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Remote robotic experiment integration in a game

1. hacer Irrecto Girar a la izquierda Ir recto Girar a la izqulerda repetir 4 veces hacer Ir recto ia Figure 6 21 Testing your code with Romie 6 2 4 Issue Management During the development of this scenario some issues have appeared and have been solved The first of them was that the API of WebLab Deusto was asynchronous while in Blockly for simple tasks like moving forward right left or checking sensors next commands had to wait for the previous ones This was solved using the contexts and wrappers for the functions that have been explained before in algorithm 6 8 Algorithm 6 10 New WebLab API functions 1 Set a callback for being called when reserving the experiment ZA s This way the server will be able to know the program and a return it to the client once the experiment is reserved 5 Weblab setOnGetInitialDataCallback function 6 return blocks Blockly Xml domToText 7 Blockly Xml workspaceToDom workspace 8 7 10 11 Set a callback for finishing the experiment 12 13 This way the block data can be saved into web storage 14 and enable the user to edit the code and reserve 15 again 16 Weblab setOnFinishedCallback function data 17 console log Experiment finished with 18 console log data i I Moreover and due to the needed higher availability of the robot the experiment had to be reserved only w
2. Facultad de Ingenieria Universidad de Deusto Ingeniaritza Fakultatea Deustuko Unibertsitatea Grado en Ingenieria Informatica Informatikako Ingeniaritzako Gradua Proyecto fin de grado Gradu amaierako prolektua Remote robotic experiment integration in a game platform to promote STEM in young people Iban Eguia Moraza Director Javier Garc a Zub a Bilbao julio de 2015 Abstract Responding to the strong growing demand of new learning tools a new learning experience is presented based on remote laboratories This project tries to create what to the best of the knowledge provided by the research conducted in this project will be the first game platform based on remote laboratories This will introduce young students between 10 and 18 years old to STEM Science Technology Engineering and Mathematics in an enjoyable way The game platform will be divided in two main scenarios The first of them will be a trivial type game where the user will be able to control a robot in a labyrinth and answer some questions that will give points to the user Winners will be given a prize Moreover in this scenario a psychological experiment will be performed aiming to help in the fight against pseudoscience The second scenario will be a service in which the user will be able to program the robot from a visual IDE Integrated Development Environment This will teach students the basics of pro gramming by letting them use bl
3. Public demonstration e T17 Public demonstration At least one public demonstration of the robot will be performed during its development where students will try it and play with it 3 3 ORGANIZATION 3 3 1 Organizational Structure The working team as it can be seen in the figure 3 2 it will be organized in a direction committee that will be in charge of the good progress of the project as well as of indicating the possible needed changes and in a development team that will be in charge of developing the project Moreover in the integration of the Labpsico experiment the Labpsico team will be part of the project organization team to validate the progress 3 3 2 Human Resources Plan The workday will be part time 4 hours and there will only be one resource that will be divided into the following profiles e Project manager he will be the person in charge of organizing the project e Programmer he will be the person in charge of developing the logic of the software e Designer he will be the person in charge of designing and creating an intuitive and simple user interface 13 3 GOALS AND SCOPE Supervisor committee Labpsico team Development team Figure 3 2 Project s organization schema e WebLab Deusto expert he will be in charge of the integration of the experiment in WebLab Deusto Regular meetings will be done at least twice a month to track the project s progress To validate t
4. Z PROYECTO FIN DE GRADO libraries The data for the ranking will be stored in a SQLite 3 database This database provides all the needed ACID constraints Atomicity Consistency Isolation Durability with a small SQL Structured Query Language relational database management system RDBMS 45 Algorithm 6 2 Bluetooth connection example 2 import bluetooth 3 4 BT address 700 11 22 33 44 55 5 BT_port 1 6 7 BT socket bluetooth BluetoothSocket bluetooth RFCOMM 8 BT socket connect BT address BT port 10 BT available True 11 except 12 BT_available False 13 print No bluetooth device is available 14 15 class RoMIE 16 def wait_ack self 17 if not BT available return 18 19 read until ACK or NAK ts received 20 received 21 while ACK not in received and NAK not in received 22 received BT_socket recv 1024 23 if NAK in received 24 pass 25 26 return received 27 28 forward self 29 if not BT_available return Bluetooth error 30 31 BT socket send F 32 response self vait ack 33 return response The experiment server API will have all the needed commands to use the experiment For the ones that need data being sent to the server JSON has been used JavaScript Object Notation It is preferred over XML Extensible Markup Language due to the higher compatibility of JSON and the more data orientation of this Request for Comments
5. 0 marginheight 0 gt lt header gt lt header gt y lt section class container gt before b csection class col md 4 gt lt section gt v lt section id bigcam class col md 8 cameral gt lt img src section col md 3 285px x 133px alt C mara del robot gt lt section gt b lt section class col md 3 gt lt section gt b csection class col md 9 sponsors gt lt section gt rafter tbody tr td table tbody tr td table tbody tr td table tbody tr td table tbody tr td table tbody tr td div wlframe Figure 6 28 Google Chrome s developer tools 6 4 3 Operating System and Tools For the development the operating system used has been Ubuntu GNOME 47 figure 6 29a This distribution gives all the needed productivity and user friendliness The user interface used has been GNOME Shell and as far as possible it has been tried to use only FLOSS software Moreover for the server environments two main operating systems have been used Ubuntu Server 48 figure 6 29b and Raspbian 42 the Raspberry Pi ARM compatible Debian 12 dis tribution figure 6 29c The first of the two has been used for main WebLab Deusto servers It is used due to its user friendliness even if it has to be controlled via CLI The second one has been used due to its compatibility with the hardware being used for the project the Raspberry Pi computer In all cases the communication between the
6. camera to see what the robot does If you press forward against a wall do not worry the robot will not collide If you fall in top of a card you will be asked a question figure 6 13 If you answer correctly you will be given points and more time to continue playing Furthermore you will have the opportunity to manually activate the ceiling camera to see all the labyrinth and decide where to go figure 6 14 39 6 DEVELOPMENT iBienvenida o a Romie Hola bienvenida o En unos segundos podras comenzar a jugar con Romie e intentar conseguir una puntuaci n muy alta Pero antes necesitamos que rellenes estos datos Para jugar solo debes mover el robot con las flechas iEn algunos puntos del laberinto hay escondidas preguntas que si respondes correctamente te daran mas tiempo y unos valiosos puntos Nota podras jugar las veces que quieras y se guardara tu mejor puntuaci n Nombre y Nombre Apellido apellido Colegio Colegio Fecha de nacimiento Sexo Mujer Curso 4 Primaria Correo Correo electr nico electr nico Comenzar Figure 6 11 Romie s registration form Tiempo 3 07 60 Puntos 0 Cada vez que respondas correctamente una pregunta podras activar la camara cenital por 10 segundos CIENCIA REMOT Deusto BeustoTech x f FECYT oma G Figure 6 12 Playing with Romie 40 PROYECTO FIN DE GRADO C antos decimales tiene el numero pi rr 2 10 gt In
7. has been changed by an ID 20 30 sensor since the ID 12 the robot had was not working properly For the HTTP server a Raspberry Pi model B has been used The reason for not using the model B or the Raspberry Pi 2 model B has been that there already was an unused Raspberry Pi model B in VVebLab Deusto and this hardware was powerful enough to provide the services needed by this project This computer has been used as a client connected via Bluetooth to the robot and as a server connected via Ethernet to the VVebLab Deusto netvvork Raspberry Pi foundation figure 6 23 develops these tiny computers to teach kids about computers and programming in a very affordable way so it seemed a reasonable choice for this project 50 PROYECTO FIN DE GRADO Figure 6 23 Raspberry Pi logo 6 3 2 Software In this project since many hardware and software technologies have been integrated many software platforms and languages have been used Some of them were new while others were known The core functionality of the project has been developed in JavaScript for the client side and Python 154 for the server side The choice for the client side was simple since JavaScript is the only language natively supported by all web browsers Nevertheless since there was a need to fasten the development JQuery 131 library has been used figure 6 24c as well as Bootstrap 7 framework JQuery gives some useful features to work with the DOM
8. 10 3991 ijoe v7iS2 1769 Git local branching on the cheap URL https git scm com visited on 17 06 2015 GitHub Build software better together URL https github com visited on 17 06 2015 Global online laboratory consortium In Frontiers in Education Conference FIE Oct 2011 pages 1 5 DOI 10 1109 FIE 2011 6143145 GNU Emacs GNU Project Free Software Fundation FSF URL http www gnu org software emacs visited on 15 06 2015 GNU nano URL http www nano editor org visited on 15 06 2015 Google Chrome June 2015 URL http www google com chrome HTML5 A vocabulary and associated APIs for HTML and XHTML W3C Recommenda tion Oct 2014 URL http www w3 org TR htm15 visited on 18 06 2015 Campus The MIT Microsoft Alliance URL http icampus mit edu visited on 15 06 2015 ID innovations ID 2LA ID 12LA ID 20LA Low Voltage Series Version 1 0 Sept 2013 jQuery write less do more URL http jquery com visited on 18 06 2015 Inigo Iturrate San Juan Design and Implementation of an Educational Mobile Robot Plat form Integrated within the WebLab Deusto Framework Final degree project Faculty of Engineeering University of Deusto May 2013 Labpsico URL http www labpsico deusto es en visited on 15 06 2015 Learning by Experience Go Lab URL http www go lab project eu visited on 15 06 2015 Lime Text Editor URL http limetext or
9. 2 BACKGROUND AND RATIONALE 2 1 BACKGROUND This project aims to create a serious game based on a robot in a remote laboratory Moreover it aims to create a complete visual programming experience to teach the basics of programming Thus in this state of the art the three main topics that the project uses as a base will be covered and deepened 2 1 1 Remote Laboratories Remote laboratories are usual laboratories with the peculiarity that they can be accessed through the Internet 9 They give students the option to use the laboratory from home even when the university or school is closed This means that the students are able to do their homework or experimentation using the equipment at their school or university without the need for them to be physically there Currently they are becoming more popular due to the competitive advantage they can give to schools and universities Since there is no need for the student to be physically in the laboratory the laboratory does not need to be physically in the school or university giving the option to share laboratories between institutions and thus giving important economic benefits without reducing the practice time of the students or even increasing it Therefore remote laboratories can be really helpful in teaching main concepts about science and technology The next laboratories are the most known ones that are working with science and technology Global Online
10. JIIAXH 46149 lla lt lT ururp ISO JI LUT 10 9g GL JOY 61 GL JOY cl Gl 4dy G GL JEW 6g Gl IEN do 18 PROYECTO FIN DE GRADO JIIAXH qETQOM el 13 W We 130 LIM LIN S S d LMI LIN S S a LIM LN S S 4 LM LIN S S 4 LA LNS SI 4 SH Aen te 91 B N yei SE APN Z1 SI APWOL SI EN 19 4 PLANNING Wd 00 1 61 91 2 NV 00 6 81 02 1 SABP 81 USTUTJ JIEJS uoneind S L Wd 00 1 SI T WV 00 6 51 02 1 SABP 8 Wd 00 1 S1 61 1 NV 00 11 SI Z I S BP 8 USTUTHA JIEJS u01381n h L USIULA J1838 uoneing L Wd 00 1 SI Z I WV 00 11 SI L I skep co WY 00 11 SI L 1 NV 00 6 SI L sAep S 0 USIULA J183S uoneing cl USTUTA 11838 uomenq TL Figure 4 2 Precedence diagram of the project Continues in next pages 20 PROYECTO FIN DE GRADO Wd 00 1 SI CI t WV 00 6 SI O0I S PP Wd 00 1 SI I WV 00 6 SI OI 1 ys urg 1181S uoIjeing LIL usrur Wd 00 1 SI 6 USTUTA JIEJS NV 00 6 51 92 2 JIEJS uormjeinq sXkepg uoneru nq L LL Wd 00 1 SI SC C WV 00 6 SI LI C S PP L US TULA 1815 UOIJEJN 9 L 21 4 PLANNING usruru 11838 uoneing TIL Wd 00 1 S1 91 v NV 00 6 SI TI E S PP y ys urg JIBS uoneindg ILL Wd 00 1 SI TI NV 00 6 S1 7 S Bp 9 ys urg JIEJS 40138 1n q OIL Wd 00 1 SI Z17 WV 00 6 SI 91 skep 7 UST
11. Network switches WebLab Cams switches Experiments Cameras WebLab test Figure 6 5 WebLab Deusto network simplification PROYECTO FIN DE GRADO In this case since the use of Bluetooth to connect the experiment server to the robot was a require ment and Plunder Blood and WebLab test should not receive any new hardware a Raspberry Pi Model B computer figure 6 6 will be used with a USB Universal Serial Bus Bluetooth dongle to connect to the robot and to provide a simple HTTP server with the REST API This small computer will be enough for such small web server since it provides 512 MB of RAM a 700 Mhz ARM CPU 2 USB ports and an Ethernet port All this in a small form factor not bigger than a usual credit card and consuming only 3 5 W 41 of electrical power Figure 6 6 Raspberry Pi model B computer This small computer will be connected via Ethernet to the WebLab network while two cameras the top camera and the on board camera will be connected via Wi Fi to WebLab camera network using Blood as the HT TP proxy server Finally since the server software will change many times during the development and Plunder must be restarted for each change if the experiment server is located there the experiment server for this project will be located in WebLab test This way there will be no need to restart Plunder each time a new change is made during the development increasing the availabilit
12. Specification The software itself will follow the same design specification as in the trivial game Nevertheless it has been decided that the code generation is going to be done in the client side since it supposes less security concern by using the API provided by the experiment server and not programming the experiment server itself or even the robot Therefore JavaScript generator will be used Moreover since one of the requirements is that the software must not use the resource the robot Romie while the user is creating the program and can only be reserved once the user tries to test it a new API call is needed in the WebLab JavaScript API 45 6 DEVELOPMENT Moreover since all commands in WebLab are sent asynchronously the client must wait for the movement to finish before attempting the next movement The problem is that with a while loop the interface would be broken in an infinite loop In this case and thanks to the advantages brought by the scopes introduced by the JS interpreter the solution has been as simple as creating some wrapper functions to move the robot The real function example can be seen in algorithm 6 7 the wrapper function example in algorythm 6 8 and the generated code in algorithm 6 9 As it can be seen the move functions are first defined in a similar way to what it was developed for the trivial type game Then some wrappers are created for the functions and they are adde
13. and to perform AJAX requests even if those last ones have been implemented using the WebLab API since the commands had to be sent through to the WebLab server HTML jQuery c jQuery logo a Bootstrap logo b HTML logo Figure 6 24 Helpers used in the client side of the project Bootstrap the framework developed by Twitter figure 6 24a has been used for a better represent ation of the user interface since it comes with built in CSS style sheets that give great appearance and responsive web design oriented classes and templates even if the current WebLab client is not responsive Nevertheless the software is prepared for future responsiveness of the WebLab client One of the decisions to make was which version of JQuery to use since all major browsers are supported by this library s version 2 but as it often happens Microsoft s Internet Explorer prior to version 9 is not supported 17 Finally version 2 has been used since the traffic in WebLab Deusto using those versions of Microsoft s Internet Explorer browser was low The data representation in the client has been done with HTML5 28 figure 6 24b This new version of HTML provides many useful features in forms that have been used for the registration as well as great integration with CSS 3 that has been used for some styling CSS 3 comes with new selectors 44 and useful functions that provide much of the functionality originally only ava
14. labyrinth It could help putting QR Quick Response codes in the walls to show something to the user Moreover top camera s computer vision could be used to locate the robot and try to challenge the user to move to a concrete place e New game modes The platform currently provides a trivial type game to which a psy chological experiment can be added through configuration is not enabled by default and a visual programming IDE where the user can program the robot Nevertheless these are only examples of the potential of this project The platform is prepared thanks to its modular APIs to host more experiments and games that could use it It could be used for teaching for experimenting with art painting the walls or asking the user to paint patterns with the robot movement or for any other use the imagination can lead to e Internationalization Currently the platform is only provided in Spanish It would be great to add a internazionalization or il8n API to be able to provide it in more languages In any case the current platform is extensible enough to allow any kind of experiment being developed always thinking on the current hardware And as it has been seen before there is already a plan to deploy the game in the Domus museum in A Coruna Spain This way the big potential of the project is demonstrated as well as its future lines of work that can lead it to be used in many scopes 99 Bibliography Ardu
15. or RFC This provides lower overhead 1361 These are the commands provided by the experiment server F L and R commands to move forward and turn left and right The S command is not provided since the experiment does not require it and the robot will not drive towards a wall The F will return a random question based on the current user s points if an RFID is found CHECK REGISTER command to check if the user has been registered in the experi ment before and decide if the experiment should show the registration form 33 6 DEVELOPMENT e REGISTER command to send the registration data to the server and insert it into the SQLite database e ANSWER command to send the answer given by the user to a question It will return the new date for finishing the experiment and the new points for the user These will not change if the answer was not correct e FINISH command to finish the experiment and receive the final ranking Finally the client will be developed using HTML 5 HyperText Markup Language version 5 JavaScript using JQuery library and Bootstrap for a rapid development It will use the WebLab JavaScript library to communicate with the experiment server This library is an asynchronous AJAX Asynchronous JavaScript and XML library that provides a simple interface to interact with experiments An example can be seen in algorithm 6 3 Alg
16. ser un buen companero de trabajo Sus contribuciones a la IA del robot fueron impagables Ignacio Angulo por ayudarme con la electronica del robot Con el pude aprender mucho Mucha otra gente que me ha ayudado dandome sus consejos y alegria Muchas gracias Jesus Sesma Aritz Bilbao Unai Alonso Aitor Brazaola Cruz E Borges Nora Sarrionandia Eneko Cruz Leire Lopez Rub n del Rio Inigo Iturrate Alejandro P rez y Gustavo Martin 1
17. software that has been used for this section and the user manual for this application along with the issue management of this section that will be mainly focused on the software issues There is no need of explaining the testing plan since it has been the same as the one used in the trivial game except from the real user testing that there has not been an opportunity to do it 6 2 1 Software Requirements The software requirements of this application will be based on usability minimal WebLab resource usage and effectiveness of the programming Those requirements are listed below e The user interface must allow the user to understand how to program the robot e The user interface must show the robot doing what had been programmed to do e The robot must follow the code developed in the interface e The programming must not block the interface of the user e The program development must not use the resource until the test is reserved e The user must be able to edit the program after testing it The server and the client must be loosely coupled Taking into account those requirements it has been decided to develop a new experiment server and to add some more APIs to WebLab client Moreover Google s Blockly 16 is going to be used for the development since it is the most known platform to create visual editors in a web platform and contains code generators for JavaScript Dart 10 Python and PHP 6 2 2 Design
18. stored in a python file in the experiment server That way modifying questions or anything that could be needed such as creating debug experiments is managed with that simple configuration script increasing scalability Furthermore since this experiment uses a hardware resource Romie the robot it could happen that two users try to play with it at the same time This is solved using the queue management provided by WebLab It is as simple as registering the resource s priority queue and WebLab will do all the needed resource sharing management Moreover in the case of having two separate robots of the same type it would not be difficult to use the federation model and the user would end up in one of the two robots transparently 6 1 3 Deployment Considerations The deployment must be done in WebLab Deusto a remote laboratory environment with three custom networks and limited physical space A simplified diagram of the network of WebLab Deusto can be seen in figure 6 5 As that figure shows Plunder is the core server It provides access to WebLab Deusto s web environment and it provides most of the experiment servers On the other hand Blood is the one working as a proxy for all the cameras in WebLab Deusto some of them connected by Wi Fi and others by Ethernet 35 6 DEVELOPMENT 36 SS ey WebLab Users WebLab Network router Plunder weblab deusto es Blood cams weblab deusto es WebLab
19. uses a platform like this can have and in this project the challenge is to demonstrate how remote laboratories can be used for serious gaming This project will be to the best of the knowledge provided by this research the first game platform based on remote laboratories it will open the course to future developments in this area by enabling future games to be developed using this technology It will be a challenge to adapt the current technology and experimentation platforms to this kind of project but the result can be unique and powerful for teaching all kind of knowledge in a fun way by using real gamification processes in a remote laboratory platform PROYECTO FIN DE GRADO 3 GOALS AND SCOPE The platform will integrate sophisticate hardware and software elements that will allow the deploy ment of a remote controlled robot so that it can be used by students in a game platform using the provided user interface The development of the project will require knowledge about the hardware for the maintenance and modifications of the robot knowledge about communication protocols Hypertext Transfer Pro tocol or HTTP TCP IP and Bluetooth or BT for command and image transmission knowledge about web engineering for the development of the client and the interaction with the WebLab Deusto platform and user interface design knowledge for creating a user friendly interface taking into account the requirements asked by the Fun
20. various servers has been done via SSH since it provides an easy interface with the consoles of the servers Moreover for managing the packages in the 59 6 DEVELOPMENT a Ubuntu GNOME logo b Ubuntu logo c Debian logo Figure 6 29 Operating systems used in this project second scenario packages like Blockly JQuery or Bootstrap Bower 8 has been used This tool manages all those packages and versions and allows to avoid the need to include all the code in the repository 6 4 4 Version Control For the version control of the project Git 22 has been used figure 6 30a Git is a distributed version control system or VCS created by Linus Torvalds to improve the Linux kernel development It allows having repositories distributed without a need of a central repository Nevertheless GitHub 23 is the service used by WebLab Deusto for the Git hosting as well as for issue tracking since GitHub provides with a simple issue management interface with simple and effective pull requests integrated with the code and commits a Git logo b GitHub s octocat logo Figure 6 30 Tools and services used for version control 96 PROYECTO FIN DE GRADO 7 CONCLUSIONS AND FUTURE WORK In this project a complete platform has been developed and its value has been demonstrated by testing it with real users and by developing two services using the platform In this section the conclusions of this develop
21. FECYT 58 vill List of Tables Chapter 4 Ad Project planini zu Abid b Harder e eh Rae O a 15 4 2 Project workloads ss anca do s 2 4A a bd A dd a b yi 15 Chapter 5 5 1 Human resource budget a mad ES s e ez es IL mrar ib Gay a 25 9 2 Total padel a a h e ye bed gi s mat es ab 25 Chapter 7 7 1 Romie competition s top five ranking 2 ee 58 Algorithm Index 6 1 Romie REST AP example ass 4 444 iaa wae eA do E FRI 2 32 6 2 Bluetooth connection example ws ri er sa a Re See E 33 6 3 WebLab JavaScript library example 34 64 Camera update example 2 a s i s 2 S ER id a ai 34 6 0 Point bonus calculations lt sg ga 04 4 Sen A ae a SE wee eee ae E 35 6 6 Arduino code for returning if wall was hit Emm a 43 6 7 Robot movement function 4 4 2 4 ca e Soe EUR a e a s sa e E 46 0 5 Fonction WIADPDEL e pa oh hk rei b San s Supi a ia SE y 46 0 0 Generated code awe Bi aa S Bl b l e elle x dk Ap By a ees i 47 6 10 New WebLab API functions 49 6 11 VVebLab experiment server development 93 xi PROYECTO FIN DE GRADO 1 INTRODUCTION This project aims to create a complete game experiment using a remote laboratory After the research that has been conducted for this project there has been no sign of other game that uses remote laboratories as a platfo
22. Fxpert 4 days 16 hours 04 13 2015 04 16 2015 T12 T11 Project Manager 2 days 8 hours 04 17 2015 04 20 2015 T13 T12 Programmer 5 days 20 hours 04 21 2015 04 27 2015 T14 T13 Programmer 9 days 20 hours 04 28 2015 05 11 2015 T15 112 Designer 8 days 16 hours 04 28 2015 05 08 2015 T16 14 T15 WebLab Deusto Expert 12 days 48 hours 05 12 2015 05 27 2015 T17 T7 Project Manager 3 days 12 hours 03 10 2015 03 12 2015 Table 4 2 Project workloads Profile Scheduled hours Project Manager 26 hours Programmer 168 hours Designer 60 hours WebLab Deusto Expert 96 hours The Gantt diagram of the project can be seen in figure 4 1 and the precedence diagram in figure 4 2 15 4 PLANNING IJWWRAISOId GUPTA 13 1 k JISEUEW Plod M 1 N S S 4 M LINI SI S 4 LIM LIN S S 4 IAJ1IWSS d LIM LIN S 91494 11 SpUBN SG siUBrel 9098 stuery 2111 911 911 YLL L l oll PEL OLL O Rh N gt 91 NI FILO H JE IE 00 Figure 4 1 Gantt diagram of the project Continues in next pages 16 PROYECTO FIN DE GRADO 3UB In J399f01q d 21 1591 JIIAXAH 81499 A JIUSISI 19 WU Ue 130 1 134S1S3 MLN S S 4 LM 1 0 S S 4 LIM LIN S S d LM L N S S 4 LIM LN S S 4 LIM L W S S 4 4 LAN SI SIJBNe SLAWI giq deeli 9149436 giq qg 17 4 PLANNING ILNI S S d M LIN S S 4 LIM LN S S 3 LM LN S S 4 LM LW S S d LIN SI S 4 44 1981 lasevueyy J99 01
23. IDE Integrated Development Environment iii 6 7 54 59 63 IP Internet Protocol 9 35 JS JavaScript xi 33 34 45 46 49 51 52 65 66 JSON JavaScript Object Notation 33 52 LiPo lithium ion polymer 28 MIT Massachusetts Institute of Technology vii 5 7 NAK Negative Acknowledgement 32 OS operating system 55 PHP PHP Hypertext Preprocessor 45 52 66 PLD programmable logic device 7 QR Quick Response 59 RAM random access memory 37 RDBMS relational database management system 33 REST Representational State Transfer xi 32 35 37 52 54 RFC Request for Comments 33 RFID radio frequency identification vii 28 32 33 37 38 42 50 RISC reduced instruction set computing 65 SQL Structured Query Language 33 35 SSH Secure Shell 55 STEM Science Technology Engineering and Mathematics iii 4 9 TCP Transmission Control Protocol 9 66 PROYECTO FIN DE GRADO TLI The Labshare Institute 5 UI user interface 9 12 13 27 37 38 45 47 51 55 66 USB Universal Serial Bus 37 50 VCS version control system 56 VISIR Virtual Instrumentation Systems In Reality 4 VV3C World Wide Web Consortium 62 63 WBS work breakdown structure vii 10 11 XHTML Extensible HyperText Markup Language 62 XML Extensible Markup Language 33 34 52 65 67 Acknowledgements I would like to thank the following people for their help since without them this project would not ha
24. Integration 0 2 Visual Prostamming z as dade oe oe PRES A las FR Ae anal s 6 2 1 Software Requirements 6 2 2 Design Specification aida oo oo PEEVE Ee eK Ee 02 User li mik 4 6 E cai al oe p a m x ee AR A A O24 Issue Management ss dija ec Ren G E en a a Oda loclizol057 x x ns x Sa Ws ia UR a l l avar Bo xana a a Sb ta God HAWAO lz S nm E a l l Rs Gb SO se pali o bo o o b 9 re Was 2 s S S k G de UCS EC 7 7 GAL Code edi Or A w sl hs e ee ee ee ae Bae e 6 4 2 User Interface Testing ba BREESE do 6 4 3 Operating System and Tools QA Versio Control 5 2 um gt Z enn dia la o Ab ee 7 Conclusions and Future Work Gale sare ratistics ss 2 4 l b GS SESS Z sapu ee Br Be b S AR 27 MOMCMSIONS 2 22 3 2 5 eee Ree eS eee XU La E E eS Go Future Lines of Work airada a aa s b b bo S EE Bibliography Acronyms Acknowledgements Agradecimientos V1 27 27 27 28 35 37 38 42 43 45 45 45 48 49 90 90 ol 54 54 dO 99 57 T 99 61 65 69 71 List of Figures Chapter 2 2 1 GOLC Online Laboratory Award 2015 3 22 Webbab Susto z Yu Z AAA AA AAA sla g l 4 220 Co Lab Project 1090 x Z 2 2 2 Bob a b near 4 2 4 iCampus logo project at MTT where i
25. Laboratory Consortium The Global Online Laboratory Consortium or GOLC is an organization that focuses on the pro motion of the development of remote laboratories for educational use They commonly promote remote laboratories through conferences 24 They also support and encourage the sharing of G LC NA Online Lab Award these laboratories between institutions Figure 2 1 GOLC Online Laboratory Award 2015 2 BACKGROUND AND RATIONALE For promoting laboratories they created an award figure 2 1 for remote experimentation and another one for simulated experimentation WebLab Deusto WebLab Deusto is a remote laboratory located at the University of Deusto Bilbao There are multiple types of laboratories there and all is being controlled by a software they developed called WebLab Moreover Pablo Orduna one of it s main researches developed a complete federation model to be able to share laboratories across the world 38 transparently to the final user In WebLab Deusto they created one of the most used remote laboratories in electronics teaching It is called Virtual Instrumentation Systems In Reality or VISIR 21 and it recreates electronic circuits made visually by students in real hardware so that students can take real measurements weblabdeusto Figure 2 2 WebLab Deusto logo Go Lab Project The Go Lab Project or Global Online Science Labs for Inquiry Learning at School uses remot
26. Labs have been created 5 2 5 WebLab Bot a robot based on Azkar Bot A remote laboratory in WebLab Deusto 5 2 6 The robot that will be used in this project 0 0 000 6 2 7 Simple program example created in Google s Blockly 7 2 8 Archimedes experiment in WebLab Deusto 8 Chapter 3 3 1 Projects work breakdown structure gs pm separa SE we i ee 11 3 2 Project sorganizalionschema yx a Bean eh hc 14 Chapter 4 4 1 Gantt diagram of the project 2 42 2 6 E 23 Ad es na DE ee GS 16 4 2 Precedence diagram of the project 20 Chapter 6 64 OBA REID Feader so 25 5 25 ae FREE Er ran tea 28 6 2 Bluetooth module on top of the Arduino shield 29 6 3 Experiment low chart ocr u s S X A A ee an ee ee 30 6 4 Software layers showing each layer s functionality 31 6 5 VVebLab Deusto network simplification 36 0 0 Raspberry Pi model B computer sea 2 KR ae WOE Soto oe 37 6 7 The scale model of the labyrinth used in this project with the RFID tags 38 6 8 WebLab Deusto s landing page 39 6 9 Romie under Robot experiments in WebLab Deusto 39 vil 6 10 Romie reservation screen 0 o 39 6 11 Romie s registration AA 40 6 12 Ployine with Bomie S Ba oa dan HE ei oe RE oe ie GY 40 6 13 Romie asks you q
27. UTA 7184S 40138 1n 6 L 22 PROYECTO FIN DE GRADO Wd 00 1 SI L7 S WV 00 6 61 21 2 sAep 21 ys urg JIEJS u013e 1n q 911 Wd 00 1 ST TI S WV 00 6 S1 87 v S BP 6 usrul 11838 uoryeind PIL Wd 00 1 S1 8 S WV 00 6 61 12 S BP 8 Wd 00 1 SI LC v NV 00 6 61 12 S Bp G usruru 1538 uoneing SIL USTUTA JIEJS uoneing 21 Wd 00 1 51 02 WV 00 6 SI LI v sAep 2 23 PROYECTO FIN DE GRADO 5 BUDGET In this chapter the budget for the project is presented The budget assigned to human resources can be observed in the table 5 1 divided in the different profiles even though they will be performed only by one resource Moreover the total budget for the project has been summarized in the table 5 2 where the budget can be seen divided in the main categories of the project expenses Table 5 1 Human resource budget Profile Workload Salary Total cost Project Manager 26 hours 4 76 hour 123 76 Programmer 168 hours 4 76 hour 799 68 Designer 60 hours 4 76 hour 285 60 WebLab Deusto Expert 96 hours 4 76 hour 456 96 Table 5 2 Total budget Description Cost Human resources 1 666 Sublime Text 3 license 710 Hardware 1 960 Travel expenses 230 Total 3 926 20 PROYECTO FIN DE GRADO 6 DEVELOPMENT 6 1 TRIVIAL TYPE GAME The first part of this project will be the development of a trivial type game tha
28. Unibertsitatea University of Deusto WebLab Deusto Log in WebLab Deusto is a Remote Laboratory Students access experiments physically located in the university having the same experience as if in traditional hands on lab sessions Username There is more information regarding the project in the WebLab Deusto Research Group site E Password x Support Log in For any technical issue you may find please contact us at weblab deusto es Demo Some experiments allow guest access If you do not have a user account you can try 7 our demo experiments vvith the username Login as guest demo and the passvvord demo by clicking here Open Source VVebLab Deusto is Open Source Softvvare and it is available in https github com weblabdeusto weblabdeusto Mobile Perform your experiments in the mobile version Figure 6 8 WebLab Deusto s landing page My Experiments v Robot experiments romie amp romie_blockly amp Figure 6 9 Romie under Robot experiments in WebLab Deusto Reserve this experiment Experiment romie Category Robot experiments Assigned time 1800 Reserve Figure 6 10 Romie reservation screen After the registration you will be able to play with Romie The game is pretty easy to use you will have three arrows in the left control pad figure 6 12 where you will be able to click and command the robot to move forward or to turn left or right Moreover you will have the on board
29. a D link DCS 932L that provides infrared vision if the light is shut down and normal vision if not and it can be accessed from Wi Fi and Ethernet 11 In this case it will be used via Wi Fi since the robot will be moving around a big space with multiple physical obstacles Software Specification The software in for this implementation will be divided modularly thinking on scalability and code reuse The application must be built on top of WebLab Deusto so provided APIs will be used as much as possible Moreover and due to deployment needs the software will be divided between the robot an intermediate server and WebLab software The flow chart for the experiment can be seen in figure 6 3 This will be the user s flow in the application In figure 6 4 the software layers can be seen each one with its functions 29 6 DEVELOPMENT Yes WebLab experiment list experiment Cannot access the lt 9 5 gt 0 Yes S 2 Q B o Reserve experiment 38 23 Start game Move robot No Yes Ask question Yes Add points and time bonus Figure 6 3 Experiment flow chart 30 PROYECTO FIN DE GRADO Client Camera Control pad Question Score time Ranking display time lapse functionality ansvver update VVebLab server Resource Queue management management Registration Control command Check question Score time management check ansvver manageme
30. ang org visited on 22 06 2015 DCS 932L Datasheet Version 1 00 D Link Sept 2013 Debian The Universal Operating System URL https www debian org visited on 17 06 2015 Deusto Foro Tech Semana Deusto de la Ingenier a y la Tecnolog a Ingeniando futuro URL http forotech deusto es visited on 15 06 2015 Deusto Tech URL http www deustotech deusto es visited on 15 06 2015 Deusto Tech Learning URL http dtlearning deusto es visited on 15 06 2015 Download Firefox Free Web Browser Mozilla URL https www mozilla org en US firefox new visited on 16 06 2015 61 7 BIBLIOGRAPHY 137 62 Download jQuery URL http jquery com download visited on 18 06 2015 Eclipse The Eclipse Foundation open source community website URL https eclipse org visited on 15 06 2015 Firebase Build Extraordinary Apps URL https www firebase com visited on 23 06 2015 J Garcia Zubia D L pez de Ipi a Pablo Ordu a and U Hern ndez Jayo Experience with WebLab Deusto In Industrial Electronics 2006 IEEE International Symposium on Volume 4 July 2006 pages 3190 3195 DOI 10 1109 ISIE 2006 296127 Javier Garcia Zubia Ingvar Gustavsson Unai Hern ndez Jayo Pablo Ordu a Ignacio An gulo Luis Rodr guez and Diego L pez de Ipina Using VISIR Experiments Subjects and Students In International Journal of Online Engineering JOE 2011 pages 11 14 DOI
31. ated in the WebLab Deusto platform where students will be able to program the robot using blocks with the latest technologies All this visual programming environment will be usable from the web interface of WebLab Deusto with its queue and priority management Of course this new scenario proposes more challenges that will have to be solved e Research about visual programming technologies and decide which to use e Learn and use a new technology to create a visual programming environment Connect the environment with the robot taking into account that it cannot break previous developments Control the code execution to avoid security issues and acknowledge the user in eventualities These two scenarios along with the psychological experiment will be the ones developed in this project They will show many of the learned abilities in the university and they will require further learning to be able to develop the project In this document this project is presented First a look to the background of the project will be taken where other technologies and platforms that exist in the world will be seen and the rationale for the project will be explained The objectives and the scope of the project will then be defined where the project will be completely defined and its development will be explained Finally the organizational structure of WebLab Deusto will be shown where the project will be developed Then the pro
32. ave to answer the proposed questions to obtain a high score A competition will take place where these users will get a prize Game rules must be carefully analyzed so that the game will not be too easy nor too difficult 3 GOALS AND SCOPE Integration of a psychological experiment for fighting against pseudoscience work ing with a psychologist group The psychology laboratory of the University of Deusto Labpsico will provide an experiment about the fight against pseudoscience that will be added to the game in one of its game modes The relevant data for the psychological research will be sent to Labpsico while the user will receive a bonus in the game depending on his or her performance in the psychological activity Visual programming environment for the robot A visual programming environment for the robot will be created based on one of the most known platforms Blockly or Scratch still to be decided depending on the previous research This environment will be used to teach the basics of programming to young students Integration in WebLab Deusto The WebLab Deusto platform provided by the University of Deusto will be used so that the game is deployed in a production environment along with the rest of the experiments This will provide the game with a simple interface for the communication with the experiment server and with the robot It will also be in charge of managing user queues and user authentication Platform dissemi
33. bpsico based on a psicology experiment to fight against pseudoscience e Second game mode A second game mode will be created where users will be able to program actions to the robot and make it move around the labyrinth 3 2 3 Main Tasks Requirements e T1 Logical requirements analysis A detailed analysis will be performed to understand all the functional requirements of the platform That way they will be traceable and their fulfillment will be ascertainable e T2 Aesthetic requirements analysis A detailed analysis will be performed to under stand all the aesthetic requirements of the platform That way they will be traceable and their fulfillment will be ascertainable Design e T3 Internal logic design The internal logic of the robot and the control platform have to be designed thinking on accessibility stability and simplicity e T4 User interface design The user interface of the platform has to be designed thinking on the final user so that the robot is easy to control First game mode development T5 Logic development The internal logic of the trivial type game will be developed thinking always on the modularity and extensibility e T6 User interface development A user interface will be developed taking into account usability standards to use the robot and answer questions e T7 Integration in WebLab Deusto The game platform will be integrated in WebLab Deusto using its queue and pri
34. cond of the competition literally Table 7 1 Romie competition s top five ranking Name Points Telmo 6 917 714 Hodei 6 915 484 Joshua 728 968 Martin 700 010 Adair 589 400 Figure 7 2 Telmo and Hodei receiving the prize for wining the competition sponsored by FECYT 7 2 CONCLUSIONS As it can be seen the project has ended successfully since it has fulfilled all the objectives proposed at the beginning of it The challenges have been difficult to complete but with hard work all of them have been successfully accomplished The main outcomes for the platform have been that this project has a big potential As it has been demonstrated it is easy to use as it has been seen since 64 users were able to play with it This fulfills the requirements of usability It has been integrated in the WebLab Deusto platform as the objectives demanded which will allow further use of the platform once the schools integrate it with their current use of WebLab Deusto It has received a petition that will be made real for the end of 2015 of installing the game in the Domus museum in A Coru a Spain under the Ciencia remota project of the FECYT This fulfills the objective of disseminating the platform 58 PROYECTO FIN DE GRADO The two main environments of the platform have been developed and are fully functional The game has been tested with dozens of uses while the visual programming IDE has shown great pot
35. d to the context of the code execution That way the block code can call those functions without blocking the execution enabling to insert a while loop until the server responds Algorithm 6 7 Robot movement function function 2 this moving false 5 7 4 5 Romie prototype forward function 1 6 this moving true 7 Weblab sendCommand command F function response 4 8 this moving false 9 bind this 12 var romie new Romie Algorithm 6 8 Function wrapper 1 function initApi interpreter scope 1 2 Add Romie movement checker to the context 3 var wrapper function 4 4 return interpreter createPrimitive romie isMoving 5 6 this setProperty scope isMoving 7 this createNativeFunction wrapper 8 9 Add an API function for the forward block 10 wrapper function 1 11 romie forward 12 F 13 interpreter setProperty scope forward 14 interpreter createNativeFunction wrapper s var mylnterpreter new Interpreter 17 Blockly JavaScript workspaceToCode workspace 18 initApi 46 PROYECTO FIN DE GRADO Algorithm 6 9 Generated code 1 Block code o Blockiv JavaScriptl romie move forward l function block 1 3 code forward n 4 gt while isMoving n 5 return code 6 13 s Which generates o forward io while isMoving Since one of the requirem
36. d there was an opportunity to work with University of Deusto s psychology laboratory Labpsico They proposed to integrate an experiment they had with this game so that users could perform their activity before playing This experiment had been developed by Helena Matute s team recently prized by the Jot Down magazine 39 by one of her works The experiment consists on clicking in 40 cards and looking on the other side of them Randomly a mark can appear in one or both sides of the card figure 6 17b and users should be able to determine if there is correlation between the two marks After that the users will be divided into two groups test users and control users This way using the blind experiment technique they will show some random information to the control group and 45 6 DEVELOPMENT a Labpsico card without a mark b Labpsico card with a mark Figure 6 17 Some of the cards used in Labpsico s experiment information about medicine effectiveness to the test group Then they will repeat the experiment using some other cards but with the same randomness Comparing both experiments Labpsico will get the real knowledge of how did the experience change their minds about not proven science or pseudoscience After that a score will be given to the user that will be added to the game figure 6 18 Tarea de Cartas Tarea de Cartas Software para psicologia Experimental Versi n 1 0 Espa ol 2015 htt
37. d also showing some small issues that were soon fixed 6 1 5 User Manual For using Romie you must have an account in WebLab Deusto and the appropriate permissions to use the experiment Once you fulfill those requirements go to https weblab deusto es weblab client In that page figure 6 8 you will be able to insert your credentials in the login form and log in Once logged in you will see romie experiment under the Robot experiments category fig ure 6 9 You could see more experiments if you have the permission to use them If you cannot find the experiment you should contact the administrators Click on romie or in its image and you will enter the reservation page figure 6 10 There you can reserve the experiment clicking the Reserve button Once reserved on the first use you will see the registration form figure 6 11 You will have to fill it in order to play the game There is also a version without the registration screen if you only want to test the robot ask the administrators for permission to use it After filling the registration form with your own data you can click the register button Note the experiment is prepared to work with students of less than 18 years old so any age above that or below 5 years old is considered an input error that will be notified in the user interface 38 PROYECTO FIN DE GRADO weblabdeusto 3 Deusto Universidad de Deusto Deustuko
38. daci n Espanola para la Ciencia y la Tecnologia FECYT Ciencia remota initiative 3 1 PROJECT DEFINITION The secondary objectives of the project will be the following e Requirement analysis state of the art study Requirements specification A complete state of the art study will be performed to know the current market situation re garding to remote robotic laboratories and the STEM promotion in young people Moreover a requirement analysis will be performed which will give us the final requirement specification e STEM element revision for young students The most influential elements in the education of students in the STEM area will be analyzed so that they can be maximized when developing the platform They will be proved with young students aged between 10 and 18 years old e Current hardware platform analysis and modification The possibilities of the current hardware in WebLab Deusto will be studied Romie the robot and the needed changes will be performed to adapt it to the needs of the project API for remote control A complete control API will be developed to communicate with the robot with a simple interface for the client software The restrictions of the WebLab Deusto environment will be taken into account e Trivial type game platform development registration game design score and robot control A game platform will be created based on a simple trivial type game where the user will h
39. e and virtual laboratories to encourage young people from 10 to 18 years old to learn about Science Technology Engineering and Mathematics STEM 34 They have created a web portal to access those laboratories They collaborate with many remote laboratories such as WebLab Deusto for instance PON GO LAB Figure 2 3 Go Lab Project logo PROYECTO FIN DE GRADO iLab Project at MIT The Massachusetts Institute of Technology has its own remote laboratory platform called iLab They have many remote laboratories where they experiment with Dynamic Signal Analyzers DSA heat exchangers and even with polymer crystallization It has even inspired some big projects using this technology such as an on line repository to locate remote laboratories 49 PA PA P 7 4 Mit Campus Y E s s s s s PA a a x x s s s s s FA Figure 2 4 iCampus logo project at MIT where iLabs have been created This project is part of the Campus project 29 a project that started in 1999 as a research alliance between MIT and Microsoft Research They develop and sponsor innovative projects in MIT and elsewhere Robotic remote experiments Some of the laboratories listed before have currently implementations of robotic experiments as a teaching material in some areas In WebLab Deusto for example they have what they call WebLab Bot figure 2 5 This robot is based on Azka
40. e are also other console tools like Vim 53 Nano 26 or Emacs 25 Nevertheless even if one of the goals of the project was to work with as much FLOSS software as possible free libre and open source software the truth is that currently the closed sourced ones offer better performance For instance Atom tries to be the open source alternative to Sublime Text but it starts really slowly and the plug ins for Sublime Text can be found for almost every situation while such a big plug in repository does not exist for Atom Lime Text might outperform Sublime Text in the future but currently it is still in an unstable release Microsoft Visual Studio Code on the other hand was released later this year and it did not have any benefits with respect to Sublime Text so it was worthless changing the editor at this point ARDUINO OPEN SOURCE COMMUNITY a Sublime Text logo b Arduino Community logo Source Arduino Figure 6 26 Code editors used On the other hand IDEs are big softwares that in some cases like this development due to the multiple and different technologies use might interfere in the development process In the end this is about feeling comfortable with the tool and the velocity and simplicity offered by editors outperform IDEs greatly That is why the tool used for all the programming except the Arduino script has been Sublime Text 3 figure 6 26a Nevertheless since the robot s microcontrol
41. ential on programming the robot with full control of the execution The usage statistics seen in the previous section were part of the objectives and show how the real use of the platform has been It has been demonstrated the reliability of both the software and the hardware of the platform as well as the viability for heavy load situations In overall the project has demonstrated that it can be deployed in production like it has been done in WebLab Deusto 7 3 FUTURE LINES OF WORK The current work is a complete system with its game modes In WebLab Deusto it is currently deployed in production so it can be considered finished Nevertheless there are many ways to improve both the user experience and the results of this project For instance here are a few that could be developed in future research e Augmented reality The experiment could be equipped with augmented reality to give more interactivity to the user It could show any sort of 3D game information in the labyrinth Some scenarios have been suggested such as a game where the user would have to recover virtual elements from the labyrinth moving across all of it and use them to build virtual hardware The possibilities are unlimited e Computer vision Computer vision could be added to both top and on board cameras This way the user and the software developed could have more information about the position of the robot or even about information in the
42. ents is for the user to always know what is happening the block high lighting provided by Blockly will be used This way when the code is executed the code being executed will be highlighted and the user can debug that code Furthermore the user interface displays the two cameras of the robot once it starts testing the code This way the user can see what is happening with the robot and actually test how the robot moves The complete experiment flow diagram is provided in figure 6 19 WebLab experiment list O DT o o o e D pue 1lJu uiu dx USILI4 Reserve experiment Figure 6 19 Experiment flow for Romie s Blockly interface Cannot access the experiment 47 6 DEVELOPMENT 6 2 3 User Manual As in the case of the trivial type game you must have an account in WebLab Deusto and the per mission to use this experiment You have to go to https weblab deusto es weblab client and insert your credentials in the provided form Once logged in you will see romie blockly experiment under the Robot experiments category You could see more experiments if you have the permission to use them If you cannot find the experiment you should contact the administrators Click on romie blockly or in its image and you will enter the programming page figure 6 20 Experiment romie_blockly Category Robot experiments Assigned time 1800 Aqu tienes un editor de c digo vis
43. fficulty of the question An example of this bonus calculation can be seen in the algorithm 6 5 As that algorithm shows the formula used for the bonus calculation will can be seen below where At is the time between the last correct answer and the current one and d is the difficulty of the question from 0 to 9 These bonuses have been adjusted after some trials where they have been found to enable better gameplay He 4 41 GOO if30 At gt 5 d du othervvise Algorithm 6 5 Point bonus calculation 1 f correct 2 time bonus 30 time time self last correct 3 bonus self q_difficulty 10 1 4 time_bonus 5 if time_bonus gt 5 else 1 5 self last_correct time time 6 self points self questionl points 1rbonus 7 self finish time self question time bonus After the point calculation the score in the database gets updated That vvay if the user disconnects from WebLab or some other issue happens the score will be saved Only the best score is saved Moreover and since that database is used for saving the data from the registration form which is provided by the user prepared statements are used in order to prevent SQL injection attacks The game configuration containing all the questions with their bonuses the REST API server s IP and port and all the needed configuration for the display such as if it is a demonstration environment or needs to show some other client side experiment is
44. finitos Figure 6 13 Romie asks you questions when you drive onto a card Tiempo 2 21 84 Puntos 51355 SDeusto Deustotech BEB Figure 6 14 You can activate the ceiling camera when you answer a question correctly Al 6 DEVELOPMENT Finally when the time finishes you will see a ranking with the 10 best scores of the game less if there has not been enough users with your user selected in green if you are in the top ten as you can see in figure 6 15 Fin del juego jSe ha acabado el tiempo Tu puntuaci n final ha sido 158035 Este es el ranking de las mejores puntuaciones Posici n Nombre Apellido Colegio Puntos ban Eguia Deusto 587740 maria xanthoudaki milan 575965 Forotech Demo Deusto 158035 Javier Garcia Zubia blas 102575 gabi martinez deusto 51355 Figure 6 15 The final ranking where you can see the best scores 6 1 6 Issue Management During the development some issues have been faced that had to be solved One of the first issues that appeared was that the robot was not reading the lines properly mainly the ones in the intersections That was caused because the contrast between the line and the background was insufficient It was solved by painting all the labyrinth in white and painting the black lines That way there was no need for using tape and the robot started to work properly Other issue that came across was that the robot did not read the RFID tags every time it went o
45. g visited on 15 06 2015 K Maeda Performance evaluation of object serialization libraries in XML JSON and bin ary formats In Digital Information and Communication Technology and it s Applications DICTAP 2012 Second International Conference on May 2012 pages 177 182 DOI 10 1109 DICTAP 2012 6215346 Ingenier a de Microsistemas Programados S L Azkar Bot Manual de Usuario Version 1 0 July 2010 38 139 PROYECTO FIN DE GRADO Pablo Orduna Transitive and Scalable Federation Model for Remote Laboratories PhD thesis Faculty of Engineering University of Deusto Apr 2013 URL http morelab deusto es media publications theses pablo orduna pdf visited on 18 06 2015 Premiados del concurso DIPC Evento Ciencia Jot Down 2015 June 2015 URL https plus google com EventoCienciaJotDown2015cjd posts WqnthijnYtD visited on 22 06 2015 Python IDE Django IDE for Web developers JetBrains PyCharm URL https www jetbrains com pycharm visited on 15 06 2015 Raspberry Pi Model B Datasheet RS Components Raspbian URL https www raspbian org visited on 17 06 2015 Mitchel Resnick John Maloney Andr s Monroy Hernandez Natalie Rusk Evelyn Eastmond Karen Brennan Amon Millner Eric Rosenbaum Jay Silver Brian Silverman et al Scratch programming for all In Communications of the ACM 52 11 2009 pages 60 67 DOI 10 1145 1592761 1592779 Selectors Level 3 VVOC Recom
46. he various modules of the application whether the established requirements are met or not will be checked and volunteers of the team will perform the needed testing The organization of the working team will not be hierarchical but rather horizontal to allow a more agile development 14 PROYECTO FIN DE GRADO 4 PLANNING In the table 4 1 the planning for the project can be observed The workloads can be seen in the table 4 2 It has been decided to do Task 3 and Task 4 in parallel even if that supposes to divide the working day in two tasks since having only one resource and being part of the development of the same intermediate product both tasks could benefit from the parallel development The same decision has been made with tasks T14 and T15 for the same reasons Table 4 1 Project planning Task Dep Resource Days Work Start date Ending date T1 Project Manager 1 day 2 hours 01 07 2015 01 07 2015 12 Project Manager 1 day 2 hours 01 07 2015 01 07 2015 T3 T1 Programmer 8 days 32 hours 01 08 2015 01 19 2015 T4 T2 Designer 8 days 16 hours 01 26 2015 02 04 2015 T5 T3 Programmer 18 days 56 hours 01 20 2015 01 16 2015 T6 T4 Designer 7 days 28 hours 02 17 2015 02 25 2015 T7 T5 TG WebLab Deusto Expert 8days 32 hours 02 26 2015 03 09 2015 T8 D Project Manager 1 day 2 hours 03 13 2015 03 13 2015 T9 T8 Programmer 2 days 8 hours 03 16 2015 03 17 2015 T10 T9 Programmer 8 days 32 hours 03 18 2015 03 31 2015 T11 T10 VVebLab Deusto
47. hen the generated code was being tested Nevertheless the API provided by WebLab Deusto for JavaScript clients had the methods required for doing the needed callbacks unimplemented This was solved by implementing those new methods that can be seen in algorithm 6 10 This AQ 6 DEVELOPMENT was an issue because the WebLab client is being replaced by a new one in the near future but the deadline for this project did not allow its use 6 3 TECHNOLOGY In this section the technology and tools used for this project will be analyzed The technology has been divided between hardware and software since in this project both aspects have had big impact 6 3 1 Hardware In this case the hardware has been divided in mainly two parts First of all the hardware used by the robot itself has been the Arduino Uno microcontroller figure 6 22 This microcontroller provides the ATmega328 microcontroller with 14 digital input output pins 6 analog inputs and a USB connector 1 x x OO d e 7 IR 4 ARDUINO Figure 6 22 Arduino Uno microcontroler The hardware attached to the Arduino Uno is mainly the same it had when the project started A E18 D80NK infrared adjustable sensor for wall sensing MSE S110 2 sensors for following the line a Grove Line Finder for detecting intersections a BT Board v1 02 Bluetooth adapter for Bluetooth communication 1321 The RFID reader on the other hand and as it has ben shown before
48. hese cases the laboratories add a simulation layer over the real laboratory This way the user still uses a real laboratory with the benefits of knowing how to use the laboratory and doing real experimentation and it also gives the user some more benefit by simulating extra conditions that could be expensive to create in a real laboratory 2 1 2 Serious Games and Visual Programming Serious games are video games that do not only entertain but they manage to teach Thanks to that they can be used to improve the quality of the learning environment for students Moreover since games in many cases attract better the attention of young people they can even be a better tool for teaching at least the basic concepts of some subjects 55 Now the most known tools for visual programming environments will be analyzed since these tools will be the ones used for creating one of the scenarios Visual programming is a way of programming that instead of using real code in a real programming language uses a visual interface to create programs and then translate them to a well known language This way people that are not yet used to programming languages interfaces such as IDEs Integrated Development Environments or code execution and do not understand the basis of programming can start learning by using a simple visual environment 5 6 PROYECTO FIN DE GRADO Scratch Scratch is one of the most known visual program
49. ilable through JavaScript which had higher overhead than CSS ol 6 DEVELOPMENT For the visual programming part the technology used has been Google s Blockly 6 This tech nology allows to create custom blocks such as the ones for moving the robot and provides many tools for creating code in many programming languages such as JavaScript PHP Python or Dart This way and using some blocks provided by Blockly itself the user can create conditionals vari ables and any type of algorithms to control the robot Moreover since WebLab does not save the current state of the blocks between reservations HTML 5 web storage has been used to allow persistent data to be used in subsequent requests Web storage allows storing persistent data in the client 51 For the communication between the client and the server the WebLab API has been used for sending commands using JSON Nevertheless in the case of the visual programming mode Google Blockly has been used which has a built in blocks to XML converter and that has been used to save programs before and after the experiment reservation On the other hand the communication between the WebLab server and the Raspberry Pi with the small HTTP server providing access to the robot has been done using a REST API in the Raspberry Pi server developed in Python that has been used by the WebLab server to send commands to the robot The WebLab server side has been programmed using P
50. ino ArduinoBoardUno URL http www arduino cc en Main ArduinoBoardUno visited on 18 06 2015 Arduino Software URL http www arduino cc en Main Software visited on 18 06 2015 Atom A hackable text editor for the 21st Century URL https atom io visited on 15 06 2015 Kayode Peter Ayodele Lawrence O Kehinde and Olusola A Komolafe Hybrid Online Labs Making Remote Laboratories Usable Under Unfavorable Bandwidth Conditions In Interna tional Journal of Online Engineering iJOE 2012 pages 14 20 DOI 10 3991 ijoe v8i4 2158 Sassi Bentrad Djamel Meslati et al Visual Programming and Program Visualization To wards an Ideal Visual Software Engineering System In IJIT ACEEE International Journal on Information Technology 1 3 2011 pages 56 62 Blockly Google Developers URL https developers google com blockly visited on 22 06 2015 Bootstrap The world s most popular mobile first and responsive front end framework URL http getbootstrap com visited on 18 06 2015 Bower A package manager for the web URL http bower io visited on 24 06 2015 SH Chen R Chen V Ramakrishnan SY Hu YKCC Zhuang CC Ko and Ben M Chen Development of remote laboratory experimentation through Internet In Proceedings of the 1999 IEEE Hong Kong Symposium on Robotics and Control Volume 2 Hong Kong 1999 pages 796 760 Dart Scalable productive app development URL https www dartl
51. ject s organization will be explained with both WebLab Deusto DeustoTech Learning and Labpsico After that the planning of the project will be analyzed where the development dates and workloads for the project will be stated as well as the Gantt and precedence diagrams Then the budget for the project will be analyzed After the planning the development of the project itself will be explained This section will be divided into two subsections The first of them will show the game development and after that explanation the psychological experiment integration will be explained The second one will show the visual programming interface development Each of them will explain the requirements the design and the deployment along with the testing and issue management Both of them will have a small user manual to explain how to use them Once the project has been explained the used technologies will be analyzed The analysis will go through all the different aspects of the software from the embedded computers and server software to all the software technologies needed for the development of the client and server sides The hardware technology used will also be researched Finally the conclusions and results of this project will be presented and some possible future developments will be appointed The usage data will be shown and analyzed to show the viability and reliability of the project PROYECTO FIN DE GRADO
52. ler is an Arduino the Arduino IDE 2 figure 6 26b has been used to program the robot itself since it is simple and easy to use for this simple task For some specific situations such as small testing changes made in the project s Raspberry Pi or 54 PROYECTO FIN DE GRADO testing server configuration Nano has been used since it provides a simple CLI command line interface and it is easy to use when connecting via SSH Secure Shell 6 4 2 User Interface Testing Since one of the key points of the project has been the user interface and in overall the web client of the system this needed to be tested For this task two main web browsers have been used Mozilla Firefox 116 figure 6 27a and Google Chrome 127 figure 6 27b Here it has been found that Google Chrome s developer tools have helped the development more thanks to their features and ease of use A screenshot of Google Chrome s developer tools can be seen in figure 6 28 a Mozilla Firefox logo b Google Chrome s logo Figure 6 27 Web browsers used for testing gt 7 Elements Network Sources Timeline Profiles Resources Audits Console AT gt ke OI x scrolling auto height 750 onload onFrameLoad src https weblab deusto es a i weblab client weblabclientlab jslabs romie romie html style display inline gt Styles v document ER v lt html gt b lt head gt lt head gt lt body marginwidth
53. lish In Journal of educational psychology 105 2 2013 pages 249 265 URL http search proquest com docview 1284277671 accountid 14529 63 Acronyms ACID Atomicity Consistency Isolation Durability 33 ACK Acknowledgement 66 AT artificial intelligence 69 AJAX Asynchronous JavaScript and XML 34 51 API Application Programming Interface xi 7 9 29 32 33 35 37 45 49 51 52 54 59 62 ARM Advanced RISC Machine 37 55 BT Bluetooth vii xi 9 28 29 32 33 37 50 CI continuous integration 37 CLI command line interface 55 CPU central processing unit 37 CSS Cascading Style Sheets 51 DBMS database management system 33 66 DIPC Donostia International Physics Center 63 DOM Document Object Model 51 DSA Dynamic Signal Analyzer 5 FECYT Fundaci n Espa ola para la Ciencia y la Tecnolog a viii 1 9 10 58 FLOSS free libre and open source software 54 55 FPGA field programmable gate array 7 FSF Free Software Fundation 62 GNOME GNU Network Object Model Environment 55 56 63 GNU GNU s Not Unix 62 65 Go Lab Global Online Science Labs for Inquiry Learning at School vii 4 GOLC Global Online Laboratory Consortium vii 3 65 7 Acronyms GUI graphical user interface 37 HCI human computer interaction 27 HTML HyperText Markup Language 34 45 51 52 62 67 HTTP Hypertext Transfer Protocol 9 32 34 37 50 52 i18n internazionalization 59 IA inteligencia artificial 71
54. mendation Sept 2011 URL http www w3 0rg TR css3 selectors visited on 18 06 2015 SQLite Home Page URL https www sqlite org visited on 11 06 2015 Sublime Text Download URL http www sublimetext com 3 visited on 15 06 2015 Ubuntu GNOME An official flavour of Ubuntu featuring the GNOME desktop environment URL http ubuntugnome org visited on 17 06 2015 Ubuntu GNOME An official flavour of Ubuntu featuring the GNOME desktop environment URL http www ubuntu com visited on 17 06 2015 D Ursutiu C Samoila P Cotfas D T Cotfas D V Pop M E Auer and D G Zutin Multifunction iLab implemented laboratory In Global Engineering Education Conference EDUCON 2011 IEEE Apr 2011 pages 185 190 DOI 10 1109 EDUCON 2011 5773135 Visual Studio Code Code Editing Redefined URL https code visualstudio com visited on 15 06 2015 Web Storage Second Edition VV C Candidate Recommendation June 2015 URL http www w3 org TR webstorage visited on 24 06 2015 WebLab Deusto Front page URL http weblab deusto es vebsite visited on 15 06 2015 welcome home vim online URL http www vim org visited on 15 06 2015 Welcome to Python org URL https www python org visited on 18 06 2015 Pieter Wouters Christof van Nimwegen Herre van Oostendorp and Erik D van der Spek A meta analysis of the cognitive and motivational effects of serious games Eng
55. ment are presented preceded with the usage statistics of the project one of the objectives of the project itself 7 1 USAGE STATISTICS This project was tested during the Deusto s ForoTech engineering week figure 7 1 During that testing that lasted for 8 days hundreds of students saw the system There was a live demo in the forum itself where students learned how to play the game and received their own user and password to play from home During those demonstrations the experiment was used 72 times with a total of 16 119 5 seconds of use about 4 hours and a half CIENCIA REMOTA Figure 7 1 Students looking at the ForoTech demonstration Moreover 64 users logged in and played from home with a total of 665 uses more than 10 times per user with a total of 145 155 22 seconds of use about 40 hours and 19 minutes which is about 2 268 seconds per user or about 38 minutes The average game was of about 200 seconds about 3 minutes and 20 seconds and the day with most uses was the Wednesday the first day of use in the afternoon where the system had 164 uses There were no important issues with the robot and most of them were hardware related due to failing pieces that were changed rapidly T 7 CONCLUSIONS AND FUTURE WORK The final top five ranking of the competition was the one in table 7 1 The first two received an iPad figure 7 2 There was a real competition where users were playing until the last se
56. ming tools 43 It is in itself an IDE made by the MIT to help to teach programming to inexperienced users It teaches the basic concepts of algorithms and it gives an enough powerful tool so that users can enjoy using it It s main concept is to join basic programming blocks so that functionality is created Moreover they have created a complete collaboration platform where all the users of Scratch can share their creations and check out the ones that others have made That way users can learn more by looking at code created by others Blockly Blockly unlike Scratch is not a visual programming IDE but a visual programming library to create visual programming editors and IDEs It has the same basis as Scratch so it contains basic programming blocks to build applications by joining them Figure 2 7 and it also gives developers the option to create their own blocks with a simple Application Programming Interface or API It was created by Google and it s source is now available in GitHub 6 unti HAN Count vi gt vI 250 MESE Count v LOAN O TIOS Count is EZ print a Count v E Count v L print 66 9 Figure 2 7 Simple program example created in Google s Blockly Blockly enables developers to create their own programming environments for their projects so they can adapt Blockly itself to their needs and thus making it possible for them to even create complete IDE
57. n top of them The problem was that the RFID reader the robot had the 1D 12 seemed to have some defect since the reader vvas located about 10 15 mm from the floor and its range vvas of 120 mm 30 It was decided to change it by a ID 20 reader that has a 180 mm range 30 and worked perfectly Furthermore the electricity was another problem the robot was using batteries and as it can be seen above it had to be changed to cables The main issue was that the cables could get entangled with the walls It was solved by extending a flexible artifact in top of the robot figure 6 16 42 PROYECTO FIN DE GRADO Figure 6 16 Romie must not get entangled with the walls Algorithm 6 6 Arduino code for returning if wall was hit 1 if millisO lastTimeFollow gt 8000 4 2 while digitalRead FLIline HIGH Motors turnRight 100 3 while digitalRead FRIline LOW Motors turnRight 100 4 FollowLine 5 lastTimeFollov millis Finally there was a problem with the wall sensor since it would disconnect sometimes This was a hardware issue that could not be solved easily since the sensor would arrive at least one month after being requested Taking that into account it was decided to implement a software solution directly in the robot so that it would go back automatically if something went wrong as it can be seen in algorithm 6 6 6 1 7 Labpsico Experiment Integration When the trivial type game was almost finishe
58. nai Alonso Aitor Brazaola Cruz E Borges Nora Sarrionandia Eneko Cruz Leire L pez Rub n del R o I igo Iturrate Alejandro P rez and Gustavo Mart n 69 Agradecimientos Me gustaria agradecer a las siguientes personas por su ayuda ya que sin ellas este proyecto no habria sido posible Gracias a ellos pude vivir esta asombrosa experiencia Mi madre Arantza por dedicar sus ltimos dias de su vida a apoyarme cuando comenzaba mis primeros meses de carrera y por ser la mejor madre que ningun nino podria sonar Mi padre Manu por ser paciente conmigo todos estos anos y haberme dado la oportunidad de continuar mis estudios dandome a su apoyo moral y financiero Javier Garcia Zubia por ser el tutor de este proyecto y por darme la oportunidad de aprender mientras trabajaba en WebLab Deusto los ltimos dos anos Helena Matute por darme la oportunidad de trabajar en colaboraci n con el equipo de Labpsico y crear una experiencia sorprendente Tomas de la Vega por ser tan receptivo con mis consultas al integrar el experimento de Labpsico Pablo Garaizar Txipi por recomendarme a Javier Garcia Zubia como un candidato potencial para trabajar en WebLab Deusto Pablo Orduna por permitirme entender su WebLab Deusto y ayudarme cada vez que tenia problemas con el desarrollo Luis Rodriguez por ser increiblemente paciente con todas mis preguntas que no fueron pocas Gabriel Martinez por tenerlo en WebLab Deusto y
59. nation Deployment in the Ciencia Remota project of FECYT and testing by students The game will be deployed in th Ciencia Remota project of FECYT where many institutions work to bring remote experimentation to more places For that and as a demonstration of the potential of the project some public test will be performed where students from various schools will take part Usage statistics report A complete report will be generated to learn from the use statistics This will provide us with information on how to improve the game 3 2 DESCRIPTION OF THE EMBODIMENT 3 2 1 Development Methodology The project s work breakdown structure or WBS figure 3 1 shows how the project will be de veloped and how the task will be divided As looking to the WBS the phases of the project will be the following 10 Requirements Project s requirements analysis in which functional and aesthetic require ments will be determined Design Comprehensive design of the project both functional and aesthetic to define the final product First game mode development The first intermediate product will be developed and it will be integrated in the WebLab Deusto platform This game will be a trivial type game Labpsico experiment integration An experiment provided by the University of Deusto s psychology laboratory Labpsico will be integrated with the first game mode Second game mode development The second game mode
60. nt li HE REST Bluetooth relay Wall check Command l response Move follow line Figure 6 4 Software layers showing each layer s functionality l 6 DEVELOPMENT The robot will use a slightly modified version of the current firmware since it must not get blocked by any wall in case of crash and a more reliable implementation is needed That is why it has been programmed to turn back if a hardware error occurs and collides with a wall Nevertheless the external Bluetooth API will be the same as the one that was already implemented at the beginning of the project It will provide an F command to go forward that will return the RFID tag if it finds one an L command to turn left its counterpart R command to turn right and it will also provide the command S that will check if there is a wall in front of the robot Nevertheless and even if the experiment server can check for a wall the robot itself has been programmed to return a NAK response if it is commanded to go forward against a wall The robot itself works following the lines in the labyrinth until it finds an intersection It is also capable of turning in those intersections if it is commanded to turn right it will make a 90 degree right turn and face the path in its right When the robot stops on top of an RFID tag it will return the tag s label The intermediate server will provide a small Representational State T
61. ocks to program the robot and see the result Keywords Remote Laboratories WebLab Deusto Serious Games Psychology Visual Programming 111 Contents Contents List of Figures List of Tables Algorithm Index 1 Introduction 2 Background and Rationale 2 1 Backorolltidi E ee BE aa eae Gee b anl d 2 1 1 Remote Laboratories zn er rare A Ve 2 1 2 Serious Games and Visual Programming 2 1 9 Webbab Deusto iss x x Z s kVA sh Aa bi LN WO R Rdn 271700 xx Do L RAE MON te e A Yi e 3 Goals and Scope 3 1 Project Definition 3 2 Description of the Embodiment 3 2 1 Development Methodology x 0 2 6 2 2 0m 5 22 Intermediate Products p sul daa er az A By Be 3 29 Mamak ua as a Yo ine hed at Si SE 77777 have Egon 9 OTOUNZOLO bak Mis SL puas S d h s b m bi 3 3 1 Organizational Structure 3 3 2 Human Resources Plan 4 Planning 5 Budget Vil 1X xi 10 10 12 12 13 13 13 15 25 6 Development OL Aaval Lepe Game s xn 5 24 See a S K OE BR pee AA 6 1 1 Software and Hardware Requirements 011 2 Design Specihcation i vu s oee deped Gaara wet ee PRY ae ei W 6 1 3 Deployment Considerations e O Lal este Pla ara o EA S ee A ee ee a ae Oe User Manual axa z ve ork A EEES ee Se e a l o 6 1 6 Issue Management _ a Oe Oe ee E E e ll ed 6 1 7 Labpsico Experiment
62. onses from the robot e The software must be integrated in the WebLab Deusto platform as a new experiment e The software must have an easy to use UI based on human computer interaction or HCI principles e The software must be stable enough to support dozens of accesses per hour e The software must provide enough questions so that the user never finishes them and can be randomly selected e The game must increase difficulty as the user gets more points e The game must finish in less than 15 minutes A ranking must be provided after finishing the game for the user to know its ranking 21 6 DEVELOPMENT Hardware requirements e The hardware must be placed in WebLab Deusto e The robot must never get blocked so in the case of an incident it must be automatically recovered The cameras must be accessible from the Internet The robot must be controlled via Bluetooth e The robot must never run out of power e The robot must be able to read all the RFID tags with at least 99 accuracy The robot must use the current labyrinth in WebLab Deusto e No new hardware can be added to the current WebLab server Plunder 6 1 2 Design Specification Taking into account the previous requirements it has been decided to do a small hardware redesign and a complete software design for the project Now the hardware and software design specifications will be shown Hardware Specification Current robot is depl
63. orithm 6 3 WebLab JavaScript library example 1 Callback registration that will be 2 called after reserving the experiment s Weblab setOnStartInteractionCallback start 5 Sending command to the experiment server s Weblab sendCommand L function response 1 7 console log Good response response s function response 9 console log Bad response response 10 1 The game has two cameras and each of them must be separately updated For this task the script must wait until images are loaded before requesting them again That is the best way of updating the cameras because they have one image file that is automatically updated and can be accessed via HTTP The JavaScript code can be seen in algorithm 6 4 Algorithm 6 4 Camera update example 1 updateOnboard function 1 2 d new Date 3 4onboardCam img attr src 4 https cams veblab deusto es vebcam proxied py romie onboard 5 d getTime 6 7 C onboardCam img on load function 8 setTimeout updateOnboard 400 11 10 lupdateOnboard The game logic is divided between the server and the client Since the client is manipulable all the data is stored in the server and the game cannot be manipulated from client side This logic includes the scoring logic which has a small bonus depending on when has the last correct answer 34 PROYECTO FIN DE GRADO been given and the di
64. ority management systems Labpsico experiment integration e T8 Meeting and joint decision making A meeting will be held with the psychology laboratory of the University of Deusto Labpsico where their experiment integration with 12 PROYECTO FIN DE GRADO the first game mode will be settled T9 Labpsico experiment adaptation The experiment provided by Labpsico will be adapted to make sense in the experiment with the robot e T10 Integration with first game mode The experiment will be integrated with the existing platform using the interface created for the first game mode e T11 Integration in WebLab Deusto The new game will be integrated in WebLab Deusto using its queue and priority management systems Second game mode development e T12 Existing technology analysis A detailed analysis will be performed to decide which visual programming tool will be the one used for this game mode e T13 Module creation The modules needed for controlling the robot will be created T14 Logic development The game logic will be developed so that the program created by the user can control the robot e T15 User interface development A simple user interface will be developed to be able to use all the functions of the visual programming mode T16 Integration in WebLab Deusto The visual programming environment will be integrated in WebLab Deusto using its queue and priority management systems
65. orm Together with the psycho logy laboratory of the University of Deusto Labpsico 33 a complete experience to fight against pseudoscience will be integrated and valuable data will be gathered from the experiment The same game platform will be used to integrate the psychological experiment Labpsico will provide so that users completing the psychological experience will receive better starting scores in the game This task in itself carries more challenges that will have to be solved e Work in an interdisciplinary environment with psychologists to design the software integra tion e Integrate a complete psychology experiment in a game using remote laboratories This challenges will need good group work skills as well as good communication skills since com plete understanding will be needed between the teams to develop the best possible solution and integrate it with the current University of Deusto s remote laboratory platform WebLab Deusto Moreover and since WebLab Deusto 152 is part of DeustoTech Learning 15 the department of DeustoTech 14 that creates learning tools it has been decided that a learning experience should 1 INTRODUCTION be created based on the robot This will be one of the key parts of the project since there is currently no experiment for young students to program robots in WebLab Deusto That will be accomplished using a visual programming environment that will be integr
66. oyed with a simple RFID radio frequency identification reader model ID 12 30 which has shown some issues when reading the RFID tags For that reason it has been decided to use a new module the model ID 20LA 30 figure 6 1 This will give the robot a much higher reliability when reading RFID tags Figure 6 1 ID 20LA RFID reader On the other hand there is currently an issue with the availability of the robot It is powered with a 2Ah LiPo battery and is recharged when needed This has a big issue since as we have seen in high load conditions would not meet the required availability and furthermore in weekends or holidays there would be no option to change and recharge the battery Therefore it has been 28 PROYECTO FIN DE GRADO decided to deploy a cable installation from the ceiling of the laboratory and the design of the robot has been adapted so that the cables do not get stuck in the labyrinth The rest of the robot will be used as it is since it provides with the needed capabilities for the needs of the project It has a wall sensor capable of avoiding crashes with walls infrared sensors to detect the lines in the ground motors and wheels capable of moving the robot Bluetooth connection to communicate with it and an Arduino microcontroller so that is easy to modify the current firmware figure 6 2 Figure 6 2 Bluetooth module on top of the Arduino shield The robot is currently configured with a camer
67. p www labpsico com Cr ditos Copyright y Art culos en los que se describe este programa labpsic Figure 6 18 Romie game with the Labpsico experiment For the integration of this experiment and since it has been developed using Bootstrap there is no need on changing its style Moreover there were tight style requirements from the Labpsico team so this could not be changed easily That is why only some of the libraries have been modified to take benefit from the ones already used in WebLab and to lower the number of downloads per 44 PROYECTO FIN DE GRADO request Finally a simple iframe HTML element has been used to show the experiment inside the Bootstrap s modal element The data is sent to Labpsico directly using the web interface using an on line database in FireBase 1191 This experiment will only appear once per each user 6 2 VISUAL PROGRAMMING The second part of this project is to develop a visual programming interface to program the robot and improve the programming skills of the users Since the hardware platform for this section has been the same as for the trivial type game hardware requirements are not included in this section Furthermore since the same software design is followed for the communication with the robot there is no need on adding it to this section Therefore here will be explained the software requirements for the visual programming client the design specification of the
68. r Bot 37 robot and it is used for electronic students to learn how to program it They have simple demonstrations that follow a black line or respond to simple commands Figure 2 5 WebLab Bot a robot based on Azkar Bot A remote laboratory in WebLab Deusto Moreover in The Labshare Institute TLI they have a robot called iRobot that teaches how to deal with accuracy of sensors localization and mapping Finally the robot that will be used in this project is called Romie Figure 2 6a It is located in WebLab Deusto and it has the needed 5 2 BACKGROUND AND RATIONALE functionality for this project it is capable of following a line it detects walls and intersections WebLab Deusto has a complete labyrinth for it where this project will be deployed figure 2 6b The labyrinth where Romie will have to move a Romie the robot Figure 2 6 The robot that will be used in this project Simulations Even if the project will not be based on simulated robotics but in real robots currently some projects use simulations to bring some of the experience to users A simulation is usually less costly than a remote laboratory since not much specialized hardware is required On the other hand students will not be using real tools and experimentation environments so the experience of using them will not be as complete as in a remote laboratory Nevertheless some prefer creating hybrid laboratories 4 In t
69. ransfer REST API in a small Python server Its only duty will be to provide a simple interface for the robot using HTTP instead of Bluetooth needed due to deployment constraints An example of the API usage in Python can be seen in algorithm 6 1 This REST will start automatically on startup which is perfect for when there is a power failure Algorithm 6 1 Romie REST API example 1 import urllib2 s Iff Go forward and get RFID tag if exists a tag urllib2 urlopen http 192 168 0 190 8000 f 5 timeout 60 read 7 Left turn s result urllib2 urlopen http 192 168 0 190 8000 1 9 timeout 60 read 11 Right turn 12 result urllib2 urlopen http 192 168 0 190 8000 r 13 timeout 60 read 15 Check if there is a wall in front of the robot s result urllib2 urlopen http 192 168 0 190 8000 s 17 timeout 60 read This REST API is connected to the robot via Bluetooth and sends commands with the PyBluez Bluetooth wrapper as it can bee seen in algorithm 6 2 This way with the software layered the development is not only faster and easier but the product is more scalable and modular Then the experiment server required by the WebLab Deusto architecture will provide a WebLab command API that will be callable by the client of the experiment This server will be developed in Python because the WebLab Python server libraries are better tested than other language
70. rm to provide a resource in the game so this project aims to create the first game experience ever in a remote laboratory platform Moreover it has been sponsored by the FECYT Fundaci n Espanola para la Ciencia y la Tecnologia foundation s Ciencia remota project where this project will be deployed in museums The game will have to be developed using the WebLab Deusto platform using their hardware and their software libraries and the game will have to be integrated with the robot Romie in its labyrinth For that many technologies will have to be learned an used WebLab Deusto s network will have to be understood and a game that could be used by dozens of people will have to be created Taking that into account it can be understood how this project will confront some big challenges e Integrate hardware elements with software interface to create a game that will be used by young students to play and learn e Use the available resources of a platform never before used as a game platform remote laboratories to create a complete game experience e Design and develop a game that will use real hardware for the gaming experience available anytime and anywhere e Demonstrate the viability of the game and the reliability of the platform in real events with real users playing e Learn and use the tools and libraries provided by WebLab Deusto Furthermore this project does not only try to create a game platf
71. s for their projects based on visual programming 2 1 3 VVebLab Deusto WebLab Deusto is a remote laboratory facility located in the University of Deusto Bilbao Since 2001 it has been providing students with remote laboratories to complete their academic learn ings 20 Since then it has been extended and many of it s laboratories is available all over the world It s no longer a laboratory only made for microelectronics university students since nowadays it serves schools and universities everywhere to provide them with remote laboratories Among others it serves an experiment to prove and measure the Archimedes principle Figure 2 8 an experiment to program and control a robot and some microelectronics experiments with pro grammable logic devices or PLDs and field programmable gate arrays or FPGAs Moreover there are more laboratories in development such as an elevator to teach students how to program and control them an experiment with an aquarium where students can feed them and of course the 7 2 BACKGROUND AND RATIONALE project presented here a complete learning and gaming experience brought remotely using a robot Romie Figure 2 8 Archimedes experiment in WebLab Deusto 2 2 RATIONALE Remote laboratories are a platform developed to reduce costs of experimentation for schools by moving the laboratories themselves to the cloud Nevertheless this is only one of the multiple
72. t will use Romie the robot in WebLab Deusto and its labyrinth to create an experience for learning general knowledge Moreover the trivial type questions will be configurable so that the game can be adapted In this section that development will be explained firstly by analyzing the software and hardware requirements Then the design specification for the hardware and the software will be shown and finally the deployment considerations will be specified After that the testing plan project will be analyzed and a user manual will be presented to learn how to use the application even though it should not be necessary thanks to the work in usability 6 1 1 Software and Hardware Requirements This software will have tight requirements in terms of user friendliness communication stability and security since it must be deployed using as far as possible current hardware and be easy to use by young students Moreover since it will be presented in crowded events it must support high load and availability Furthermore due to the requirements of the project it must be integrated with the WebLab Deusto platform and must be deployable in that environment Thus the requirements specification will be as it follows Software requirements e The software must be able to communicate with the robot e The software must be able to send control commands to the robot e The software must be able to receive command resp
73. tarted OOverride Experiment Experiment Ologged info def do send command to device self command mann Callback run when the client sends a command to the ezperiment Oparam command Command sent by the client as a string un return Command received OOverride Experiment Experiment Ologged info def do_dispose self un Callback to perform cleaning after the experiment ends return Experiment finished 6 DEVELOPMENT As it can be seen in algorithm 6 11 WebLab has some built in methods for the experiment API This gives the option of easily and rapidly developing laboratories for WebLab Since this API is developed in Python 2 7 Python 3 has not been used Python 3 is a mayor release that is not backwards compatible so for backwards compatibility reasons both the WebLab server script and the REST API script have been developed in Python 2 7 6 4 TOOLS 6 4 1 Code Editor For developing this project some tools have been used These tools will be analyzed here so that the reason for their use can be understood The first tool used has been the code editor The editor used has been Sublime Text 46 Version 2 has been used until March 2015 where development in version 3 gave life signs and it was decided to upgrade to this beta version There are also multiple IDEs such as PyCharm 40 Eclipse 18 or other editors such as Atom 3 Lime Text 35 or Microsoft Visual Studio Code 50 Ther
74. ual Ahora puedes programar el robot y decidir qu hara en el laberinto Cuando hayas acabado reserva el robot para poder ver c mo hace lo que le has programado hacer si hacer LE repetir v veces hacer Girar a la izquierda Girar a la derecha Figure 6 20 Writing code for Romie in WebLab Deusto In this page you will be able to program the robot You will have some simple blocks that you can use to create you would like to test Once finished programming you can press the Reserve button and reserve the experiment If somebody is using the experiment you will be put into queue When you access the experiment you will see the code being executed in the left while you see the two cameras of the robot in the right figure 6 21 You will be able to determine which piece of code is being executed because it will be highlighted Once the code finishes its execution you will be redirected to see your code There you will be able to change the code and reserve the experiment again 48 PROYECTO FIN DE GRADO Aqui tienes un editor de c digo visual Ahora puedes programar el robot y decidir qu hara en el laberinto Cuando hayas acabado reserva el robot para poder ver c mo hace lo que le has programado hacer repetir 2 veces hacer Girar a la izquierda al al Ad repetir veces hacer Irrecto repetir 2 veces hacer Girar a la derecha repetir 2 veces
75. uestions when you drive onto a card 41 6 14 You can activate the ceiling camera when you answer a question correctly 41 6 15 The final ranking where you can see the best scores 42 6 16 Romie must not get entangled with the walls 43 6 17 Some of the cards used in Labpsico s experiment 44 6 18 Romie game with the Labpsico experiment 44 6 19 Experiment flow for Romie s Blockly interface 47 6 20 Writing code for Romie in VVebLab Deusto 48 6 21 Testing your code with Romie ass 22 Se EL ER an SR e s a A Si 49 6 22 Arduino Uno microcontroler a2 23 2225 A ee eA AR x ls 50 0 20 Kaspberty Froo asas dy de a ua a rs G z aa L ae Be Do 51 6 24 Helpers used in the client side of the project 51 0 25 Python loso e paaa Sa dr whl eu B Wg e e 52 6 26 Code editors Used sl da x 2 ig e E ee SZ ee as Be eee eae e 54 6 27 Web browsers used for testing 55 6 28 Google Chrome s developer tools 55 6 29 Operating systems used in this project e e 56 6 30 Tools and services used for version control 56 Chapter 7 7 1 Students looking at the ForoTech demonstration 57 7 2 Telmo and Hodei receiving the prize for wining the competition sponsored by
76. ve been possible Thanks to them I was able to live this amazing experience My mum Arantza for dedicating the last days of her life to support me when I was starting my first months of my degree and for being the best mother any kid could dream of My dad Manu for being patient with me all these years and giving me the opportunity to continue my studies by giving me moral and financial support Javier Garcia Zubia for being the tutor of this project and for giving me the opportunity to learn while working in WebLab Deusto for the last two years Helena Matute for giving me the opportunity to work in collaboration with the Labpsico team and create an awesome experience Tomas de la Vega for being so receptive with my inquiries when integrating the Labpsico experiment Pablo Garaizar Txipi for recommending me to Javier Garcia Zubia as a potential candidate to work in WebLab Deusto Pablo Ordu a for letting me understand his WebLab Deusto and helping me each time I had issues in my development Luis Rodriguez for being incredibly patient with all my questions that were not few Gabriel Martinez for having him in WebLab Deusto and for being a good co worker His contributions to the Al of the robot were priceless Ignacio Angulo for helping me with the electronics of the robot I was able to learn a lot with him Many other people that helped me giving their advice and joy Thank you Jesus Sesma Aritz Bilbao U
77. will be developed based on visual programming to teach computing logic PROYECTO FIN DE GRADO uone nsuoul p Sand ojsnoq 7QEJQOM ul UONEJ JJUJ juaudojanap 9JEJJAJUI JOSN juaudojanap 91607 AJNPOW sisAjeue ABojouyse Buns x3 juaudojanap puogas ojsnoq ge 1q AA ul uonelbaju aweb 151 YIM uoneBa u uonejdepe u uiu dx o9isdqe7 Bumew UOISI99P 1110 pue BunaalN uolye1ba ul 1 ooisdqe7 ojsnoq ul sisAjeue sjuawadinbal on uls v juaudoj9nap ubisap 9JBJJAJUI JOSN eH lul JOSN sisAjeue sjuawadinbal 221607 juaudoj9nap ubisap 91607 2160 eu aju juaudojanap pouu ubisag sjuawauinbay awe 15114 t s work breakdown structure jec Pro Figure 3 1 11 3 GOALS AND SCOPE e Public demonstration A public demonstration will be performed to test the viability and reliability of the project with students 3 2 2 Intermediate Products These will be the intermediate products that the project will produce e First game mode This game mode will be a trivial type game where the user will move the robot in a labyrinth and will have to replay questions in specific location e First game mode with Labpsico experiment The same game mode as the one before will be modified to accommodate the experiment provided by La
78. y of WebLab Deusto In figure 6 7 the location of the RFID tags can be shown in a scale model of the labyrinth 6 1 4 Testing Plan The testing for this software is divided in 3 main environments First of all the usual manual testing is made by the developer co workers and administrators of WebLab Deusto This helped to identify some bugs that they were fixed almost as soon as they appeared but in any case this is not enough for a production environment After the manual testing WebLab Deusto has a continuous integration system connected to Travis CI in GitHub It provides many unit tests that provide stability to the code since the developers receive emails when a commit does not pass the tests Nevertheless for the graphical user interface GUI it is difficult to provide unit tests Finally and also as a demonstration of the potential of the project the project was tested in an event at the University of Deusto called ForoTech 13 In this event the project was tested in 37 6 DEVELOPMENT A B C D Figure 6 7 The scale model of the labyrinth used in this project with the RFID tags The labels of the tags can be seen below e A 4F 00 88 AB CB B 4F 00 56 A7 6F C 4F 00 56 DA 57 D 4F 00 56 8F 86 e e E 4F 00 56 87 C4 F 50 00 8F 90 D5 G AF 00 56 9F 08 a high load environment where the robot received hundreds of uses in a short period of time demonstrating its reliabilitv an
79. ython figure 6 25 The main reason has been that the WebLab API is being developed actively primarily for Python and it has a better integration since WebLab itself is developed in Python Moreover Python is an adequate language for a development like this since it does not have high overhead and it is designed for rapid development An example of the WebLab API can be seen in algorithm 6 11 python Figure 6 25 Python logo 92 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Al 42 43 44 PROYECTO FIN DE GRADO Algorithm 6 11 VVebLab experiment server development import veblab experiment experiment as Experiment from voodoo override import verride from voodoo log import logged Create the experiment class class RoMIExperiment Experiment Experiment def _ init__ self coord_address locator cfg_manager xargs kwargs super RoMIExperiment self __init__ args kwargs self cfg manager cfg manager Override Experiment Experiment Ologged info def do get api self return 2 fi The experiment has to notify the experiment s API version OOverride Experiment Experiment logged info def do_start_experiment self client_initial_data server_initial data mn Callback run when the experiment is started un return Experiment s

Remote robotic experiment integration in a game

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