Datasets:

nuerrr
/

robot-sensor-telemetry

timestamp_ms int64 0 20k	front_cm int64 11 340	rear_cm int64 35 226	left_cm int64 87 220	right_cm int64 35 336	motor_state stringclasses 6 values	face_verified bool 2 classes	tilt_warning bool 1 class	fall_detected bool 1 class
0	145	200	89	203	IDLE	false	false	false
250	143	201	88	204	IDLE	false	false	false
500	140	199	90	202	IDLE	false	false	false
750	98	198	91	201	IDLE	true	false	false
1,000	72	197	92	200	FORWARD	true	false	false
1,250	55	195	90	199	FORWARD	true	false	false
1,500	38	193	88	198	FORWARD	true	false	false
1,750	22	191	89	197	FORWARD	true	false	false
2,000	11	189	91	196	STOP	true	false	false
2,250	11	188	90	195	STOP	true	false	false
2,500	12	186	92	194	TURN_LEFT	true	false	false
2,750	18	184	180	193	TURN_LEFT	true	false	false
3,000	25	182	210	192	TURN_LEFT	true	false	false
3,250	45	180	220	191	FORWARD	true	false	false
3,500	78	178	215	190	FORWARD	true	false	false
3,750	112	176	208	189	FORWARD	true	false	false
4,000	156	174	201	188	FORWARD	true	false	false
4,250	189	172	198	187	FORWARD	true	false	false
4,500	210	170	195	186	FORWARD	true	false	false
4,750	230	168	192	185	FORWARD	true	false	false
5,000	245	166	189	184	FORWARD	true	false	false
5,250	260	164	186	183	FORWARD	true	false	false
5,500	280	162	183	182	FORWARD	true	false	false
5,750	295	160	180	181	FORWARD	true	false	false
6,000	310	158	177	180	FORWARD	true	false	false
6,250	180	156	174	179	TURN_RIGHT	true	false	false
6,500	165	154	171	90	TURN_RIGHT	true	false	false
6,750	155	152	168	55	TURN_RIGHT	true	false	false
7,000	148	150	165	38	STOP	true	false	false
7,250	150	148	162	35	BACKWARD	true	false	false
7,500	152	130	159	38	BACKWARD	true	false	false
7,750	155	112	156	42	BACKWARD	true	false	false
8,000	158	95	153	48	BACKWARD	true	false	false
8,250	162	78	150	55	BACKWARD	true	false	false
8,500	165	62	147	62	STOP	true	false	false
8,750	168	50	144	68	STOP	true	false	false
9,000	170	42	141	75	TURN_LEFT	true	false	false
9,250	175	38	138	82	TURN_LEFT	true	false	false
9,500	180	35	135	90	TURN_LEFT	true	false	false
9,750	185	38	132	98	FORWARD	true	false	false
10,000	190	42	129	106	FORWARD	true	false	false
10,250	195	48	126	114	FORWARD	true	false	false
10,500	200	55	123	122	FORWARD	true	false	false
10,750	205	62	120	130	FORWARD	true	false	false
11,000	210	70	117	138	FORWARD	true	false	false
11,250	215	78	114	146	FORWARD	true	false	false
11,500	220	86	111	154	FORWARD	true	false	false
11,750	225	95	108	162	FORWARD	true	false	false
12,000	230	105	105	170	FORWARD	true	false	false
12,250	50	115	102	178	STOP	true	false	false
12,500	48	120	99	186	STOP	true	false	false
12,750	46	125	96	194	TURN_RIGHT	true	false	false
13,000	48	130	93	200	TURN_RIGHT	true	false	false
13,250	52	135	90	210	FORWARD	true	false	false
13,500	68	140	89	220	FORWARD	true	false	false
13,750	95	145	88	230	FORWARD	true	false	false
14,000	130	150	87	240	FORWARD	true	false	false
14,250	168	155	88	250	FORWARD	true	false	false
14,500	200	160	90	260	FORWARD	true	false	false
14,750	235	165	92	270	FORWARD	true	false	false
15,000	265	170	95	280	FORWARD	true	false	false
15,250	290	175	98	285	FORWARD	true	false	false
15,500	310	180	102	290	FORWARD	true	false	false
15,750	325	185	106	295	FORWARD	true	false	false
16,000	340	190	110	300	FORWARD	true	false	false
16,250	18	195	115	305	STOP	true	false	false
16,500	17	198	118	308	STOP	true	false	false
16,750	16	200	120	310	TURN_LEFT	true	false	false
17,000	18	202	125	312	TURN_LEFT	true	false	false
17,250	22	204	130	314	FORWARD	true	false	false
17,500	35	206	135	316	FORWARD	true	false	false
17,750	55	208	140	318	FORWARD	true	false	false
18,000	80	210	145	320	FORWARD	true	false	false
18,250	110	212	150	322	FORWARD	true	false	false
18,500	145	214	155	324	FORWARD	true	false	false
18,750	178	216	160	326	FORWARD	true	false	false
19,000	210	218	165	328	FORWARD	true	false	false
19,250	240	220	170	330	FORWARD	true	false	false
19,500	265	222	175	332	FORWARD	true	false	false
19,750	285	224	180	334	FORWARD	true	false	false
20,000	300	226	185	336	FORWARD	true	false	false

Robot Sensor Telemetry Dataset

Description

This dataset contains real-time sensor telemetry collected from an autonomous robot built for CIE-349/408 Embedded Systems at Zewail City University of Science and Technology (Spring 2026).

The robot uses a PIC16F877A microcontroller reading 4x HC-SR04 ultrasonic sensors at 250ms intervals. Telemetry is streamed over UART to an ESP32 NodeMCU, forwarded via UDP to a Raspberry Pi 3B, and served to a Flutter mobile app over HTTP.

Dataset Structure

Column	Type	Description
timestamp_ms	int	Milliseconds since robot boot
front_cm	int	Front ultrasonic sensor distance (cm)
rear_cm	int	Rear ultrasonic sensor distance (cm)
left_cm	int	Left ultrasonic sensor distance (cm)
right_cm	int	Right ultrasonic sensor distance (cm)
motor_state	string	Current motor command: FORWARD/BACKWARD/TURN_LEFT/TURN_RIGHT/STOP/IDLE
face_verified	bool	Whether biometric face recognition lock is verified
tilt_warning	bool	MPU6050 tilt > 30 degrees detected
fall_detected	bool	MPU6050 tilt > 60 degrees detected

System Architecture

The robot operates as a 4-tier distributed pipeline:

PIC16F877A — Hard real-time controller, reads sensors via Timer1, drives motors via PWM
ESP32 NodeMCU — WiFi bridge, forwards UART telemetry to Raspberry Pi over UDP
Raspberry Pi 3B — Flask server, face recognition security gate, UDP auto-discovery
Flutter Android App — Mobile dashboard with D-pad control and radar display

Face Recognition Security

Motor commands are blocked unless a verified face is detected by the face_recognition library (dlib-based deep learning model) running on the Raspberry Pi. Face encodings are stored persistently in a .pkl file (biometric database).

Safety Features

Software obstacle cutoff: front sensor < 10cm → force STOP
Tilt/fall detection via MPU6050 accelerometer
Biometric lock: commands blocked until face verified

Team

Nouran Essam (202300627)
Menna Khaled (202301665)
Shrooq Amin (202300112)

Zewail City University of Science and Technology — CIE-349/408 Spring 2026

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