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README.md

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+---
+license: mit
+task_categories:
+- robotics
+- time-series-forecasting
+language:
+- en
+tags:
+- 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
+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
+- 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

robot_sensor_telemetry.csv

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+timestamp_ms,front_cm,rear_cm,left_cm,right_cm,motor_state,face_verified,tilt_warning,fall_detected
+0,145,200,89,203,IDLE,false,false,false
+250,143,201,88,204,IDLE,false,false,false
+500,140,199,90,202,IDLE,false,false,false
+750,98,198,91,201,IDLE,true,false,false
+1000,72,197,92,200,FORWARD,true,false,false
+1250,55,195,90,199,FORWARD,true,false,false
+1500,38,193,88,198,FORWARD,true,false,false
+1750,22,191,89,197,FORWARD,true,false,false
+2000,11,189,91,196,STOP,true,false,false
+2250,11,188,90,195,STOP,true,false,false
+2500,12,186,92,194,TURN_LEFT,true,false,false
+2750,18,184,180,193,TURN_LEFT,true,false,false
+3000,25,182,210,192,TURN_LEFT,true,false,false
+3250,45,180,220,191,FORWARD,true,false,false
+3500,78,178,215,190,FORWARD,true,false,false
+3750,112,176,208,189,FORWARD,true,false,false
+4000,156,174,201,188,FORWARD,true,false,false
+4250,189,172,198,187,FORWARD,true,false,false
+4500,210,170,195,186,FORWARD,true,false,false
+4750,230,168,192,185,FORWARD,true,false,false
+5000,245,166,189,184,FORWARD,true,false,false
+5250,260,164,186,183,FORWARD,true,false,false
+5500,280,162,183,182,FORWARD,true,false,false
+5750,295,160,180,181,FORWARD,true,false,false
+6000,310,158,177,180,FORWARD,true,false,false
+6250,180,156,174,179,TURN_RIGHT,true,false,false
+6500,165,154,171,90,TURN_RIGHT,true,false,false
+6750,155,152,168,55,TURN_RIGHT,true,false,false
+7000,148,150,165,38,STOP,true,false,false
+7250,150,148,162,35,BACKWARD,true,false,false
+7500,152,130,159,38,BACKWARD,true,false,false
+7750,155,112,156,42,BACKWARD,true,false,false
+8000,158,95,153,48,BACKWARD,true,false,false
+8250,162,78,150,55,BACKWARD,true,false,false
+8500,165,62,147,62,STOP,true,false,false
+8750,168,50,144,68,STOP,true,false,false
+9000,170,42,141,75,TURN_LEFT,true,false,false
+9250,175,38,138,82,TURN_LEFT,true,false,false
+9500,180,35,135,90,TURN_LEFT,true,false,false
+9750,185,38,132,98,FORWARD,true,false,false
+10000,190,42,129,106,FORWARD,true,false,false
+10250,195,48,126,114,FORWARD,true,false,false
+10500,200,55,123,122,FORWARD,true,false,false
+10750,205,62,120,130,FORWARD,true,false,false
+11000,210,70,117,138,FORWARD,true,false,false
+11250,215,78,114,146,FORWARD,true,false,false
+11500,220,86,111,154,FORWARD,true,false,false
+11750,225,95,108,162,FORWARD,true,false,false
+12000,230,105,105,170,FORWARD,true,false,false
+12250,50,115,102,178,STOP,true,false,false
+12500,48,120,99,186,STOP,true,false,false
+12750,46,125,96,194,TURN_RIGHT,true,false,false
+13000,48,130,93,200,TURN_RIGHT,true,false,false
+13250,52,135,90,210,FORWARD,true,false,false
+13500,68,140,89,220,FORWARD,true,false,false
+13750,95,145,88,230,FORWARD,true,false,false
+14000,130,150,87,240,FORWARD,true,false,false
+14250,168,155,88,250,FORWARD,true,false,false
+14500,200,160,90,260,FORWARD,true,false,false
+14750,235,165,92,270,FORWARD,true,false,false
+15000,265,170,95,280,FORWARD,true,false,false
+15250,290,175,98,285,FORWARD,true,false,false
+15500,310,180,102,290,FORWARD,true,false,false
+15750,325,185,106,295,FORWARD,true,false,false
+16000,340,190,110,300,FORWARD,true,false,false
+16250,18,195,115,305,STOP,true,false,false
+16500,17,198,118,308,STOP,true,false,false
+16750,16,200,120,310,TURN_LEFT,true,false,false
+17000,18,202,125,312,TURN_LEFT,true,false,false
+17250,22,204,130,314,FORWARD,true,false,false
+17500,35,206,135,316,FORWARD,true,false,false
+17750,55,208,140,318,FORWARD,true,false,false
+18000,80,210,145,320,FORWARD,true,false,false
+18250,110,212,150,322,FORWARD,true,false,false
+18500,145,214,155,324,FORWARD,true,false,false
+18750,178,216,160,326,FORWARD,true,false,false
+19000,210,218,165,328,FORWARD,true,false,false
+19250,240,220,170,330,FORWARD,true,false,false
+19500,265,222,175,332,FORWARD,true,false,false
+19750,285,224,180,334,FORWARD,true,false,false
+20000,300,226,185,336,FORWARD,true,false,false