Team Project:
A Surveillant Robot System
Functional Analysis
Little Red Team
Chankyu Park (Michael)
Seonah Lee (Sarah)
Qingyuan Shi (Lisa)
Chengzhou Li
JunMei Li
Kai Lin
System Overview
Control robots,
Play a bridge role between
robots and remote user,
Provide live video
Internet
A lab experimenter
USB
Remote Control robots,
Receive a detected signal,
See behavior of robots
Robot main controller
A remote user
A WebCam
Room
Legend
System & User
March 3, 2005
IR
Communication
The invader
Robot
Internet
InfraRed
USB
2
The surveillant
robot
Top-level function
1: Manage system
A remote user, A remote Computer
3: Transfer live video
A lab experimenter, Robot main controller
Alarm
Control
camera
March 3, 2005
Notify
Both robots
Status
Control
Robot
4: Wandering
Send video
Connect
Notify
control
2: Manage Robots
5: Detect an intruder
/an survelliant
Both cameras
A lab experimenter,
Robot main controller
Ru
na
w
ay
st
at
us
6: Raise alarm
A survelliant robot
3
7: Runaway
A intruder robot
2nd-level functions (1/7)
A remote computer
1: Manage system
1.1a: select
function
A Remote User
Receive
Notify
1.3: RMI
Proxy
RMI Registry
Client Program
FTP
March 3, 2005
RMI Registry
Client Program
A Remote User
Video
Stream
Control
robots
1.4: Notify
detection to
the user
1.1b:
configure
connection
1.7: Stream
buffering
1.2: RMI
proxy
P2P cam software
1.8: Display
video
P2P cam software
4
1.6: open
connection
FTP
Connect
video
2nd-level functions (2/7)
Main Control Computer
2: Manage Robots
Initiate
A Remote User
Control
from
remote
2.1: RMI
proxy
RMI Registry
2.2: IR proxy
Status of
robot
Notify
from
camera
IR Tower
2.3: camera
proxy
Vision Recognition SW
March 3, 2005
2.7: transfer
camera
command
Server Program
2.4:
command
dispatcher
2.8: transfer
robot
command
Server Program
Server Program
2.5: analyze
status
2.3:
Camera
proxy
Vision Recognition SW
2.2: IR
proxy
2.6:
conversion of
notification
Server Program
5
Control
robots
IR Tower
2.1: RMI
RMI Registry proxy
Server Program
Control
camera
Notify to
remote
2.2: IR
proxy IR Tower survellinet
Raise
alarm
2.2: IR
proxy IR Tower intruder
runaway
2nd-level functions (3/7)
Main Control Computer
3: Transfer live video
Initiate
A Remote User
3.1: Initialization
P2P cam software
Connect
Video
3.2: Open connection
P2P cam software
FTP
3.3: Sending Video
Web Cam
P2P cam software
FTP
March 3, 2005
6
Video
stream
2nd-level functions (4/7)
Both robots
4: Wandering
Control
Robots
4.1: Start wandering
4.2: Control Wandering
Embedded program
Embedded Program
4.1
4.2
4.2.1: decide
direction
4.1.1:
Initialization
Motors
Wheels
4.1.3:
Run
4.1.2:
Standby
4.2.3: detect
wall
Motors
Wheels
Walls
March 3, 2005
4.2.2:
control motors
7
4.2.4: receive
signal from
sensor
Touch Sensors
Status of
robot
2nd-level functions (5/7)
Both cameras
5: Detection of Intruder/Survelliant
Control
5.1: Start detection
5.2: Control detection
Vision Recognition SW
Vision Command
5.1
Vision Recognition SW
Vision Command
5.2
5.1.1:
Initialization
IR Tower
5.2.1: capture
video
5.2.4:
recognize
object
5.2.2:
Divide region
5.2.3: detect
color
5.1.3:
Run
5.1.2:
Standby
March 3, 2005
Motors
Wheels
8
Notify
from the
camera
2nd-level functions (6/7)
A survelliant robot
6: Raise alarm
Alarm
6.1: IR Proxy
IR Tower
6.2: Raise alarm
Embedded program
Sound device
Intruder robot
7: Runaway
runaway
7.1: change runaway mode
IR Tower
March 3, 2005
7.2: start runaway
Embedded program
Motors
Wheels
9
Status
States and Modes - 1
States of survellient robot
Modes of both robots
Stand-by
Ready
Stop
Run
Start
Wandering
Stop
Start
Detecting
Pausing & Time-out
Alarming
Test Mode
March 3, 2005
Stop
10
States and Modes - 2
States of intruder robots
Modes of both robots
Stand-by
Ready
Stop
Run
Stop
11
Start
Detecting
Runaway
Test Mode
March 3, 2005
Start
Wandering
Start
Stop
Functional Architecture
1..n
A Remote Computer
P2P Cam
Software
1..n
GUI
8-bit processor
Commander
32kb RAM
Mode Checker
FTP
A serial data
communication
port
RMI
IR
1
Robot Main Controller
P2P Cam
Software
Web Cam
March 3, 2005
Robot
Controller
RCXTM Microcomputer
Operator
Wandering
Vision
Recognition
Input
port
IR Tower
Vision
Command
12
2 Touch
Sensors
Output
port
2 Motors