The following features are bundled with the following features.

Please refer to the respective features' page for additional details, images and information by referring to the menu on the left or by clicking the hyperlinks below.

• Dashboard

• Teleoperation

• Single Event Tasks

• Stations

• Localiser

• Mapping

• Multi-floor Navigation (MFN) (coming soon)

• Multi-storey Navigation (MSN)(coming soon)

• Task Manager (Tasklist and Scheduler)

Seirios RNS' features can be divided into three categories:

• Core Features : features that enable the robot to move manually and/or autonomously

• Supplementary Features : features that supplement and improve the core features

• Robotic Features : features that non visual and only configurable from the robotic backend

There are only two types of tasks in Seirios RNS;

• Trail : where robot will follow the generated lines closely (will not deviate outside). When faced with obstacles, robot will stop until obstacles are removed.

• Waypoints: where robot will not follow the lines and obstacles will be dynamically avoided (unless setting is toggled to stop-at-obstacle)

Trails

Teleop Trail

In this mode, users are required to Mark each point and a line will be generated between points.

Mark Trail

Similar to Teleop Trail, instead of moving the robot to mark, use the on-screen marker to drop points. Lines will be generated automatically.

Zone

The Zone feature can automatically generate points (trail style) in a specified area.

The generated zone will look like this, where points will be generated close to each other;

Waypoints

Waypoints are similar to Mark Trail where the only difference is that the robot does not follow the generated line closely. Obstacles will be avoided as the robot navigates in its environment.

The dashboard is the first page that you see after logging in. After mapping, saving and loading a map, it will be visualised here;

Speed controls, analog/keyboard control and toggle, and mode-dependent buttons will be displayed in this panel. This panel can be toggled to be hidden or shown too.

Users can create one or more (no limit) stations for a specific map to dock to - for charging or for other tasks (such as picking of objects with a robotic arm payload)

Creating stations

Users are required to drive the robot manually in the map (in the interest of accuracy and precision) and upon reaching the point of interest, capture the pose and store it as a station

Queueing saved stations

After station(s) are created, queue them together with other tasks to build an autonomous robotic process in your environment.

Besides charging, stations can be used to mark points of interest so robot(s) can dock to, with precision

Under this category, users can manually drive their robots

1. Drive - to manually drive the robot with the onboard controls (keyboard or analog)

Granular controls are automatically applied; similar to a car's gas pedal/accelerator, users can granularly control the speed based on the set (0.1 - 0.9 m/s) limit with the joystick.

For omnidirectional robots, steering can be controlled with Shift keys as shown below. The keys will move the robot on the X axis/plane (sideways)

The Settings modal can be shown by clicking on the top left menu icon. Here you will find the following settings;

Robot Customisations

Human Detection

When enabled, robots will stop moving when humans are detected. Custom auxiliary commands (such as turning off the UV light) can be pre-programmed. Used for specific use-cases, the human detection usually leads to certain behaviours. For example;

When a UV disinfection robot detects a human, the UV lights will be disabled to prevent harm unto the detected human

Stop-at-Obstacle

When faced with obstacles, the robot will not attempt to plan around the obstacle for safety reasons.

This is particularly useful when the environment is tight or with fragile objects; robots will not keep reattempting to navigate (forward, backward, forward...) but wait for human intervention.

Teleoperation Safety

In teleoperation mode, robots will still stop if faced with obstacles.

As robots are not always in human users' view, robots will automatically stop when faced with obstacles even in manual / Teleoperation mode. This may present unintended behaviours to the robot to the user therefore an option for users to turn off or on

Battery Threshold

Set a battery percentage (in %) and the robot will automatically navigate back to home and dock (if available) when the battery level falls under the set percentage.

When at Home and charging, if users intend to disconnect the robot, a modal will warn and prompt the user this battery fallback toggle to be disabled - as the robot will keep re-attempting to return to home to charge

Account Management

To ensure only authorised staff are allowed to connect and operate the robot, users are able to create new credentials to provide access with end users or staff.

Language Switcher

Presently, only Chinese (Traditional and Simplified) are supported officially as an extra language in Seirios RNS.

For additional languages, please use your browser's translator (Google Translate for Chrome) in the meantime.

Appearance

Users using Seirios in different environments and conditions have the option to switch between dark and light mode - under Settings

Health Care

Errors are logged and displayed here under 'Health Care'

The Queue Manager is a feature for users to;

• View past, present (active) and future tasks that are queued

• Re-arrange tasks (admin only)

Presently, there are 2 ways to view the Queue Manager

• Method 1 : In Homepage view, by clicking the white status bar the Queue manager will appear

• Method 2 : By clicking the persistent icon at the top left of the screen, if not in Homepage view

Re-arrange the order of queue list by dragging the tasks up or down

Besides intuitive features on the interface, Seirios RNS brings key robotic capabilities that are not apparent on the user interface but silently powering and enabling robots to move in challenging environments Please visit the following articles for more information:

• Kerb-and-ramp navigation

• Anti - shin buster

On top of the core features, Seirios RNS are bundled with supplementary features too;

• Behavioral & Interface

• Map Editor

• Queue Manager

• Non-full Qualified Tasks

  • Custom

  • Auxiliary Tasks

From the top left corner, click the hamburger menu button to expand the options and click on Task Manager. You will be presented with two options, Tasklist and Scheduler.

These two options share many similarities but Scheduler introduces the element of time on top of queued tasks.

Queueing Tasks

From here, select Tasks (Path, Goal, Zone, Station, Custom or Delay) to create a list of tasks that can be run with a single click.

After saving the list, your tasks can be previewed as shown below

From here, run your Tasks now by clicking 'Run Now' or put this Tasklist into the queue with 'Add to Queue' at the bottom of the screen

Scheduling Tasks

To schedule these tasks to run at a later date/time, edit the task (by clicking the pencil icon) and input the date and time details

You can also save these scheduled tasklists as Active or Inactive

State Machines

Seirios supports integration with state machines. Flexbe is tried and tested to be compatible with Seirios and it includes an editor with which you can create your own conditions;

Seirios RNS is able to navigate on uneven and rough terrains - conditions that will usually throw localisation off due to the tilt and different FOV angles when robots are on an inclined/downward position

These environments also include environments with kerbs and ramps - often seen in everyday public places.

Current inclination supported : ∠15°

Seirios RNS supports multiple mapping algorithms. Jump to the algorithm of interest here on the right panel (desktop view only) ➡️

2D Mapping

The most commonly used mapping algorithm, the cameras mounted on robots populate and generate a map of its surroundings

Users can manually teleoperate the robot, to 'reveal' the map represented by white areas in the map

Auto Mapping 🚩

Incorporating this feature into Seirios allows users to automatically map large areas without manually driving with virtual controls. The auto-mapping feature was originally developed for a wall-scanning construction project

Automatic mapping without manual controls from users

3D Mapping 🚩

For higher accuracy, range and better visual representation of environmental features, users can opt to map in 3D. A 2D map will be generated from a 3D map too

RTAB-MAP 🚩

RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D, Stereo and Lidar Graph-Based SLAM approach based on an incremental appearance-based loop closure detector.

As its namesake, it uses real time images to map the environment

ORB-SLAM Camera Based Mapping 🚩

ORB-SLAM is a keyframe and feature-based Monocular SLAM. It operates in real-time in large environments, being able to close loops and perform camera relocalisation from very different viewpoints.

Seirios is able to support mapping with the use of monocular, stereo, and RGB-D cameras. Green 'dots' are features recognised and stored in the map data, generating a 2D map

This prevents unintended collisions into the shins/legs of human users or other 'thin' obstacles, this is enabled by default in Seirios

There are two types of Non-Fully Qualified Tasks, Auxiliary Tasks, and Custom Tasks.

Auxiliary Tasks

Auxiliary tasks are executables such as lights, music, sound, or others*.

They are created and executed independently.

They must be 'stacked' on top of fully qualified tasks and will be executed together at the specified time and sequence

You can fill name for the Aux Task Name, then there are 3 Types that you can choose. 1. Roslaunch File: You can launch your aux task using the roslaunch file, please fill the LaunchFile as the full path of the launch file that you want to launch. 2. Rosnode: You can launch your aux task by calling the rosnode, please fill the Pkg as the package of the rosnode, and Executable as the executable file. It will similar to this: rosrun <Package> <Executable> 3. Executable Scripts <recommended>: You can launch the aux task by executing the executable scripts, please fill the Executable as the full path of the script file, and also you can add the arguments as well (optional). It will similar to this: bash ./script.sh arg

How to run it:

1. Copy your bash script to the ~/catkin_ws/movel_ai/aux_task folder. This is the example of script for your reference, you can modify it based on your case. #!/bin/bash

   function proc_start { rostopic pub /aux_task_status std_msgs/String "data: 'start'"

   Copy

   while true
   do
       sleep 10
   done

   }

   function proc_exit { rostopic pub /aux_task_status std_msgs/String "data: 'stop'" exit 0 }

   trap proc_exit TERM INT proc_start

2. Make sure you make the script as executable (sudo chmod +x [file_name].sh)

3. Create new aux task, executable must be /home/movel/.config/movel/aux_tasks/[file_name].sh (full path directory for auxiliary task inside Seirios-RNS Docker)

4. args is optional, you can leave it blank

Custom Tasks

Custom tasks are tasks that move robots - such as docking or picking with a robotic arm. These movements are programmed as custom tasks and can be chained with other tasks to create a fully autonomous robotic operation.

For more details on how to integrate your own custom task code, please refer to our external process handler guide

From the mode switcher, select the Localise button and click Start

Once the laser scan is aligned properly, click save to localise

Different users may have different use cases to edit a map. With the map editor feature, users are able to;

1. Annotate - name an area

2. Create no-go zones (where robots will not be able to navigate into/to)

3. Yes-go zones (where users are able to 'clear' obstacles formed during the mapping process or to undo no-go zones)

Users can access the map editor by clicking this icon

Users will be presented with a set of options to edit the map;

Options are categorised by shapes - where users are able to choose whether to Annotate/Name, create No-go zones, and Yes-Go Zones. These categories are 'Squares', 'Polygon' and 'Others' (single lines)

A single line as an option can be used to create precise and thin obstacles such as walls