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Communication & Robotics Laboratory

Students: Jason Gorski, Aleksandra Krsteva, Yuanyuan Chen

Faculty: Imad H. Elhajj Department of Computer Science and EngineeringCommunications and Robotics Laboratory

Sensor Network Assisted

Teleoperation

2The Idea

:

Internet

Remote Site

Sensor Network

Teleoperated Robot

Operator Interface Site

Force Feedback Haptic Device

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Challenges, Difficulties & Applications

Applications: Military

Safe/Efficient Navigation Search and Recovery

Automotive Collision Avoidance

Exploration Space Deep Sea

Environmental Oil Spill Containment/Avoidance Tracking

Challenges Collect and aggregate

data

Interfacing sensor network to a human and a robot

Synchronization of data

Difficulties Dynamic and Unknown

Environment

Localization of the sensor network and the mobile robot

Sensory Errors

Energy and Processing Constraints

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Theory – Vector Approach

1s2s

nsMobile Robot

Sensor Node

Area of Interest

1f

nf

2f

2

*

i

iii

v

vIf ),( iii PIfF

Light IntensityBearing

Scalar Distance

Intensity

Position

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Q2

Q3 Q4

Q1

Theory – Quadrant Approach

1s2s

nsMobile Robot

Sensor Node

Area of Interest

QICgfforce

,,Where:

C = Confidence Level of Sensor Readings

I = Average Intensity

Q = Quadrant Location of Each SN

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Experimental Setup

Sensor 1

Sensor 2

Sensor 3

Mobile Robot

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Results – Dual Sensors

Single Sensor Results – For Reference

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Results

Data Fusion Using Quadrant Approach

Data Fusion Using Vector Approach