GRAPHICAL USER INTERFACE FOR COOPERATION SYSTEMS OF GROUND ROBOT AND AERIAL ROBOT FOR MONITORING CONSENTRATION OF CHEMICAL CONTAMINANT

• Main Author: WELSAN (NIM : 13214148), DEDDY
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/26447
• Institution: Institut Teknologi Bandung

<p align="justify"> <br /> <br /> Emergencies and hazards such as toxic gas leaks at factories, terrorism attacks with harmful chemical gases, and similar events require security and safety officers to survey to the locations where they occur. Surveys were undertaken to ascertain the situation and conditions of the location such as the level of hazardous substances that are still scattered. This can certainly endanger the safety of the people who conducted the survey. Therefore, a robotic cooperation system is designed that is able to measure chemical contaminants to replace human roles. <br /> <br /> To control the vehicle and observe the measurement data, it needs an interface system that is easy to use. To that end, a Graphical User Interface (GUI) will be developed. This GUI should be easy to use and also easy to understand by the operator. The selection of GUI as an interface is based on the general usage of GUI by the community, especially on personal computers and smart phones. <br /> <br /> GUI is built by doing development on QGroundControl (QGC). The development includes the addition of data visualization features in the form of pattern over two-dimensional maps and tables, as well as adding terminal features. GUI implementation is done using Qt Creator and C ++ and QML programming languages. C ++ is used for forming functional objects, whereas QML is used to form the interface. Due to the complexity of QGC, the implementation of the interface can not be done by using the drag and drop feature. All display implementations are done by writing QML code manually. In this final project, all operated robots are run in Robot Operating System (ROS) environment. ROS can already be installed and run on every robot and GCS. However, <br /> <br /> QGC does not have the features to communicate or to be operated in an ROS environment. Therefore, in this final project is also made a method to communicate between QGC and ROS by utilizing MAVLink communication protocol which run in MAVROS. Based on the results of tests conducted on the interface system that has been implemented, it is found that the desired specifications in the design has been achieved. QGC has been able to display contaminant data in the form of visualization on the map or in tabular form. QGC has also been able to run a terminal feature that can receive and execute commands from user input. Nevertheless, there are still things that can be developed in this research to get a better GUI. <br /> <br /> <p align="justify">