dr. amy loutfi aass mobile robotics laboratory university of Örebro, sweden [email protected]...
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Dr. Amy Loutfi
AASS Mobile Robotics LaboratoryUniversity of Örebro, Sweden
Dr. Amy Loutfi
AASS Mobile Robotics LaboratoryUniversity of Örebro, Sweden
From Industrial to Home Robotics
www.aass.oru.se
www.aass.oru.se/~aliCenter for Applied Autonomous Systems, Örebro University
What are Robots?
The word ’robot’ comes from the Czech play ’Rossum’s Universal Robots’ (Karel Capek
1921) and means forced labor or serf.
www.aass.oru.se/~aliCenter for Applied Autonomous Systems, Örebro University
What are Robots?
Functional
Fixed Program
Suitable for specific tasks
Limited Sensing
Highly accurate and efficient
www.aass.oru.se/~aliCenter for Applied Autonomous Systems, Örebro University
What are Robots?
Multi-purpose
Biologically Inspired?
Adaptive
Extensive Sensing Abilities.
Communicative
Robots at home – most popular vision
Robots at home – problems with this vision
• Technological– understand the human– recognize objects– grasp– dexterous manipulation– position tracking– ...– ...
• Socio-economical– will you accept this thing?– how much would you pay?– how will it grow tomorrow?– one size fits all: does it?– ...– ...
Robots at home – an ecological vision
Key points in the scenario
• Many specialized robotic devices– Moving tables, cameras, manipulators, appliances, ...– Highly heterogeneous
• Devices communicate and cooperate– Common communication and cooperation model
• Complex abilities achieved through cooperation– Not by building a single “super-robot”
Research at AASS with PEIS
Research Contributions
• Hardware and software developments– Development of middleware for communication– Integration of new devices (Tiny OS, gas sensors etc.)
• Information Fusion– Maintain coherent information about objects and persons.
• Learning and Artificial Intelligence– Auto-configuration of devices. – Auto-adaptation of users.
Robots at home – problems with this vision
• Technological– understand the human– recognize objects– grasp– dexterous manipulation– position tracking– ...– ...
• Socio-economical– will you accept this thing?– how much would you pay?– how will it grow tomorrow?– one size fits all: does it?– ...– ...
• Intelligent homes & robotics have a large potential to assist the aging society.
• Many solutions are either seen from the view of the engineers and technicians or from psychologists and behavioural scientists.
• Absence of common techniques to test and validate our methods, particularly for robotics.
Robots at home – problems with this vision
• Phase 1 – video sessions– Male vs. Female actors– Robot interface vs. None.– Interface on the actual robot. – 8 different scenarios
• Results– A diverse group of healthy testpersons,– 65-80 years old. – Crosscultural evaluation.
• Cooperation with – Pensionärsriksorganization (PRO), BSR ÖU, Teknik ÖU, Institute for Cognitive Science and Technology, Italian National Research Council.
• Results completed April 28th 2008
• Phase 2 – Live Sessions
HRI – Human Robot Interaction
• Move from robots in controlled environments to robots in everyday scenarios.
• Address current challenges in robotics by enhancing the environment.
• Parrallel evaluations of user acceptance.
Thank you
Physically Embedded Intelligent Systems Ecology Project.
PEIS Ecology Project
www.aass.oru.se/~peis
Ubiquitous Robot Companion Program(Korea 2004-2008)
PEIS Projects in Software
Engineering
PROJECT 1 – PEIS WEB INTERFACE
PROJECT 1 – PEIS WEB INTERFACE
• GUI only working in Linux with GTK• Not extendable to other OS or other devices• Create a Web Based Interface• To help we have a component called
peiswebinterface that:– Accepts php requests and returns values in xml.– e.g http://peiswebinterface/tcpInt?req=list will return an xml like:
….<entry component=”TC” id =”3710” />
<entry tuple=”use-robot-id” />…
– E.g http://peiswebinterface/tcpInt?req=sub;id=3710;tuple=use-robot-id
– Will return 9078
Project 1 – PEIS Web Interface
• Using this framework propose a way to make the tupleviewer a web-based interface.
• You should be able to access text values as well as stream video feedback from the camera.
• Should be useable even for a non-expert
Project 2 – PEIS Object Recognition
• Integrate State-of-the-Art Object Recognition Techniques in PEIS Room.
Project 2• Every year there is a competition for the best
implementation of object recognition in a moving mobile robot
Simple rules that must be followed for everyone:1. Get a vocabulary of objects2. Gather training data from google images3. You explore/wander an area (i.e. obstacle avoidance)4. Identify objects in the area that match your training set
Your task:
• Use the latest and winning results from the Semantic Robot Vision Challenge (http://www.semantic-robot-vision-challenge.org/)
• Modularize the code and integrate into PEIS Components
• Test the code on one of our robots.
Project 3 – PEIS CEILING PAN TILT
Pan tilt unit mounted in the ceiling
Laser pointer as attachement
Gumstix technology to communicate Wireless to any computer.
Problem is to create an interface to teleoperate the pan-tilt unit.
Project 3 – Your Task
• Come up with different types of ”intuitive” interfaces for controlling the unit.
• Implement different interfaces and integrate it with the pan-tilt device
• Test each implementation with real people and provide a evaluation of which method is best.
Your Task
• Select two projects present proposals for each approx 10 min/project.
• We (researchers at aass) will choose the best candidate proposal for each project.
• We will select candidates based on:– Your understanding of the problem
– Suggestion of the Solution
– Suitability for completing the task
Steps:
• Find out all you can about the PEIS Ecology Project.– Read our publications www.aass.oru.se/~peis
– Read our Wiki wiki.aass.oru.se -> AASS -> Mobile Robotics Lab ->Ecology of PEIS Project
• Find out all you can about the different projects
• Forming your proposal:– Problem
– Solution
– Competence –each member of the group and their role
• Tuesday September 9th at 09:00 - presentations