User Interface

The Cosima web based graphical user interface can be accessed with any modern browser. After connecting to the robot’s wifi (cosima), it is available at http://192.168.0.100:8888/.

Indicators

Emergency State
em_free Regular operating mode
em_stop Emergency Button is pressed or Scanner Stop is active
Motion Mode
mm_auto Automatic
mm_not_auto Joystick, Custom, None
Localization Mode
loc_2d_yaw 2D YAW: Good localization status.
loc_2d 2D: Receiving position data from external reference system. Robot angle unknown.
loc_no_input No input: The external reference system is either disconnected or not sending data.

Note

To process the data, the robot and the points must be on the same map, which is generated automatically during the process. Therefore, you can only send the job to the robot if it has a good localization status (2D YAW).

Start

This is the application landing page. It provides a system status overview and the list of available projects.

Status Panel

The status table shows the following live values pulled from the robot.

Localization
Current localization mode (2D YAW, 2D, N/A).
Motion Mode
Current motion mode of the robot (Automatic, Joystick, Custom, None, N/A).
Projects
Name of the currently active project on the robot.
Job
Name of the currently active job, including execution progress.
EM State
Emergency-stop state. Normal operation shows “FREE”. Other possible values: “Scanner Stop”, “EM Stop”, “Radio EM Stop”, “Soft EM Stop”.

Projects Panel

Lists all available projects sorted by last-modified date (newest first).

Creating a New Project

  1. Click New Project
  2. Enter a Project Name (required).
  3. Optionally enter a Description.
  4. Click OK

Project Page

This page shows all content belonging to a single project: its stakeouts and its jobs.

Filters

Use Filter fieldset to narrow the displayed points. Filters are also applied when exporting points.

Importing points

  1. Click Load from File.
  2. Select a .csv or .txt file.
  3. The file is parsed and the points are added to the project. The Source field of the points is populated with the file name.

Note

Supported file formats are: csv and txt.
Supported separators are: comma (,), semicolon (;), whitespace.
Column order is: ID -> East -> North -> Elevation

Exporting points

  1. Apply any desired filters.
  2. Click Export.
  3. A CSV file named cosima_<ProjectName>_date_time.csv is downloaded.

Note

Column order is: ID -> East -> North -> Elevation -> Tool East -> Tool North -> Tool Elevation -> Delta East -> Delta North -> Delta Elevation -> Result -> Tool

Creating a point manually

  1. Click Create Point.
  2. Confirm with OK after filling in all the data.
  3. Point is added to the project. The Source filed of this point is set to manual.

Result History

Clicking a row in the Stakeout table opens a modal window where stakeout results can be seen and several actions on the stakeout can be performed.

Reject
Adds new result to the stakeout with the status rejected.
Reset
Adds new result to the stakeout with the status reset.
Delete
Deletes stakeout from the project. All references in jobs remain unchanged.

Tool Error

This section describes the standard operating procedure for verifying stakeout accuracy and applying tool offset corrections. This procedure ensures that the physical markings correspond exactly to the designed project stakeout coordinates.

Step 1: Execute Stakeout Marking

  • Mark one stakeout from the project.
  • Make sure the stakeout is marked as SUCCESS in the project view.
  • Ensure the physical mark is stable and clearly visible for verification.

Tip

Sometimes, it is possible to use an existing point from the project. Otherwise, a manually created point can be used for offset verification.

Step 2: Measure Real-World Coordinates

  • Utilize a high-precision survey instrument, (e.g. Total Station) to capture the exact real-world coordinates of the physical mark.
  • Record the precise East and North values.

Step 3: Access Stakeout Results

  • Return to Cosima UI and navigate to the project page.
  • Locate the specific stakeout item in the table.
  • Open the Results for Stakeout modal.
  • Activate Tool Error tab.

Step 4: Input Empirical Measurements

  • Enter the exact Measured East and Measured North values captured during Step 2.
  • The system will automatically compute the delta between the intended design point and the physical mark, displaying the calculated Tool Error.

Step 5: Apply Offset Adjustments

To compensate for the calculated discrepancy in future operations, you must manually apply the displayed tool error to the tool configuration.

Depending on whether this adjustment is for the current active job or a permanent tool profile, update one or both of the following locations:

  • For the Active Job: Open the corresponding Job, activate the Tool tab. Then, add the displayed tool error values to the existing offset values.
  • For Global/Future Use: Navigate to the Settings page, locate the corresponding Tool Template in the table and click Edit. Then, update Tool offset values and save.

Tip

Use multiple browser tabs for easier operation.

Job Page

The Job page is a central interface for managing a specific job within your project. It allows you to select and sequence stakeout points, visualize them on a map, and configure the tool that the robot will use during execution.

Interface Overview

The interface is divided into two primary sections:

  • Left Panel (Tabs & Actions): Provides global actions (Save, Delete, Send to Robot) and allows switching between the Map and Tool views.
  • Right Panel (Points Management): A dual-pane list interface for managing which points from the project are assigned to the current job.

Global Actions

Located at the top left of the interface, these buttons control the lifecycle of the job:

  • Save: Saves any modifications made to the job. If there are unsaved changes, the icon turns orange as a visual indicator.
  • Delete: Permanently deletes the current job from the project. You will be prompted to confirm this action.
  • Send: Dispatches the job to the robot for execution.

Note

The system requires the robot’s localization mode to be 2D YAW before a job can be sent. If you have unsaved changes, you will be prompted to save them before sending.

Points Management

The right side of the screen features a dual-pane interface for selecting and organizing stakeout points.

Project Points (Left Column)

This column lists all available points within the project.

  • Filter: Opens a dialog to filter the visible points based on their last stakeout result. When a filter is active the icon turns orange.
  • Select All / Select None: Quickly select or deselect points.
  • Add: Adds the currently selected project points to the job point list.

Tip

You can quickly access the project page by clicking the button with the project name.

Job Points (Right Column)

This list represents the actual sequence of points the robot will visit.

  • Select All / Select None: Quickly select or deselect points.
  • Remove: Removes the selected points from the job.
  • Reordering: You can drag and drop individual points in this list to change the order in which the robot will approach them.

Map Tab

The Map tab provides a 2D spatial visualization of your project and job points.

  • Interactive Selection: Clicking on points directly on the map will select them in the respective points management lists. Make sure Select mode is enabled.
  • Visual Context: Helps in understanding the physical layout of the stakeout points and planning an efficient route.

Tool Tab

The Tool tab contains the configuration for the physical instrument mounted on the robot.

Tip

Each job has its own tool configuration. To reuse the same configuration in other jobs, save it as a template in the job configuration (Job->Tool->Tool Templates->Save Current Tool as Template) or create a new template in Settings.

Tool Templates

  • Tool Templates Button: Opens a dialog to manage tool configuration.
  • Save Current Tool as Template: Allows you to save your current offsets and control actions as a reusable template.
  • Apply Template: Choose a previously saved template from the dropdown to instantly overwrite the current tool configuration in the job.

Configuration Parameters

  • Name: A descriptive identifier for the tool.
  • Offsets (X, Y, Z):
    • Base: Offset from the default tool mounting point (e.g. middle of the XY table) to the prism/tool axis. Depending on the robot model there can be multiple mounting options available i.e. XY table and fixed tool mount.
    • Prism: Offset from the Base (tool mounting point) to the prism attachment point. Normally X and Y should be left at 0 and Z is the distance above the ground.
    • Tool: Offset from the Base (tool mounting point) to the tool itself. Normally should be 0 - see Tool Error.
  • Fine Positioning: A checkbox to enable high-precision tool positioning using XY table.

Control Actions

Defines the automated sequence of events triggered at each stakeout point.

  • Add Relay: Adds a relay trigger to the sequence. You can specify the relay number and toggle its state (ON/OFF).
  • Add Wait: Adds a timed delay in milliseconds to pause the sequence.
  • Delete: Removes a specific action from the sequence.

Execution Page

The Execution page is the primary interface for monitoring and controlling an active job. It provides real-time visualization of the robot’s progress, tool status, and execution controls.

Interface Overview

The interface is divided into two main sections:

  • Left Panel (Execution Map): Displays a 2D map with real-time updates of the project layout, the active execution path, and the next stakeout point.
  • Right Panel (Controls and Status): Contains the core controls for managing the executions state, tool parameters, and the remaining worklist.

Status and Context

At the top of the right panel, you can find the current operational context:

  • Project and Job Buttons: Displays the names of the currently active project and job. Clicking these links will navigate you to their respective management pages.
  • Tool Information: Shows the name of the active tool, whether Fine Positioning [FP] is enabled, and the Tool Offset [X,Y].
  • Next Point: ID of the very next point the robot will approach.
  • State: Displays current operational state of the robot (e.g. IDLE, DRIVING, FINE_POSITIONING).

Execution Controls

A set of buttons allows you to control the lifecycle and parameters of the execution:

  • Tool Countdown: Displays the remaining countdown for the tool or ∞ if it is not set. Clicking this button opens a prompt that allows you to set or clear a new countdown value. Countdown decreases with each executed stakeout point. Once it reaches 0, the robot waits for user interaction (e.g. reload the tool magazine and reset the countdown value).

  • Trigger: Displays the current trigger value which corresponds to a physical button on the robot. Depending on the hardware configuration this value should be set to 0, 1, 2 or 3. If the trigger is set, the robot pauses at each point and waits for the corresponding button to be pressed before moving on to the next point. When not set (-), the robot will automatically process the full stakeout sequence.

  • Execute / Pause:

    • When the robot is idle or paused, the button shows Execute. Clicking it will begin or resume the job.
    • When the robot is operating, the button shows Pause. Clicking it will temporarily halt the robot’s operation.

    Note

    The robot’s motion mode must be set to automatic to begin execution.

  • Cancel: Permanently stops the current execution. You will be prompted to confirm this action.

Worklist Management

The lower half of the right panel displays the sequence of remaining points in the active job.

  • List View: Shows all points yet to be staked out, with the current/next point highlighted.
  • Skip Point (Arrow Down Icon): Each point in the worklist has a Skip button. Clicking this button will skip the point and remove it from the robot’s current worklist. You will be prompted to confirm before the point is skipped.