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

Autonomous Robotics

Free From Direct Human Control

Menial Tasks

Exploration

Payload Delivery

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Robot Human Interaction

Exponential Growth

Workplace and Society

Safety

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Current Systems

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Motivation

Human Robot Interaction◦ Perception◦ Motion planning◦ Cognitive Models

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Future Applications

Robotics◦ Manufacturing◦ Household Assistants◦ Office Assistants◦ Medical Assistants

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Stakeholder Needs

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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

Methodology – Background

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Methodology – Perception Subsystem (Vision)

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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

Methodology – Perception Subsystem (Vision)

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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

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Methodology – Perception Subsystem (Speaker Recognition)

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Methodology – Mobility Subsystem

iRobot Corporation

Control

Functionality

MatLAB Toolbox (MTIC)

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Methodology – Control Architecture Subsystem

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Methodology – Control Architecture Subsystem

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Methodology – Software Overview (General Overview)

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Methodology – Software Overview (Reflexive Obstacle Avoidance)

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Methodology – Software Overview (Guest Verification)

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Specifications/Metrics

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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

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

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Concept

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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

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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

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Context and Impact –Economic Analysis

Market Interest◦ MINERVA / RHINO◦ ASIMO

Prototype Cost◦ Off‐shelf materials◦ Existing components◦ Software◦ Programming

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Context and Impact –Environmental Impact Analysis

Recyclable components

Rechargeable NiMH Battery

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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

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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

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Discussions/Future Work

Structure

Modular Software

Testing and Verification

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Project Management

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Project ManagementFreedcamp

Google Drive

Gantt Chart

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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

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

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Questions?

Special thanks to Dr. Hsieh for guidance with the project.

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