Interactive control of a microcontroller-based bluetooth surveilance robot through integrated video analysis

Date

3-2010

Degree

Bachelor of Science in Applied Physics

College

College of Arts and Sciences (CAS)

Adviser/Committee Chair

Nelio C. Altoveros

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Abstract

A Bluetooth surveillance robot was designed, implemented and evaluated. A video analysis procedure was devised to transform the two-dimensional coordinate plane of the video pixels to a pseudo three-dimensional plane that corresponds to the actual coordinates of the camera’s surroundings. This enables the user to navigate the robot by just clicking on to a destination point as seen through a video feed. The navigation function of the surveillance system using the camera feed was evaluated by determining the heading angle error, displacement accuracy, and destination point accuracy. Due to mechanical limitations caused by the caster wheel, and other variables such as camera tilt and the robot’s angular displacement per step, there were observed errors in actual destination points. The robot’s actual final position deviated from the expected destination with an average of 11.51 cm for all the test points. The heading angle error was found to have an average value of 1.28262 degrees for all the test values of turn steps while the displacement accuracy has an average value of 1.0821 cm for all the test values of displacement. The evaluation tests done for the video analysis procedure showed a 0.36% error for the transformed y-axis and 2.05% error for the x-axis. The efficiency of Bluetooth as a wireless transmission medium was tested. The Bluetooth disconnection distance was identified to have an average value 39.35 m and 8.07 m for unobstructed and obstructed transmissions respectively. The average for the unobstructed transmission is 196.75 % greater than the expected value of 20 m. The Wireless IP Camera had a measured video latency average of 185.454 ms. The use of the workstation’s input devices, such as the keyboard and mouse, was maximized by utilizing them to send control characters to the robot. The motors’ performance was evaluated by measuring its holding torque, robot’s horizontal pulling force, and average velocity at different values of performance factors such as motor speed and motor voltage.

Language

English

Document Type

Thesis

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