R.O.M.P Robot Orientation Mapping Project Team Evolution Peri Subrahmanya: Lead Designer Michael Lazar: Project Manager Sean Hogan: Lead Designer Joe Hackstadt: Lead Programmer Sean Williams: Documentation & Testing

Overview Problem Solution Users Non-Functional Requirements Functional Requirements Architecture Prototypes: –Mapping –Camera Controls Summary Team Evolution

Problem Orientation! –Users need to know where they are –Users need to know where they can go –Users need to know the camera direction and robot heading relationship –Users need to easily control the camera as well as the robot movement Team Evolution

Solution Develop intuitive camera controls to allow panning, tilting, and zooming of the robot camera while keeping camera bearing and robot heading orientation Develop a mapping feature that allows intuitive orientation of the robot and it’s location within it’s environment Team Evolution

Users All ages Majority are 6 th graders and above Internet connection speed of 56Kbps+ Team Evolution

Non-Functional Requirements Camera Controls –Easy to use interface –Provide good feedback of control response –Provide good ‘mapping’ of control to function Mapping –Provide enough detail to gain orientation –Assist in robot navigation Misc. –Develop robust and modular designs –Use efficient coding techniques Team Evolution

Functional Requirements Provide controls to allow the camera pan, tilt, and zoom Provide mapping feature Run on existing framework (Java) Support all Java 1.1 capable browsers Team Evolution

Architecture Team Evolution

Prototypes Mapping Camera Controls Team Evolution

Mapping Feature Purpose: Provide the users a better sense of orientation by indicating: The position of the robot within the building Where the robot is allowed to go The direction the robot is facing The direction the camera is pointing? Team Evolution

Mapping Feature Displaying the map Perspective ° 2-D overhead ° 3-D Size ° Full view of map ° Partial view of map Rotation ° Map remains fixed while robot rotates ° Robot remains fixed while map rotates Team Evolution

Prototype – Fixed full map, Rotating robot Team Evolution

Mapping Feature 1. Fixed, full view map Advantages ° Provides user with the whole picture ° Direction of the map is consistent Disadvantages ° Takes up considerable amount of screen space ° Robot is often facing a different direction than the control arrows ° Minimal amount of detail Team Evolution

Prototype – Fixed partial map, Rotating robot Team Evolution

Mapping Feature 2. Fixed, partial view map Advantages ° Takes up less screen space ° Direction of the map is consistent ° More detailed Disadvantages ° Only shows a small section of the map ° Robot is often facing a different direction than the control arrows Team Evolution

Prototype – Rotating partial map, Fixed robot Team Evolution

Mapping Feature 3. Rotating, partial view map Advantages ° Takes up a small amount of screen space ° Robot is always facing the same direction as the control arrows ° More detailed Disadvantages ° Only shows a small section of the map ° The changing map direction may confuse the user Team Evolution

Prototype – Combination: Fixed full & rotating partial maps Team Evolution

Mapping Feature 4. Combination of fixed full and rotating partial maps Advantages ° Full map provides big picture, while partial map provides detail Disadvantages ° Takes a large amount of screen space ° Two maps may be too distracting Team Evolution

Pan Zoom Web Controlled SIUE Design #1 Camera Control Team Evolution

Design #1 Client Comments 1- Word identifiers for controls, ICONS would be better 2- The arch dial for the camera movement may not be intuitive 3- Would be nice to have a auto reset feature Team Evolution

Web Controlled SIUE Design #2 Movement Camera Tilt Zoom Team Evolution

Design #2 Client Comments 1- Pan & Zoom could be placed together 2- The rectangular panel looks better 3- Overhead in controlling the movement and the camera controls

Questions