Design of a Robotic Guide/Usher
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Transcript of Design of a Robotic Guide/Usher
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Design of a Robotic Guide/UsherPROJECT 10
SENIOR DESIGN MEM491
Tyler Aaron MEMJohn Burchmore MEM
Ian DeOrio ECEJeff Gao MEM
M. Ani Hsieh
December 3, 2013
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Autonomous Robotics
Free From Direct Human Control
Menial Tasks
Exploration
Payload Delivery
DREXEL UNIVERSITY 2
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Robot Human Interaction
Exponential Growth
Workplace and Society
Safety
DREXEL UNIVERSITY 3
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Current Systems
DREXEL UNIVERSITY 4
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Motivation
Human Robot Interaction◦ Perception◦ Motion planning◦ Cognitive Models
DREXEL UNIVERSITY 5
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Future Applications
Robotics◦ Manufacturing◦ Household Assistants◦ Office Assistants◦ Medical Assistants
DREXEL UNIVERSITY 6
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Stakeholder Needs
DREXEL UNIVERSITY 7
Design Category Need
S1 Safety Potential for injuries during normal operation mitigated
Op1 Operation Minimize need for human input
P1 Programming Robust guest detection
P2 Programming Modular software components
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Methodology – Background
DREXEL UNIVERSITY 8
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Methodology – Perception Subsystem (Vision)
DREXEL UNIVERSITY 9
Depth Camera• Mesa Imaging ‐ SwissRanger SR400 (Time of Flight)• Cost: $4295 ‐ $9000
Color CCD Camera• Red/Green/Blue CCD Color Camera (RGB)• Cost: $30 ‐ $2000
Microsoft Kinect• RGB Camera / Depth Camera / Multiarray Microphone• Cost: $100
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Methodology – Perception Subsystem (Vision)
DREXEL UNIVERSITY 10
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Image ProcessingQR Code Recognition◦ Guest verification◦ Kinect scanning
Facial Recognition◦ Complex◦ Picture database◦ Eigenfaces
Elevator floor recognition◦ Lit elevator buttons◦ Image comparison
DREXEL UNIVERSITY 11
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Methodology – Perception Subsystem (Speaker Recognition)
DREXEL UNIVERSITY 12
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Methodology – Mobility Subsystem
iRobot Corporation
Control
Functionality
MatLAB Toolbox (MTIC)
DREXEL UNIVERSITY 13
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Methodology – Control Architecture Subsystem
DREXEL UNIVERSITY 14
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Methodology – Control Architecture Subsystem
DREXEL UNIVERSITY 15
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Methodology – Software Overview (General Overview)
DREXEL UNIVERSITY 16
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Methodology – Software Overview (Reflexive Obstacle Avoidance)
DREXEL UNIVERSITY 17
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Methodology – Software Overview (Guest Verification)
DREXEL UNIVERSITY 18
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Specifications/Metrics
DREXEL UNIVERSITY 19
Spec # Priority Need Metric
36 Stopping time S1 <0.75s
43 Success rate of obstacle avoidance S1 70%
42 Autonomous reliability Op1 70%
15 Number of inputs from user Op1 1
4 Time to recognize guest P1 <20s
5 Number of visitors can recognize at once P1 1 guest
40 Potential guest recongition methods P2 x>2
41 Potential methods of obstacle avoidance P2 x>1
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Codes & StandardsNew and emerging field
Standards still under development
ISO Standards◦ ISO/FDIS 13482: Safety requirements for personal care robots◦ ISO/AWI 18646‐1:Performance criteria and related test methods for service robot
Used as guidelines
Work in progress
DREXEL UNIVERSITY 20
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Concept
DREXEL UNIVERSITY 21
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Description of Test BedElevator Interaction◦ Mock Button Panel
◦ LED Buttons
◦ Ground Floor Determination
Obstacle Avoidance◦ 10 ft. by 10 ft. Area◦ Preset Path◦ Stationary Obstacles◦ Moving Obstacles
Identifying Guests◦ Well Lit, Silent Environment◦ Image Scanned◦ Words Spoken
DREXEL UNIVERSITY 22
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Simulation/Experimental Results5 Sets of 10 Trials – 70% Success
Failure Points
Elevator Interaction◦ Ground Floor
Obstacle avoidance◦ > .5s Stoppage Time◦ Stationary Object Manuever
Guest Recognition◦ > 20 s Recognition Time
DREXEL UNIVERSITY 23
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Context and Impact –Economic Analysis
Market Interest◦ MINERVA / RHINO◦ ASIMO
Prototype Cost◦ Off‐shelf materials◦ Existing components◦ Software◦ Programming
DREXEL UNIVERSITY 24
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Context and Impact –Environmental Impact Analysis
Recyclable components
Rechargeable NiMH Battery
DREXEL UNIVERSITY 25
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Context and Impact – Social Impact Analysis
No impact to current jobs
Quality of life◦ Improved productivity◦ Minimal robot interaction
Human‐Robot Interaction◦ Communication◦ Engagement◦ Novice/Expert users
DREXEL UNIVERSITY 26
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Context and Impact – Ethical Analysis
Safety with human‐robot interaction◦ Mitigate potential for human injury◦ No damage to inanimate objects
Building security
Privacy of guests in the building
DREXEL UNIVERSITY 27
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Discussions/Future Work
Structure
Modular Software
Testing and Verification
DREXEL UNIVERSITY 28
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Project Management
DREXEL UNIVERSITY 29
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Project ManagementFreedcamp
Google Drive
Gantt Chart
DREXEL UNIVERSITY 30
Description Category Projected Cost Actual CostiRobot Create Hardware 219.99 0.00Microsoft Kinect Hardware 179.99 0.00Laptop (Acer Ferrari) Hardware 599.00 0.00Matlab Software 500.00 0.00OpenNI / NITE Software 0.00 0.00
80/20 T-Slotted Extrusion Support 31.15 N/APlastic casing for laptop Support 30.00 N/AKEY-BAK Key System 13.24 N/A
TOTAL $1,573.37 $0.00
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Referenceshttp://www.pages.drexel.edu/~sis26/Eigenface%20Tutorial.htm
http://www.iso.org/iso/2012_iso‐logo_print.png
http://www.iso.org/iso/home/store/catalogue_tc/catalogue_tc_browse.htm?commid=54138
http://www.ekaterinawalter.com/wp‐content/uploads/2013/11/qr_code_vote.jpg
http://www.machinery‐market.co.uk/news/3652/Robot‐suffers‐recognition‐problem
http://homesupport.irobot.com/app/answers/detail/a_id/2090
http://store.irobot.com/product/index.jsp?productId=3001463&cp=3335976&s=A‐ProductAge&parentPage=family
http://manhattaninfidel.com/wp‐content/uploads/2013/06/recycling‐symbol.jpg
http://support.xbox.com/en‐US/xbox‐360/repair/recycle‐your‐xbox
http://phys.org/news2397.html
DREXEL UNIVERSITY 31
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Questions?
Special thanks to Dr. Hsieh for guidance with the project.
DREXEL UNIVERSITY 32