[CNIT 581-SDR / Spring 2019] Week 10 – Mobile Application


For the mobile side, we’ve built an application that users can draw some lines with the width information.

Screen Shot 2019-03-20 at 9.45.24 PM

The white square at the center of this application is the drawing area which can get users’ input. Some black lines will be drawn along with the input. The blue buttons on the bottom are for the thickness of lines so that the users can simply select the desired one. We added a reset button in the case of redrawing.


Screen Shot 2019-03-20 at 10.00.27 PM

The ‘Send’ button at the below is to send trajectory information to a physical robot. The data is about the relative coordinates with a starting point rather than the absolute coordinates. The drawing information would be saved by JSON type, as shown in the example below.

{'item_number' : 3, 
 'infos': {
   'starting_point' : [149.0,30.8], 
   'thickness' : 1
   'coordinates' : [[A,B], [C,D], [E,F], ...]
   'starting_point' : [167.0,20.3], 
   'thickness' : 2
   'coordinates' : [[A',B'], [C',D'], [E',F'], ...]
   'starting_point' : [195.0,16.2], 
   'thickness' : 3
   'coordinates' : [[A'',B''], [C'',D''], [E'',F''], ...]

Depending on the receiver point, data structure and each item can be changed.


[CNIT 581-SDR / Spring 2019] Week 8 – Automated Drawing Robots

We wrote the proposal report and did presentation. The following is about the summary of proposal for our project.

Abstract—Although many areas with human physical labor
have been replaced by high edge technologies, drawing is not fully
replaced by robots or electric devices. People are still exposed
to dangerous environment such as paint toxicity or car accident
when they draw the road sign. Thus, this proposal proposed
the replacement of drawing using robots controlled by mobile

Literature Reviews:

A. The Artist Robot: A robot drawing like a human artist

According to G. J-Pierre and Z. Said [1], the artist robot
are designed to draw portraits and behave like a human artist
with a 6 dof industrial manipulator.

B. Watercolour Robotic Painting : a Novel Automatic System for Artistic Rendering

Scalera et al. [2] developed a watercolor painting automatic
system where the robot Busker render an image and paint
watercolor painting with different brush techniques

C. Autonomous Indoor Robot Navigation Using Sketched Maps and Routes

In 2016, Boniardi et al. [3] developed a system which uses
hand drawn indoor map and trajectory on mobile devices
for a robot to follow.


First of all, users can draw tracing on the mobile application’s surface. This application has functions, where it stores
the trajectory of input and the users can select the thickness
of their drawing, so that represents the brightness. Regarding
the robot part, it mainly should be able to modify its motor’s
angle to follow the given trajectory. While moving, a motor
for drawing material on the robot can adjust the degree of
a contact point between the pen tip and drawing surface.
The mobile application and the robot should be connected to
the computing side which can calculate coordinates regarding
scale difference between mobile and physical environment.

Mobile Device, Robot Hamster, ROS


Project Schedule:

Schedule of this Project


[1] L. Scalera, S. Seriani, A. Gasparetto, and P. Gallina, “Watercolour Robotic
Painting: a Novel Automatic System for Artistic Rendering,” 2018

[2] F. Boniardi, A. Valada, W. Burgard, and G. D. Tipaldi, “Autonomous
Indoor Robot Navigation Using Sketched Maps and Routes,” Tech. Rep.

[3] G. Jean-Pierre and Z. Said, “The artist robot: A robot drawing like
a human artist,” in 2012 IEEE International Conference on Industrial
Technology, ICIT 2012, Proceedings, 2012.

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