Acoustic and Visual Telepresence Robot Project

This project involves creating a remote-controlled robot that provides live video and binaural audio feed for remote surveillance purposes. The robot, equipped with advanced technology, can be adapted for various applications and future research. With the ability to live-stream high-quality video and detect sources of sound, it is a versatile tool for scenarios such as military reconnaissance, disaster relief, and exam invigilation. The comprehensive technical skills and assembly process are detailed, highlighting challenges faced during the prototype development.

• Robot Project
• Remote Surveillance
• Binaural Audio
• Technical Skills
• Military Reconnaissance

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Uploaded on Mar 07, 2025 | 0 Views

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Presentation Transcript

1. Acoustic and Visual Acoustic and Visual Telepresence Robot Telepresence Robot By Avatar (Lee Ming En, Siow Jing Xuan, Rachel Pong, Reuben Foo)

2. Project Overview Project Overview Remote-controlled robot via Wi-Fi Live access of its video and binaural audio feed Useful for remote surveillance

3. Why Our Project? Why Our Project? Essentially a moving CCTV with sight and hearing similar to those of human Able to live-stream video of good quality Binaural audio allows us to detect source of sound Can be readily adapted for other purposes and future research

4. Potential Uses Potential Uses Remote surveillance in military reconnaissance or disaster relief scenarios Exam invigilation A moving real-time radio station with video feed

6. Blueprint of our tank prototype Blueprint of our tank prototype

7. Picture of our tank Picture of our tank

8. Technical Skills Technical Skills Main Body Communications Controls Video Audio Tank chassis Transceivers Movement IP Camera Binaural mics Casing Turntable Webpage Servo motor IMU

9. Main body Main body Tank Chassis Casing Wiring

10. Main Body (Hardware) Main Body (Hardware) Assembly of tank chassis Intermediate prototype of our tank chassis

11. Putting the robot together Problems encountered Lack of space to place components Messy and inefficient wiring Intermediate prototype with messy wiring

12. Putting the robot together Putting the robot together Integrationof components onto tank via 3D prints & fasteners Camera mount Ethernet switch holders Servo motor holder Battery holder Casing

13. Putting the robot together Putting the robot together Soldering and insulation of connecting wires Careful placement of components depending on their connections Heat shrink and tape wires together

14. Communications Communications Transceivers Turntable Servo motor Inertial measurement unit (IMU)

15. Communications Communications Mode of communication: Wi-Fi Availability Cost Setting up of wireless LAN with transceivers

16. Directionality of transceivers Problems encountered Transceivers are directional Transceivers need to be aligned during deployment

17. Directionality of transceivers Problems encountered How we solve it Transceivers are directional Transceivers need to be aligned during deployment Print a turntable for the transceiver

18. Coding for servo motor Coding for servo motor 2 methods Compensation Signal strength

19. Coding for servo motor Coding for servo motor Compensation during static rotation Extract rotational displacement with inertial measurement unit (IMU) IMU

20. Coding for servo motor Coding for servo motor Using signal strength during gradual rotation Accessing their operating systems via SSH to obtain signal strength data Servo motor is set to turn clockwise initially, if signal strength increases, it continues to turn clockwise. Otherwise, it changes direction.

21. Rotation of turntable Problems encountered Wire entanglement due to excessive rotation of turntable Transceiver is wired

22. Rotation of turntable Problems encountered Wire entanglement due to excessive rotation of turntable How we solve it Use turntable of slip ring under Addition of slip ring under turn table

23. Placement of servo motor Problems encountered Servo motor cannot be placed directly below the turntable due to space constraints Gear System How we solve it Use of gear system to rotate turntable even when servo motor is not placed directly below the turntable 3D design and print the gear system Servo Motor Slip Ring

24. Controls Controls Movements Webpage

25. Controls (Software) Controls (Software) Coding for tank motion to include 8 directions of movement Directions What to press Directions What to press W W & D S W & A D S & D A S & A

26. Controls (Software) Controls (Software) Integration of motion controls, video and audio onto the same webpage Screenshot of our integrated webpage

27. Video (Live Stream) Video (Live Stream) IP camera

28. Video (Hardware) Video (Hardware) Mounting of IP Camera onto the tank platform Our mounted IP camera

29. Video (Software) Video (Software) Embedding to play live-streaming of video by camera Amcrest webpage Our own webpage

30. Audio (Live Stream) Audio (Live Stream) Binaural Microphones

31. Audio (Hardware) Audio (Hardware) 3D printing the ears and mounting the microphones onto the ears 3D-printed ears

32. Audio (Hardware) Audio (Hardware) Soldering connectors and using USB soundcards to make an audio splitter for the binaural microphones Making of audio splitter

33. Audio (Software) Audio (Software) Programming to play live-streaming of audio recorded by binaural microphones Improving audio quality by reducing x- run errors and latency

34. Audio programming Problems encountered Audio HAT did not provide for stereo input Tried many software but many do not allow stereo recording X-run errors occurred that affected audio quality

35. Audio programming Problems encountered How we solve it Use of USB adapters instead that connect to the RPi directly Audio HAT did not provide for stereo input

36. Audio programming Problems encountered How we solve it Tried many software but many do not allow stereo recording

37. Audio programming Problems encountered How we solve it X-run errors occurred that affected audio quality

38. Audio programming Problems encountered How we solve it X-run errors occurred that affected audio quality

39. Live Demo of Robot

40. This project is proudly presented by

41. Thank you and have a nice semester! Thank you and have a nice semester! Any questions?