Software Framework for Teleoperated Vehicles Team Eye-Create ECE 4007 L01 Karishma Jiva Ali Benquassmi Safayet Ahmed Armaghan Mahmud Khin Lay Nwe.

Software Framework for Software Framework for Teleoperated VehiclesTeleoperated Vehicles

Team Eye-CreateTeam Eye-CreateECE 4007 L01ECE 4007 L01

Karishma JivaKarishma JivaAli BenquassmiAli BenquassmiSafayet AhmedSafayet Ahmed

Armaghan MahmudArmaghan MahmudKhin Lay NweKhin Lay Nwe

OverviewOverview

Software to control and communicate with Software to control and communicate with TGVsTGVs

Customizable software needed Customizable software needed

Customers with robotic vehiclesCustomers with robotic vehicles

$42,140 development cost of test platform$42,140 development cost of test platform

Design ObjectivesDesign Objectives

Flexible modular software architectureFlexible modular software architecture

Communication and control over wireless Communication and control over wireless networknetwork

Sensors and video feedbackSensors and video feedback

Overall System Description Overall System Description

Overall System Description Overall System Description

Open InterfaceOpen Interface Protocol to communicate with iRobotProtocol to communicate with iRobot

Commands made of opcode andCommands made of opcode and

parametersparameters

Protocol does not implement any Protocol does not implement any

hand shakinghand shaking

RS-232 Serial InterfaceRS-232 Serial Interface

Robot End SoftwareRobot End Software

iRobot Create

SerialCommunication

TC

P/IPMotion Control

Controlled Robot API

Sensors

USB

Executive Program

TCP/IP

Com

mun

icat

ion

Lib

rary

Robot End SoftwareRobot End Software

USB

GPS Receiver

Temperature Sensor

Some Other Sensor

Sensors Layer

Network Configuration of Test Network Configuration of Test PlatformPlatform

LAWN

Control End

Address relay node

Robot End

Layered Structure of Layered Structure of CommunicationsCommunications

Layers Layers correspond correspond

to our to our librarylibrary

Application Application LayersLayers

Remote Remote Access Access ProtocolProtocol

Address Address Relay Relay

ProtocolProtocol Video feedback Video feedback systemsystem

Boundary Boundary Preserving ProtocolPreserving Protocol

Layers Layers correspond correspond to libraries, to libraries,

OS and OS and hardwarehardware

Transport Transport LayerLayer TCPTCP UDPUDP

Network Network LayerLayer IPIP

Link LayerLink Layer 802.11 Wireless802.11 WirelessPhysical Physical LayerLayer

Boundary Preserving ProtocolBoundary Preserving Protocol

TCP does not preserve message boundaries TCP does not preserve message boundaries

BPP provides message boundary abstractionBPP provides message boundary abstraction

Message SizeMessage Size Complete messageComplete message

4 bytes4 bytes Variable sizeVariable size

Address Relay ProtocolAddress Relay Protocol

Problem: Problem:

- DHCP assigns client, server arbitrary addresses- DHCP assigns client, server arbitrary addresses

- Client needs server address to initiate - Client needs server address to initiate communication communication

Solution: Solution:

- Third node with static address- Third node with static address- Node relays address between server, client- Node relays address between server, client

Address Relay ProtocolAddress Relay Protocol

Server’s IPV4 address

Server’s IPV4 address

Server not registered

request

request

Server Address Relay ClientMessage formats

Request: single ascii character “r” sent by client

Server not registered:4 bytes representing address 255.255.255.255

Server’s IPV4 address:Server’s 4 byte IP address in network byte order

Remote Access ProtocolRemote Access Protocol

Remotely access different robot functions Remotely access different robot functions e.g. wheel velocitye.g. wheel velocity

Transfer sensor data back to the control Transfer sensor data back to the control interfaceinterface

Op code when Op code when transmitting to robottransmitting to robot Function argumentsFunction arguments

4 bytes4 bytes Variable sizeVariable size

Sensor ID when Sensor ID when transmitting from transmitting from

robotrobot

Sensor dataSensor data

Example:Example:

0x000000030x00000003 0xFFFFFF000xFFFFFF00 0xFFFFFF000xFFFFFF00

Function: “wheel Function: “wheel velocity” (4 bytes)velocity” (4 bytes)

Left wheel velocity Left wheel velocity

(4 bytes)(4 bytes)Right wheel velocity Right wheel velocity

(4 bytes)(4 bytes)

Description of Video Transfer Description of Video Transfer ProtocolProtocol

To be determinedTo be determined

Should Should • transfer video frames of sufficient transfer video frames of sufficient

qualityquality• minimize delay in transfer of framesminimize delay in transfer of frames• preserve order of framespreserve order of frames

May use UDP to transmit framesMay use UDP to transmit frames

Graphic User Interface (GUI)Graphic User Interface (GUI)

Graphic User Interface (GUI)Graphic User Interface (GUI)

Development Tools & EnvironmentDevelopment Tools & Environment

Language: C, C++Language: C, C++

Compiler: GCC, MS C++ compilerCompiler: GCC, MS C++ compiler

OS: Windows CE, LinuxOS: Windows CE, Linux

Other Tools: Qt library, MS Visual Other Tools: Qt library, MS Visual Studio Studio

Time LineTime Line

Cost of Development of Test PlatformCost of Development of Test Platform

Parts CostParts Cost $3,850$3,850

Engineering labor Engineering labor $26,250$26,250

OverheadsOverheads $12,040$12,040

TotalTotal $42,140$42,140

Future Work Future Work

Code higher layers in robot end Code higher layers in robot end softwaresoftware

Complete coding communication Complete coding communication librarylibrary

Complete GUI development at Complete GUI development at control interfacecontrol interface

Integrate all systems and test on Integrate all systems and test on LAWNLAWN

QuoteQuote

My work is a game, a very serious My work is a game, a very serious game. game.

M. C. Escher (1898 - 1972)M. C. Escher (1898 - 1972)