ROBCO Mobile – ROBCO Mobile – Intelligent Modular Service Mobile Intelligent Modular Service Mobile

Robot for Elderly CareRobot for Elderly Care

Dr. techn. Nayden Chivarov, Mag. Iasen Paunski, Mag. Georgi Dr. techn. Nayden Chivarov, Mag. Iasen Paunski, Mag. Georgi Angelov, Mag. Daniel Radev, MEng Robotics Student Svetlin Penkov,Angelov, Mag. Daniel Radev, MEng Robotics Student Svetlin Penkov,

Mag. Vladimir Vladimirov, Eng Student Orlin Dimitrov,Mag. Vladimir Vladimirov, Eng Student Orlin Dimitrov, Assoc. Prof. Roman Zahariev, Assoc. Prof. Maya Dimitrova Assoc. Prof. Roman Zahariev, Assoc. Prof. Maya Dimitrova

Assoc. Prof. N. Shivarov Assoc. Prof. N. Shivarov and Prof. Dr. Dr mult. Peter Kopacek and Prof. Dr. Dr mult. Peter Kopacek

INSTITUTE OF SYSTEMS ENGINEERING AND ROBOTICS OF THE BULGARIAN ACADEMY OF SCIENCES

SERVICE ROBOTICS GROUP

Bloc II Acad. Bonchev str., Sofia 1113 BulgariaBloc II Acad. Bonchev str., Sofia 1113 Bulgariae-mail: e-mail: nshivarov@code.bg;;

fefeererfefeerer

INTRODUCTION

The project focuses on the The project focuses on the development, research and development, research and prototyping of the “Intelligent Modular Service Mobile Robot prototyping of the “Intelligent Modular Service Mobile Robot solution which will work in domestic environments solution which will work in domestic environments forfor supporting supporting Elderly CareElderly Care””..

Prognoses of the European Commission show that the tendency in Prognoses of the European Commission show that the tendency in Europe and especially in Bulgaria is Europe and especially in Bulgaria is continuously continuously growing ageing of growing ageing of the population. Most of the elderly people want to live in their own the population. Most of the elderly people want to live in their own houses for as long as possible and the proposed Intelligent Modular houses for as long as possible and the proposed Intelligent Modular Service Mobile Robot can help them with tasks such as stand up or Service Mobile Robot can help them with tasks such as stand up or seat down assistance, preparing or wseat down assistance, preparing or waarming food, servrming food, servee and clear and clear table, bring water, book, medicine etc., fetch and carry difficult and table, bring water, book, medicine etc., fetch and carry difficult and heavy objects, video and audio contact with physician or with family heavy objects, video and audio contact with physician or with family members, day and night monitoring and fall preventing.members, day and night monitoring and fall preventing.

The The Intelligent Modular Service Intelligent Modular Service Mobile Robot Mobile Robot for Elderly Carefor Elderly Care consist consist

of the following components:of the following components: IntelligentIntelligent onboard multilevel control systems and ROS based software for the control onboard multilevel control systems and ROS based software for the control

of the different modules of the Intelligent Modular Service Mobile Robotof the different modules of the Intelligent Modular Service Mobile Robot;; ModularModular remote control User Interfaces Teleo remote control User Interfaces Teleopeperraation UI – Joystick based; Tactile UI – tion UI – Joystick based; Tactile UI –

Touch screen based; Voice UI – Speech recognition based; Gesture UI – Gesture Touch screen based; Voice UI – Speech recognition based; Gesture UI – Gesture recognizing device; Brain control UI - Brain control devicesrecognizing device; Brain control UI - Brain control devices;;

Electro-actuating systems, batteries and automatic recharging systems (docking Electro-actuating systems, batteries and automatic recharging systems (docking stations) allowing 24 hours stations) allowing 24 hours ServiceService;;

MobileMobile Robot Platform - 4 wheels/2 powered wheels Intelligent fully autonomously Robot Platform - 4 wheels/2 powered wheels Intelligent fully autonomously vehicle with all its systems built on a modular principle able to carry peripheral systems vehicle with all its systems built on a modular principle able to carry peripheral systems or toolsor tools;;

Manipulating Articulated Manipulating Articulated RobotRobot Arm System including a proper gripper which will allow Arm System including a proper gripper which will allow different tasks to different tasks to be be performperformed ed like fetch an carry, bringlike fetch an carry, bringinging and manipulating difficult and manipulating difficult objectobjectss etc. etc.;;

Sensor Systems – including Sensor Systems – including Tactile sensors, Infrared sensors, Ultrasound Sensors, Tactile sensors, Infrared sensors, Ultrasound Sensors, Artificial vision system and Voice generation and recognition systems, which help Artificial vision system and Voice generation and recognition systems, which help performing all functions related to environment and user interactions – monitoring of performing all functions related to environment and user interactions – monitoring of spatial location and orientation of the robot, maintaining proper course, obstacles spatial location and orientation of the robot, maintaining proper course, obstacles detection, safety of people and robot itself, object visualization and recognition, robot detection, safety of people and robot itself, object visualization and recognition, robot control and communication between control and communication between a a family member or physician and family member or physician and the the ElderlyElderly for for supporting supporting CareCare..

The The goals of the projectgoals of the project are are realised realised by the following by the following innovationsinnovations::

Developing a new user friendly remote control User Interface – depending Developing a new user friendly remote control User Interface – depending from the necessity of the Elderly, the Intelligent Modular Service Mobile Robot from the necessity of the Elderly, the Intelligent Modular Service Mobile Robot can be controlcan be controlledled either by Joystick, Tablet, Voice, Gestures or Brain Control either by Joystick, Tablet, Voice, Gestures or Brain Control Devices.Devices.

Intelligent self-learning System – the Intelligent Modular Service Mobile Robot Intelligent self-learning System – the Intelligent Modular Service Mobile Robot will have the ability to learn from its own experience (already executed tasks) will have the ability to learn from its own experience (already executed tasks) as well as to interpret human behaviors.as well as to interpret human behaviors.

Intelligent Decision Making System - the Intelligent Modular Service Mobile Intelligent Decision Making System - the Intelligent Modular Service Mobile Robot for Elderly care will have three main modes:Robot for Elderly care will have three main modes:

Manual Mode for manual control of the robot by some of the described above Manual Mode for manual control of the robot by some of the described above devicesdevices

Semi-Autonomous mode will use Decision Making System by executing high Semi-Autonomous mode will use Decision Making System by executing high level tasks like warm food or bring glass of waterlevel tasks like warm food or bring glass of water

Autonomous mode will use Decision Making System for the Elderly day and Autonomous mode will use Decision Making System for the Elderly day and night monitoring, fall preventing and for emergency casesnight monitoring, fall preventing and for emergency cases

Robot safety system – since the Intelligent Modular Service Mobile Robot will Robot safety system – since the Intelligent Modular Service Mobile Robot will stay in Elderly home and will realizstay in Elderly home and will realizee a real interaction with a real interaction with the the ElderlElderly,y, the the robot motion must insure Elderly and robot’s safetyrobot motion must insure Elderly and robot’s safety

Key ConceptKey Concept

The key concept of the proposed Intelligent Modular Service Mobile Robot will be its easy adaptability in order to achieve a wide range of Elderly needs by performing different tasks for supporting Elderly care.  The following tasks will be performed, complying to the main objectives of the project:•Research and development of the Intelligent Modular Service Mobile Robot Controlling System•Research and development of the Intelligent Modular Service Mobile Robot Software Systems•Research and Development of the Intelligent Modular Service Mobile Robot Sensor System•Research and Development of a new user-friendly remote control User Interfaces•Research and Development of a Intelligent Self-learning System•Research and Development of a Intelligent Decision Making System•Research and Development of the Robot Safety System

WiFi RouterWiFi Router on the roboton the robot

User User InterfaceInterface

Research and developmentResearch and development of theof the Intelligent Modular Service Mobile Intelligent Modular Service Mobile

Robot Robot Controlling SystemControlling System

I/O BoardOutput Drivers

and Sensor Amplifiers

Actuators Sensors

ControlSoftware

IP Based control boardIP Based control boardPixeye Net I/OPixeye Net I/O

Features:Features: Based on advanced 32-bit microcontroller Based on advanced 32-bit microcontroller

(TI Stellaris)(TI Stellaris) Direct network to hardware controlDirect network to hardware control Direct sensor access via IP networksDirect sensor access via IP networks Modern element base and designModern element base and design Minimum external components, compact Minimum external components, compact

size and low powersize and low power

Service Robot Service Robot Differential Drive Differential Drive

Base ControlBase Control

IP control board

Pixeye NetIO

Output Motor Drivers

(H-bridge)

PWM Output 1

Direction control 1

PWM Output 2

Direction control 2

Current Feedback 1Current Feedback 2

Motor CurrentSensors

Motor 1

Motor 2

Encoder 1

Encoder 2

Quadrature EncoderInputs

PWM&

I/Opins

ADCinputs

Ethernet 100 Base T

Interface

Research and development of the Research and development of the

Intelligent Modular Service Mobile RobotIntelligent Modular Service Mobile Robot Software SystemsSoftware Systems

Research and developmentResearch and development of of thethe Intelligent Modular Service Mobile Intelligent Modular Service Mobile

RobotRobot Sensor SystemsSensor Systems

Tactile sensorsTactile sensors Proximity sensorsProximity sensors Acceleration sensorsAcceleration sensors Vision systemVision system Voice interaction systemVoice interaction system

Research and developmentResearch and development of the of the

new user friendly remote control new user friendly remote control User User InterfaceInterface

DDepending from the necessity of the epending from the necessity of the Elderly, the Intelligent Modular Service Elderly, the Intelligent Modular Service Mobile Robot Mobile Robot will will be controlbe controlledled either by either by Joystick Joystick – – TeleoTeleopeperraation UI; Touch screen tion UI; Touch screen - - Tactile UI; Speech recognition Tactile UI; Speech recognition - - Voice UI; Voice UI; Gesture recogniGesture recognition- tion- Gesture UI; Brain Gesture UI; Brain control control - - Brain control UIBrain control UI..

Research and developmentResearch and development of the of the IntelligentIntelligent Self-learning System Self-learning System

The Intelligent Modular Service Mobile Robot will have the ability The Intelligent Modular Service Mobile Robot will have the ability to learn from its own experience (already executed tasks) as well to learn from its own experience (already executed tasks) as well as to interpret human behaviors. The project will develop as to interpret human behaviors. The project will develop techniques to enable a robot to collect and absorb experience techniques to enable a robot to collect and absorb experience generated from semi-autonomous operations and store the generated from semi-autonomous operations and store the annotated information in its knowledge base. As the relevant annotated information in its knowledge base. As the relevant operations are not only perceived but also performed by the robot, operations are not only perceived but also performed by the robot, the robot learning solution avoids the curse of dimensionality, and the robot learning solution avoids the curse of dimensionality, and can deal with complex trajectories even with very high degrees of can deal with complex trajectories even with very high degrees of freedom. It also avoids the “correspondence problem”, and can freedom. It also avoids the “correspondence problem”, and can map complicated properties between the teacher and the robot. In map complicated properties between the teacher and the robot. In this sense, this sense, social learning will be exploredsocial learning will be explored as advancement from as advancement from the level of “learning-by-imitation” to the level of “learning-to-the level of “learning-by-imitation” to the level of “learning-to-imitate” as well as other approaches of social learning modeling. imitate” as well as other approaches of social learning modeling.

Research and developmentResearch and development of the of the Intelligent Intelligent Decision Making SystemDecision Making System

The Intelligent Modular Service Mobile Robot for Elderly care will have three main The Intelligent Modular Service Mobile Robot for Elderly care will have three main modes:modes:

Manual Mode for manual control of the robot by some of the described above Manual Mode for manual control of the robot by some of the described above devicesdevices

Semi-Autonomous mode will use Decision Making System by executing high level Semi-Autonomous mode will use Decision Making System by executing high level tasks like warm food or bring glass of watertasks like warm food or bring glass of water

Autonomous mode will use Decision Making System for Elderly day and night Autonomous mode will use Decision Making System for Elderly day and night monitoring, fall preventing and for emergency cases. monitoring, fall preventing and for emergency cases. Similarity measures for Similarity measures for robotic operations will be customized to accomplish the innovation.robotic operations will be customized to accomplish the innovation.

Depending on the uncertainty involved in the tasks, Depending on the uncertainty involved in the tasks, the the proposed proposed Intelligent Intelligent Modular Service Mobile RobotModular Service Mobile Robot will will automatically adjust its autonomy levelautomatically adjust its autonomy level to to support the Elderly person. For tasks which the robot is not familiar with, the robot support the Elderly person. For tasks which the robot is not familiar with, the robot will switch to a manual mode and rely more on the Elderly. For tasks which the will switch to a manual mode and rely more on the Elderly. For tasks which the robot is highly experienced, the robot will try to engage more - and if it is allowed, robot is highly experienced, the robot will try to engage more - and if it is allowed, even complete the task by itself. New methodologies based on Support Vector even complete the task by itself. New methodologies based on Support Vector MachineMachiness (SVM) will be applied to analysis of patterns (SVM) will be applied to analysis of patterns..

Research and developmentResearch and development of the of the Robot safety system Robot safety system

SSince the ince the Intelligent Modular Service Mobile RobotIntelligent Modular Service Mobile Robot will stay in the Elderly home and will perform a real will stay in the Elderly home and will perform a real interaction with the Elderly, the robot motion must ensure interaction with the Elderly, the robot motion must ensure Elderly and robot’s safety. A Elderly and robot’s safety. A new safety-oriented new safety-oriented framework will be developedframework will be developed based on user interaction based on user interaction study and robust control laws to ensure safe reactions of study and robust control laws to ensure safe reactions of the robot if faults occur. the robot if faults occur. Cognitive inference methodology Cognitive inference methodology will be developedwill be developed based on the knowledge that enables based on the knowledge that enables a robot to recognise and identify safety critical situations. a robot to recognise and identify safety critical situations. Safety oriented motion control strategy will be developed Safety oriented motion control strategy will be developed to ensure safety.to ensure safety.

Intelligent Modular Service Intelligent Modular Service Mobile Robot for Elderly CareMobile Robot for Elderly Care

Intelligent Modular Service Mobile Intelligent Modular Service Mobile Robot for Elderly Care MovieRobot for Elderly Care Movie

THANK YOU FOR YOUR ATTENTION!

For more information:

www.serviceroboticsgroup.com

Official presentation of the Intelligent Modular Official presentation of the Intelligent Modular Service Mobile Robot for Elderly Care - 30th Service Mobile Robot for Elderly Care - 30th November, Sofia at the Main Hall of Bulgarian November, Sofia at the Main Hall of Bulgarian Academy of Sciences, Academy of Sciences,

in the frame of the National Workshop on Service in the frame of the National Workshop on Service Robotics - European Robotics Week 28.11 – 02.12, Robotics - European Robotics Week 28.11 – 02.12, 20112011