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WP 7 PresentationAndreas Bley with contributions from ChristianMartin, Christian Reuther, Stefan Ulbrich,Norbert Herda (MLAB)
GoalsPilots and System integration• To implement and design the ALIAS pilots andprototype• To integrate additional hardware• To integrate developed software modules, like thehuman-machine-interface and the dialog manager11.06.2013 WP 7 Presentation 2
Achievements at a glance• Hardware adaptations, development andassembling of the ALIAS robots• Development and adaptation of the newmiddleware MIRA• Test and integration of software modulesfor the first and second field trials andseveral dissemination events• Providing web infrastructure for thesecond field trials• Preparations of cost-effictive solutionsfor a later exploitation11.06.2013 WP 7 Presentation 3
Achievements• D7.1 Definition of the proofed ALIAS softwareframework• D7.2 First ALIAS pilot for user trials• D7.3 Second ALIAS pilot for user trials11.06.2013 WP 7 Presentation 4
Main integrated hardware SCITOS-PC: Intel Core 2 Duo T7400, 2.16 GHz, 2 GB RAM(initial configuration) Other sensors: Bumper and ultrasonic range finders Omnidirectional camera: panorama image of about 1.400 x240 pixel Safety laser range finder: SICK S300 15” TFT display (1024x768) with touch screen Mac-Mini: Intel Core 2 Duo P9600, 2.66 GHz, 4 GB RAM Nintendo Wii Two speakers and four microphone channels GigE camera 2 MegaPixel with a fish-eye lens Add-on: BCI sensor11.06.2013 WP 7 Presentation 5
Hardware architecture of the prototypes11.06.2013 WP 7 Presentation 6
Updates of the hardware• Gyroscope unit for better odometry• Integration of new microphones(developed by Fraunhofer)• Development of a more chargingmodule (12 A instead of 4 A)• Ground lighting• Firmware updates in charger unit• Repairs on the robot:– Fixed broken drive wheel– Maintenance workStatus of WP7 – Christian Martin 7
Development of a wireless charging unit Developed in cooperation with Kontenda up to 330 W charging power need exakt positioning of robot atcharging coils (max 20mm misalignmentfor full power usage) problems: charging coils at robots bottom side:needs base plate for charging station→ trip hazard charging coils at front of robot: notcompatible with so far robotsenclosure shape11.06.2013 WP 7 Presentation 8
Updates of ALIAS’s software• Adaption of new Middleware MIRA to the ALIAS robot– MIRA was developed by IUT and MLAB– MIRA replaces the “old” MetraLabssoftware (Blackboard, RobotDaemon, …)• CogniDrive:– Simplified mapping process– Long-term tests with 3D collision avoidanceStatus of WP7 – Christian Martin 9
3D collision avoidance needs depth data• Different drivers for PrimeSense devices (Asus, Kinect) areavailable– OpenNI:• different branches available (official, avin2, ROS, more?)• very heavy and bulky and contains a lot of stuff, which is not necessary– OpenKinect / libfreenect:• very limited functionality• different branches for different sensors, no common version available• Goal: Own MIRA driver for PrimeSense devices:– reduce overhead as much as possible– fast and light weight, only using libusb– Released February 2013Status of WP7 – Christian Martin 10
Integration with tablet PCs Communication with middleware MIRA on robot Direct TCP connection using a JSON-protocol over WebSockets (HTTP) Android application replicates basic concepts of MIRA (Channels, Units, ...) Bidirectional real-time data exchange and synchronous service method calling11.06.2013 WP 7 Presentation 11 Running exclusive applications onandroid „SureLock“ forces an app to stay visibleand hides Android UI elements Using peripheral equipment andinternal sensors Streaming video and audio from thedevices camera Using accelerometer to control the robotsmovements
Fixed problems and limitations: Possibility of an electrical damage of the robot head unit caused by a motorcontroller of the eye lids. Similar problem with the pan motor unit Additional components need a lot of power DVD of Wii can only be exchanged, when the housing of the robot is removed11.06.2013 WP 7 Presentation 12Open problems: Still a lot of hard-coded operation sequences Some modules are very limited to the scenarios.
Problems & Lessons Learned Sometimes too much coding ("hacking session"). Some deadlocks due to module dependencies. Single point of failure: If the dialog manager does not work, nothing else will work.Missing fallback system? Focus more one functions, that are really required by the users. Omit functions, which are optional or too sophisticated. Two state machines (one in the Dialog Manager and one on the Linux side) is not agood idea. Too much (unused, expensive and/or unsuitable) hardware on the current prototype Integration of a Tablet PC with available functionalities would be useful. This wouldincrease the value of the robot very much.11.06.2013 WP 7 Presentation 13
Outlook / Future Work• Verification of the belt-based driving system• Integration of useful functionalities in Android• Tailored functionalities to the business cases11.06.2013 WP 7 Presentation 14