Call1 Monitoring Interaid

Multimedia Report

Wed, 04 Apr 2012 14:06:10 GMT

InterAID multimedia report is ready!!!

The file has been uploaded in the same directory of the usual deliverables.

Public Summary Month 1/2012

Mon, 30 Jan 2012 16:09:00 GMT

Echord Monitoring Public Summary on October, November 2011

InterAID experiment has achieved all the objectives of the planned activities. Nevertheless the experiment has been extended accordingly with the EU Commission (Amendment III) in order to better test the solution and to implement/improve some features requested from the users during the field tests.

In this two-month period, the following activities have been performed:

Data base integration: after each inspection the robot sends the data acquired to a server pc where they are stored in a data base. A graphical user interface permits to search, extract and visualize the data.
Improvement of the platform control algorithms: the washing machine detection algorithm, that permits to the robot to properly move in front of the washing machine, has been modified adding additional processing steps for filtering the laser data and supplementary controls to avoid “false detections” or wrong identifications.

Public Video Month 12/2011

Thu, 22 Dec 2011 10:59:34 GMT

$[media()$ Echord_InterAID_M3.flv $media]$

Public Summary Month 11/2011

Tue, 29 Nov 2011 17:38:12 GMT

Task 3: Implementation of diagnostic functions

Activities performed:

Diagnostics strategy definition and implementation: the status of washing machine under test is autonomously detected from the image acquired using a high resolution 2D camera; depending on the WM status (off, idle, washing, error) a different sequence of interaction operations (button pushing, knob turning, door opening) and measuring tasks (vibration, noise, image acquisition/analysis) are performed.
User interface implementation: a Graphical User Interface (GUI) running on a touch screen mounted on the robot permits to visualize what are the operations already performed by the robot and what the robot is going to do, as well as to directly interact with the robot itself.
Laboratory tests: the developed prototype has been successfully tested in an environment reproducing a real life-test laboratory where several washing machines of different models are present.

Public Summary Month 9/2011

Wed, 28 Sep 2011 12:07:47 GMT

Task 3: Implementation of diagnostic functions

Activities performed:

Application sensor data analysis: data collected from washing machines using the microphone mounted on InterAID Robotic Arm allows identifying “noisy” washing machines.
Diagnostics strategy definition and implementation: the positioning of the microphone respect to washing machine under test has been chosen in order to maximize the Signal to Noise Ratio (SNR) and number of information contained in the spectra of the signals acquired.
User interface implementation: a Graphical User Interface (GUI) permits to define the list of operations to be performed on the washing machine under test depending on its model and its state (off, waiting, washing, error, etc.).

Milestone 2 - Arm control integrated on the prototype

Tue, 26 Jul 2011 15:21:25 GMT

$[media()$ Echord_InterAID_M2.flv $media]$

Public Summary Month 7/2011

Tue, 26 Jul 2011 15:16:15 GMT

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.

Public Video Month 6/2011

Thu, 23 Jun 2011 09:14:59 GMT

$[media()$ Echord_InterAID_06-2011.wmv $media]$

Public Summary Month 5/2011

Fri, 27 May 2011 15:51:39 GMT

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

Activities performed:

Navigation considering environment modeling completed: 3D sensors are used to detect obstacles in the driving direction of the mobile platform; if an obstacle is inside the safety distance the navigation control stops the movement of the mobile platform.
Arm control considering environment modeling completed: using arm internal sensors and 3D sensors self and environment collision avoidance are performed; arm planner is able compute a collision free trajectory to reach the target position.
Integration on the prototype in progress: 3D sensors and arm basic software is installed on the prototype; their integration in the ROS environment is still in progress.

Public Summary Month 3/2011

Thu, 31 Mar 2011 13:50:59 GMT

Task 1: Prototype integration

Activities performed:

Electrical modification on the mobile platform
Re-design and realization of mechanical supports for the measurement and 3D sensors
Mounting of 3D sensors and robotic arm on the mobile platform
Mounting of 7DOF robotic arm on the mobile platform

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

Activities performed:

Definition and implementation of the communication protocol between LabVIEW and ROS
Environment modeling completed
Navigation considering environment modeling in progress
Arm control considering environment modeling in progress

Public Summary Month 1/2011

Sun, 30 Jan 2011 15:25:44 GMT

The first goal of this experiment is the design and assembly of an improved prototype of a mobile manipulation robot for diagnosis tasks.

During the first four months of the project, Task 1 and Task 2 started and the following results have been achieved.

Task 1: Prototype integration

After the definition of the requirements for 3D environment sensors, a set of them has been compared and evaluated. Moreover a preliminary solution for the integration of the sensors, robotic arm and mobile platform based on experimental and simulation results has been designed, as illustrated in the figure below.

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

Control and communication architecture has been defined and first trials on communication, 3D point cloud generation and path planning have been performed.