.1a: select function 1.2: RMI proxy Connect video 1.1b: configure connection 1.6: open connection P2P cam software Client ProgramRMI RegistryA Remote User RMI Registry Client Program FTP A Remote User FTPP2P cam software

October 17, nd -level functions (2/7) 2: Manage Robots Main Control Computer Control from remote 2.1: RMI proxy 2.7: transfer camera command Control camera Notify from camera Status of robot Control robots Notify to remote Raise alarm 2.6: conversion of notification 2.8: transfer robot command 2.5: analyze status 2.3: camera proxy 2.3: Camera proxy 2.2: IR proxy 2.4: command dispatcher 2.2: IR proxy 2.1: RMI proxy runaway 2.2: IR proxy - survellinet 2.2: IR proxy - intruder A Remote User RMI Registry Initiate Server Program IR Tower Server Program Vision Recognition SW Server Program RMI Registry IR Tower

October 17, nd -level functions (3/7) 3: Transfer live video Connect Video 3.1: Initialization 3.2: Open connection Video stream 3.3: Sending Video Web Cam Main Control Computer Initiate P2P cam software A Remote User P2P cam software FTP P2P cam software FTP

October 17, nd -level functions (4/7) 4: Wandering Both robots Control Robots 4.2.3: detect wall 4.2.2: control motors 4.1.1: Initialization 4.1.2: Standby 4.1.3: Run 4.2.1: decide direction 4.2.4: receive signal from sensor 4.1: Start wandering4.2: Control Wandering Status of robot Embedded programEmbedded Program Motors Wheels Touch Sensors Motors Wheels Walls

October 17, nd -level functions (5/7) 5: Detection of Intruder/Survelliant Both cameras Control 5.2.4: recognize object 5.2.2: Divide region 5.2.1: capture video 5.2.3: detect color 5.1: Start detection5.2: Control detection Notify from the camera 5.1.1: Initialization 5.1.2: Standby 5.1.3: Run Motors Wheels Vision Recognition SW Vision Command Vision Recognition SW Vision Command IR Tower

October 17, nd -level functions (6/7) 6: Raise alarm A survelliant robot Alarm 6.1: IR Proxy6.2: Raise alarm 7: Runaway Intruder robot runaway 7.1: change runaway mode7.2: start runaway Status IR Tower Embedded program Motors Wheels Embedded program Sound device

October 17, States and Modes - 1 Modes of both robots States of survellient robot Stand-by Run Test Mode Pausing & Alarming Ready Wandering StartStop DetectingStart Time-out Stop

October 17, States and Modes - 2 States of intruder robots Runaway Ready Wandering StartStop DetectingStart Stop Modes of both robots Stand-by Run Test Mode

October 17, A Remote Computer RCX TM Microcomputer Robot Main Controller Functional Architecture Robot Controller Commander Vision Recognition P2P Cam Software Wandering Mode Checker GUI IR Tower Vision Command 2 Motors Web Cam Operator 8-bit processor 32kb RAM A serial data communication port 2 Touch Sensors Input port Output port P2P Cam Software FTP RMI IR 1..n 1