Task 2: Implementation and integration of adaptive arm and platform controllers

Activities performed:

• Improvement of the mobile platform collision avoidance system using Kinect 3D sensors.
• Integration of the arm controller on the prototype and implementation of pressing button and turning knob actions on a real washing machine control panel.

Task 3: Implementation of diagnostic funtion

Activities performed:

• Application sensor data analysis: data collected from washing machines using the Scanning Laser Doppler Vibrometer (SLDV) mounted on InterAID Robot allows identifying abnormal vibration on the front panel. Further analysis is required to identify other possible malfunctionings.
• Diagnostics strategy definition and implementation: using motorized mirrors and visual feedback is possible to position the spot of the SLDV  mounted on InterAID Robot in order to compensate any small deviation from the stated measuring position and to improve the signal-to-noise ratio searching in a small area for the highest “quality” signal.
• User interface implementation: Washer Inspector GUI permits to easily describe the washing machine laboratory environment and define InterAID Robot’s trajectories and movements inside it.