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Wireless Position Tracker with Tango and Unity3D

This is a project about wireless position tracker with Tango and Unity3D.

Tango AR supports accurate position tracking. Unfortunately Google gave up Tango project. But it is still a powerful AR platform.

Tango device
Client of wireless position tracker

The communication module used socket for C# which supports all platforms except webGL.

Server
Client

It is a simple but interesting project similar to VR virtual controller with Android:https://developers.google.com/vr/daydream/controller-emulator

I think the position tracking ability of Tango is on a par with Oculus or Vive. With this Wireless Position Tracker, you can turn a Tango device into a VR controller with full position tracking like Oculus Touch controllers.

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ROS controller software with Unity3D

This is a project about control robot with Unity3D.

I am using websocket to develop communication the module. Because webGL does not support normal socket and the only way to use unity on Linux ARM is webGL. This project can also runs on all platforms.

Websocket plugin for unity: https://github.com/y85171642/UnityWebSocket

Control panel
Protocol

As for ROS client, I am using this project: https://github.com/Pithikos/python-websocket-server

The delay is acceptable in normal WIFI environment. This project shows that it is convenient to develop GUI for robot with Unity.

Remote control car under 4G network with Unity3D

This project is to develop a remote control car with First Person Viewunder 4G network.This project consists of a remote control car and a ground station softwarefor communication.

Main Components
Protocol
Control system
Photos and screenshots

There are several important factors that limit the running and image transmission performance of the RC car. Firstly, to improve the straight line performance, it can be helpful changing the open-loop control system to closed-loop control system. An open-loop control system utilizes an actuating device to control the process directly without using feedback to obtain the desired response. Compared with the open-loop control system, a closed-loop control system has a measurement of the output and feedback of the signal for comparing it with the desired output. Therefore, it would improve the straight line performance of the car with a closed-loop control system by adding a gyroscope as which is an angular motion detector working as a feedback sensor.

Another drawback of the project is that compared with the 2.4G and 5.8G FPV, the RC car under the 4G network will have higher latency. To reduce the transmission delay, in future the 5G network can be a better choice. It is widely accepted that the coming era of telecommunication will be dominated by 5G network considering its outstanding improvement, which is its fast speed. The edge rate of the 5G network is from 100 Mbps to as much as 1bGbps. Moreover, current 4G network latencies are on the order of about 15 ms, and are based on the 1 ms subframe time with necessary overheads for resource allocation and access. For future 5G network, it would be able to support a latency of about 1 ms, an order of magnitude much faster than 4G network. By using the same principles to apply the 5G network onto this car in place of 4G, its relatively long response time can be shortened while the rest of the functions remain unchanged. Therefore, with the usage of the 5G network, the remote control car can transfer high quality images in faster speed but lower latency.