| --- |
| 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 |
|
|
