Graphical user interface(gui) for the teleoperation of a deep tunnel crawling robotic platform

• Main Author: Chwa, Choon Xiang
• Other Authors: Seet Gim Lee, Gerald
• Format: Final Year Project
• Language: English
• Published: 2017
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: http://hdl.handle.net/10356/71832
• Institution: Nanyang Technological University

This Final Year Report describes the author’s work in developing a graphical user interface for the mobile operation of a deep tunnel crawling robotic platform, which will be utilized by Public Utilities Board, Singapore. To provide necessary information of the deep tunnel, various functionalities which can provide user a good observation to the tunnel environment would be implemented in the user interface. The robotic platform must be capable of being driven in the harsh environment and operated to conduct the tasks that could not be performed manually. Thus, the studies of the principles of user interface design and references of commercially available graphical user interface were necessary to identify the main requirements for designing a good graphical user interface to operate robotic platform. User interfaces could be created by different design platforms which are supported by different programming languages such as the WebUI and RQT. RQT is selected as the design platform of the graphical user interface of the project due to a better efficiency and operability. The following elements were expected to be implemented within the duration of the Final Year Project: Sensors, Robot Steering Robot Control, Camera Images. The design constraint of each element was highlighted to make sure that the requirements could be achieved by the design and the coding structure of each element. After the graphical elements had been integrated into the main interface, some experiments and tests of the main interface were conducted. The limitations of the graphical user interface were also met during the driving of the robotic platform with the user interface. Based on the timeframe and requirements laid out in the beginning of the project, the user interface of the project was successfully implemented. To conclude, the functionalities of user interface were implemented by the author with creativity to achieve the goal of the project. His work has been extensively discussed in the report.