| ---
|
| license: mit
|
| task_categories:
|
| - robotics
|
| - time-series-forecasting
|
| language:
|
| - en
|
| tags:
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| - robotics
|
| - embedded-systems
|
| - ultrasonic
|
| - autonomous-robot
|
| - PIC16F877A
|
| pretty_name: Robot Sensor Telemetry Dataset
|
| size_categories:
|
| - n<1K
|
| ---
|
|
|
| # Robot Sensor Telemetry Dataset
|
|
|
| ## Description
|
|
|
| This dataset contains real-time sensor telemetry collected from an autonomous robot built for CIE-349/408 Embedded Systems at Zewail City University of Science and Technology (Spring 2026).
|
|
|
| The robot uses a PIC16F877A microcontroller reading 4x HC-SR04 ultrasonic sensors at 250ms intervals. Telemetry is streamed over UART to an ESP32 NodeMCU, forwarded via UDP to a Raspberry Pi 3B, and served to a Flutter mobile app over HTTP.
|
|
|
| ## Dataset Structure
|
|
|
| | Column | Type | Description |
|
| |--------|------|-------------|
|
| | timestamp_ms | int | Milliseconds since robot boot |
|
| | front_cm | int | Front ultrasonic sensor distance (cm) |
|
| | rear_cm | int | Rear ultrasonic sensor distance (cm) |
|
| | left_cm | int | Left ultrasonic sensor distance (cm) |
|
| | right_cm | int | Right ultrasonic sensor distance (cm) |
|
| | motor_state | string | Current motor command: FORWARD/BACKWARD/TURN_LEFT/TURN_RIGHT/STOP/IDLE |
|
| | face_verified | bool | Whether biometric face recognition lock is verified |
|
| | tilt_warning | bool | MPU6050 tilt > 30 degrees detected |
|
| | fall_detected | bool | MPU6050 tilt > 60 degrees detected |
|
|
|
| ## System Architecture
|
|
|
| The robot operates as a 4-tier distributed pipeline:
|
|
|
| 1. **PIC16F877A** — Hard real-time controller, reads sensors via Timer1, drives motors via PWM
|
| 2. **ESP32 NodeMCU** — WiFi bridge, forwards UART telemetry to Raspberry Pi over UDP
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| 3. **Raspberry Pi 3B** — Flask server, face recognition security gate, UDP auto-discovery
|
| 4. **Flutter Android App** — Mobile dashboard with D-pad control and radar display
|
|
|
| ## Face Recognition Security
|
|
|
| Motor commands are blocked unless a verified face is detected by the `face_recognition` library (dlib-based deep learning model) running on the Raspberry Pi. Face encodings are stored persistently in a `.pkl` file (biometric database).
|
|
|
| ## Safety Features
|
|
|
| - Software obstacle cutoff: front sensor < 10cm → force STOP
|
| - Tilt/fall detection via MPU6050 accelerometer
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| - Biometric lock: commands blocked until face verified
|
|
|
| ## Team
|
|
|
| - Nouran Essam (202300627)
|
| - Menna Khaled (202301665)
|
| - Shrooq Amin (202300112)
|
|
|
| Zewail City University of Science and Technology — CIE-349/408 Spring 2026
|
|
|
