IIOTLab

2024 - IIOTLab, Aplicativo para Telecomandar y Visualizar Remotamente el Estado de los Sensores de un Robot Móvil. 

IIOTLab consists of a web application that allows for basic user management, including the creation of new users, user login, and the ability to recover their password if they forget or lose it. Once inside the portal, users will have access to the two main modules, through which they can remotely control and monitor the mobile robot using the first module. They will also be able to save the obtained values ​​for later viewing and exporting them from the second module. The details of the operation and flow of each module will be discussed in subsequent sections.

The proposed application will consist of the following:

• Frontend component: Responsible for generating views for user visualization. Built using JavaScript and the AngularJS framework.

• Backend component: Responsible for carrying out the logic necessary for the operation of each of the modules. Built using a Java application with Spring as a framework, as well as a JavaScript-based NodeRed component.

Together, both components will be responsible for sending, receiving, and displaying data to and from Turtlebot3, which will have odometry and LiDAR sensors. Additionally, the robot will be connected to a PC that will act as a server, through which the aforementioned services can be used. The two aforementioned components will run on this PC, and user information and recorded data will also be stored using the teleoperation module. Actually, IIOTLab is a registered software legally recognized by the Interior Ministry of Colombia. This document can be downloaded here.

Once a new user has been successfully generated in the system, the functionality in which the user is able to log in to the system to access the functionalities related to the robot is evaluated. Then, the Teleoperation module is loaded, where users can set the following parameters:

• Liner velocity up 0.11 m/s.

• Angular velocity up 1 rad/s.

• Refresh rate starting from 500 ms.

These data are sent to the backend and configured in the ROS parameter server. Then, IIOTLab shows the sensor for the teleoperation module: both cameras (environment and on-board) and the current laser scan. As well as, the IIOTLab shows the joystick and the log for the odometry data. Also, a button to start saving data of the current session.

The data history module is accessed through the welcome screen. The purpose of the data history module is to allow users to export data they have previously recorded during a session in the execution module to a .csv file (records are separated by semicolons). To do this, the visual interface presents filters by start and end date, which must be completed to perform a database search for all records within that date range. Once the search is performed, a summary of all the records found is displayed on the screen. From this table, the user can select a particular record and press "export." After a few seconds, the file with the corresponding information should begin downloading.

This software was developed for industrial service and academic use. If you like to perform a field test, please contact me:

Prof. Bladimir Bacca Cortes Ph.D.

Address: Cra. 100, Street 13, Universidad del Valle, Melendez, Building E53, Office 2006.

Tel: +5723212100 Ext. 7656

email: bladimir.bacca@correounivalle.edu.co