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android A: brain

android B: remote control
Prototype 1. raw sensor data output default mode(stabilization without preproccessing on the phone side):

android A—>real-time sensor data (GPS/Gyroscope/Accelorometer/Compass/Proximity)—>real-time serial data—>microcontroller

Prototype 2. advanced command output default mode(stabilization with command preprocessing on the phone side):

android A—>real-time commands (calculated from real-time sensor data) for microcontroller —>real-time serial data—>microcontroller

Prototype 3. remote control:

android B—>human commands through Voice/Bluetooth/NFC/Wifi/3G (XMPP preferred)—>android A—>serial commands—>microcontroller

The prototype 1 can coexist with the prototype 2 to have a hybrid prototype.

- Prototype 1:

Feature: the microcontroller handles the sensor data processing

Advantage compared to prototype 2: shorter transmission delay from sensors on android A to themicrocontroller.

Constraint: the calculations should not bypass the calculation limit of the microcontroller.

- Prototype 2:

Feature: android A handles the sensor data processing.

Advantage compared to prototype 1: frees the microcontroller from complex calculations, make full use of the powerful calculation tools (such as Android APIs and OpenGL) on android A.

Constraint: The calculation time on android A should not bypass the required limit, to ensure the real-time data transmission.