parameters & observations
DESCRIPTION
Parameters & Observations. User Level. Level 1: Patients. Level 2: Physicians. Level 3: Developer. User Level. Level 1: Patients. Level 2: Physicians. Level 3: Developer. Use MobileEyes. Change parameters using MobileEyes . - PowerPoint PPT PresentationTRANSCRIPT
Parameters &
Observations
Level 1: Patients Level 2:
Physicians
User Level
Level 3: Developer
User Level
Level 1: Patients Level 2:
Physicians
Level 3: Developer
Use MobileEyes
Change parameters using MobileEyes.
MobileEyes screens the parameter, depending on the type of user.
All values are recorded in millimeter and second
To access the parameters that have any significant change in the behavior of the chair, the Parameter
Priority has to be set to Expert.
The Higher Parameters
Quite fast. Work with speed/velocity parameters
Starts and ends with a jerk.
Turning (especially through a small angle) is not smooth.
Does not go through doorways.
Almost runs into obstacles, before coming to a stop.
Perhaps parameters for rotation?
Padding parameters
Padding parameters
Main Concerns
Perhaps parameters for acceleration?
Each Drive Mode has a different set of parameters e.g.
Changing parameter in one list, has no effect on the parameters of the other list, even though the parameters may have the same name.
Parameter Lists
Parameter list – Express Drive
Robot Config - a short list of speed related parameters.
Path Planning Setting - full list of parameter for Smart Drive.
Parameter list - Smart Drive• TeleOp Settings - full list of parameter for Smart Drive
List of Modified Parameters
MaxVelTransAccel TransDecel
SideClearanceAtSlowSpeedFrontPaddingAtSlowSpeedFrontPaddingAtFastSpeed
ForwardSideClearanceAtSlowSpeed
Procedural Standards
Did test trials: Number of test trials ranged from 6 to 15.
All test trials were done over a distance of 20ft.
When testing each parameter:
simulate a hospital setting.
judged from a patient’s point of view.
MaxVel Controls the speed of the chair directly.
• In Express Drive: MaxVel = 600
On average 8.3sec to cover a distance of 20ft.
• In Smart Drive: MaxVel = 900
On average 8.6sec to cover a distance of 20ft.
TransAccelIncreasing the value, decreases the time taken by
the wheelchair to reach maximum speed.
• In ExpressMode:TransAccel = 425
Lower value results in jerkier start.
Slows down the wheelchair.Braking distance is 1.5m.
• In Express Mode:TransDecel = 175
If TransDecel < 175, stops smoothly but overshoots goal.
TransDecel
TransDecelOvershooting the Goal
Side Padding Any object at this specified distance from its side,
is considered an obstacle.
• In Express Drive:SideClearanceAtSlowSpeed = 50
• In Smart Drive:ForwardSideClearanceAtSlowSpeed = 25
Both values set to allow the wheelchair to go through door ways.
Front PaddingAny object at this specified distance from its
front, is considered an obstacle.
• In Express Drive:FrontPaddingAtSlowSpeed = 300Applies when speed < than MaxVel.
FrontPaddingAtFastSpeed = =500Applies only if speed of wheelchair is at
maximum.
ResultsStarting and ending are smoother.
Speed is comfortable.
Can go through door ways which are at least 33.5 inches (851mm) wide.
Stops at a safe distance from the obstacle.
Turning is smoother than before but still a bit jerky.
ChallengesOvercoming the fear of making changes.
Could not figure out a way to measure the effect of RotVelMax.
Questions?