Team Project:
A Surveillant Robot System
Development Plan 03/24
Little Red Team
Chankyu Park (Michael)
Seonah Lee (Sarah)
Qingyuan Shi (Lisa)
Chengzhou Li
JunMei Li
Kai Lin
Agenda
† Deployment View
† Software Design
† Task Plan
† Task Assignment
† Robot Picture
† Development Environment
April 22, 2005
2
Deployment view - 1
Legend
RCX
Remote User
MindStorm
Robot
Camera
RMI/JINI
Interface
InfraRed
Channel
Camera USB
Surveillant Robot
& Intruder Controller
Notebook
Computer
Main Cam
RCX
April 22, 2005
RCX
3
Deployment view - 2
Legend
Remote User
RCX
MindStorm
Robot
Camera
Main Controller
RMI/JINI
Interface
InfraRed
Channel
Main Cam
Camera USB
Suvellient Robot
Controller
Notebook
Computer
Intruder Robot
Controller
RCX
April 22, 2005
RCX
4
Deployment view – 3(final)
Legend
RCX
Remote User
MindStorm
Robot
Camera
RMI/JINI
Interface
InfraRed
Channel
Camera USB
Surveillant Robot
Controller
Notebook
Computer
Main Cam
RCX
April 22, 2005
Intruder Robot
Controller
RCX
5
Software Design – SD#1
Remote Control Panel
Room Live Video
Mode Selector
Basic User Interface
1-2
Mode Selector
Remote User
Remote control
Surveillance
Start
Stop
RMI/JINI Interface
Call services
April 22, 2005
1-1
Provide services
6
Software Design – SD#2
Call services
Provide services
RMI/JINI Interface
Raise
Alarm
Remote
Control
Main Cam
Surveillant
Task
Surveillant Robot Controller
2-1
Detection Vision & Region
Basic User Interface
2-2
Robot
Camera
2-3
Color Setting
Vision
Detection
leJOS API
Control robot
April 22, 2005
7
2-4
Video
Transmission
Live Video
Camera
Software Design – SD#3
3-1
Detection Vision & Region
Basic User Interface
RunAway
Intruder Robot Controller
Vision
Detection
Robot
Camera
3-2
leJOS API
RS-232C/USB
Color Setting
Control robot
April 22, 2005
8
Software Design – SD#4
RS-232C/IR
IN Channel
Surveillant Robot
Out Channel
Dispatcher Thread
RCX
Main Thread
Remote
Control
Model
Surveillant
Navigation
Mode
Java TINY VM
RCX FirmWare
Sensors
April 22, 2005
4-1
9
Motors
4-2
Software Design – SD#5
RS-232C/IR
IN Channel
Intruder Robot
Out Channel
Dispatcher Thread
RCX
Main Thread
Intruder
Navigation
Mode
Runaway
Navigation
Mode
Java TINY VM
RCX FirmWare
Sensors
April 22, 2005
10
Motors
5-1
Task Plan
~ 3.24 (5)
Implementation SD 1-2
SD 1-1
SD 4-1
~ 3.31. (4)
~ 4.14. (2)
~ 4.21. (1)
SD 2-1
SD 4-1
SD 2-3
Readiness
Demo
SD 3-1
SD 4-2
Project
Demo
SD 3-2
Basic Model
Test
Software
Test
Hardware
Test
Hardware
Test Plan.
System
Test
System
Test Plan,
Preparation
Technology
Investigation
Wall Setting
Feasibility Experiment
Now
April 22, 2005
~ 4.28. (0)
SD 2-2
SD 1-2
Software
Test Plan,
Test
~ 4.07. (3)
Environment
for Demo
T-shirts, etc.
Basic System
Final System
11
Test
Demo
Task Assignment (1/3)
† Chankyu Park
„ Team Leader
† Leading a weekly meeting
† Technical support for volunteers
„
Implementation
† SD#1, SD#2, and SD#3
„ Preparation
† Feasibility Experiment
† Technology Investigation
† Wall setting
April 22, 2005
12
Task Assignment (2/3)
† Seonah Lee
„ Process Manager
† Reviewing & Improve the process
† Documentation
„
Implementation
† SD#1, SD#2, and SD#3
„ Testing
† Software/Hardware Testing
† System Testing
April 22, 2005
13
Task Assignment (3/3)
† Volunteers
„ Team members
† Attending a weekly meeting
† Doing at least 7 hours a week
„
Implementation
† SD#4 and SD#5
„ Preparation
† Reporting problems / issues
April 22, 2005
14
MindStorm Robot prototype
April 22, 2005
15
Development Environment
† Hardware
„
„
„
„
Lego mindstorm : production system
Vision Commander Camera
IR Tower,
Notebook Computer X 3
† Software
„
„
„
„
„
leJOS 2.1.0: lego mindstorm Java API and Tiny VM
Vision API : a part of leJOS.
Java RMI/JINI : Remote Method Invocation.
Eclipse : Java IDE
JMF : Java Media Foundation for live video
transmission
April 22, 2005
16