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Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
Robot Era
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Robot Era

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  • 1. “Trends and issues in the integration between Service Robots and Smart Environments” Workshop Enhancing robotic services for AAL applications by integrating robots into smart environments The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU Robot-Era Project Manager: Filippo Cavallo Assistant Professor Scuola Superiore Sant’Anna, The BioRobotics Institute filippo.cavallo@sssup.it
  • 2. Outline Robot-Era Project and objectives General methodology and list of services Robotic ecology architecture – Different agents integrated and coordinated by a configuration and context awareness module The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU module Example: improving robot awareness by means of WSN for user localization services – Kalman filter (Video) Conclusions
  • 3. The OBJECTIVES of the Robot-Era project are to develop, implement and demonstrate the general feasibility, S/T effectiveness and social/legal plausibility and acceptability by end-users of a plurality of complete advanced robotic services, integrated in intelligent environments, which will actively work in real conditions and cooperate with real people and between them to provide favorable independent living, improving the quality of life and the efficiency of care for elderly people. Robot-Era at a glance • User- and society- centred service robotics • Services provided by the cooperation of different robots integrated in smart environments • Robots as co-workers that cooperate with humans The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU (IP), FP7-ICT-2011.7 January 1, 2012 – December 31, 2015 Total Project Cost: € 8.700.000 (EC € 6.470.000) • Robots as co-workers that cooperate with humans • Services distributed over indoor and outdoor environments (3D service robotics) • Acceptability and usability • Real environments (and not only realistic) • Investigation and management of legal, social and ethical issues in real environments • Creating permanent infrastructures beyond the end of Robot-Era project
  • 4. Robot-Era system development Integration of robots in smart environments General Robot-Era Methodology Needs and services to promote the senior independence and wellbeing S/T Requirements for services development, acceptability and usability Pilot site: More than 120 elderly involved In Italy, Sweden and Germany More than 70 elderly involved in Italy and Sweden The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU Experimentation with real elderly users in Italy and Sweden •Legal and Insurance Issues •Service, Market and Business Models •Ethics and social issues •Standard and Certifications •Exploitation Pilot site: Orebro (SE) Pilot site: Peccioli (IT)
  • 5. Services Peccioli test site Örebro test site 1) 2) 3) 4) 5) Communication Indoor escort at night Reminding Cleaning Objects transportation and manipulation 6) Outdoor walking support Services and Robotic Platforms The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU 7) 8) 9) Laundry support (only in Örebro) Food delivery (only in Örebro) Surveillance 10) 11) Drug and shopping delivery Garbage collection
  • 6. Robot-Era architecture High-Level Reasoning CAM CPM WebServer PEIS Tuple Space commands goal status commands commands commands commands status status status status sensors context wsndata sensors wsndata commands status The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU WSN Bridge peistranspeisxbee Doro Coro BS Oro Elevator commands commands commands commands status status status status wsndata sensors wsndata
  • 7. Peccioli Pilot Site - Experimental setup: Shopping Service One: handycamOne: handycam One: InterviewerOne: Interviewer One: overall supervision for OROOne: overall supervision for ORO The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 WP8 Experiments and evaluation of realistic and real settings- SSSA Review Meeting - Peccoli (Pisa, Italy) February 27-28, 2014 SubjectSubjectOne: overall supervision for DOROOne: overall supervision for DORO One: overall supervision for COROOne: overall supervision for CORO
  • 8. Procedure: The elderly person had to imagine he was sick and he could not leave his home, but he needed several things to eat and drinks. Shopping and Drug delivery service The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 WP8 Experiments and evaluation of realistic and real settings- SSSA Review Meeting - Peccoli (Pisa, Italy) February 27-28, 2014 The elderly person used Robot-Era system to create and to send a shopping list. The elderly person received his grocery at home
  • 9. Speech interaction User talked to DORO to call it and activate the service GUI User used a GUI to complete the shopping list HRI - Shopping and Drug delivery service The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 WP8 Experiments and evaluation of realistic and real settings- SSSA Review Meeting - Peccoli (Pisa, Italy) February 27-28, 2014 DORO talked to the user for notification giving
  • 10. Shopping and Drug delivery service Domestic Environment The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 WP8 Experiments and evaluation of realistic and real settings- SSSA Review Meeting - Peccoli (Pisa, Italy) February 27-28, 2014
  • 11. Outdoor Environment Shopping and Drug delivery service The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 WP8 Experiments and evaluation of realistic and real settings- SSSA Review Meeting - Peccoli (Pisa, Italy) February 27-28, 2014
  • 12. Condominium Environment Shopping and Drug delivery service The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 WP8 Experiments and evaluation of realistic and real settings- SSSA Review Meeting - Peccoli (Pisa, Italy) February 27-28, 2014
  • 13. Domestic Environment Shopping and Drug delivery service The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 WP8 Experiments and evaluation of realistic and real settings- SSSA Review Meeting - Peccoli (Pisa, Italy) February 27-28, 2014
  • 14. Wireless sensor network Multi-hop communication tested in ÄngenLiving Lab fully sensorized The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU Parameter SENSOR Light ISL29023IROZ-T7 from ST Microelectronics (Geneva, Swiss) GAS (Ethanol) MiCS-5121 from e2V technologies (Chelmsford, UK) GAS(CO/HC/VOC) MiCS-5521 from e2V technologies (Chelmsford, UK) Temperature STCN75 from ST Microelectronics (Geneva, Swiss) Humidity HIH-530 from Honeywell (New Jersey, USA) PIR HC-SR502 from elecfreaks (Shenzhen, China) Presence sensor on bed, sofa, chairs Recora Incorporated(Illinoise, USA) Door sensor Custom circuit Power supply fault alarm Custom circuit
  • 15. Smart Plug Water Presence Sensor Light Sensor Presence Sensor The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU Water Sensor Gas Sensor Door Sensor Movement Sensor
  • 16. Elevator as a PEIS Node • A mini-PC with digital Input/Output ports controls the elevator (cheap solution ~400eu) • Elevator runs a TCP Server • PEIS elevator node publishes and listens tuples and communicates with the server • A simple GUI is used for test and backup solution The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU Elevator Server PEIS Node GUI TCP connection TCP connection
  • 17. The user localization example User localization is performed fusing together estimated positions of people from presence sensors and RSSI observations from wearable nodes, using a Kalman Filter. • LN identifies the users in an unique manner thanks to wearable nodes and provides RSS observation to estimate its position. • Presence sensors in the SN refines and improve localization accuracy over rooms and particular areas of interest ε The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU RSSId = PLd + Χσ+ εd
  • 18. The localization algorithm LN SN Multiple user localization + The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU Data fusion + Host detection
  • 19. Advantages Advantages: 1. Respect to state of the art - fingerprint methods [1] No need for large calibration database and lower computational cost 2. Respect to state-of-the-art - AmI for companion robots (2011-2013) [2][3] Multi user localization possibility Privacy (no cameras needed) The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU [1] “Accurate Signal Strength Prediction based Positioning for Indoor WLAN Systems”; Anvar N., Yongwan P., Hoyoul J. Position, Location and Navigation Symposium, 2008 IEEE/ION ; 2008 ; Page(s): 685 – 688 [2] Volkhardt, Michael, et al. "Playing hide and seek with a mobile companion robot." Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on. IEEE, 2011. [3] Schroeter, Ch, et al. "Realization and User Evaluation of a Companion Robot for People with Mild Cognitive Impairments." Proc. IEEE Int. Conf. on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, pp. 1145-1151, IEEE 2013
  • 20. Adaptability The environments are highly variable, many factors could change their conditions, so the robots have to recognize these environmental changes, modify and adapt the system behavior in accordance. Localization errors in micro-areas computed as Manhattan distance. A micro-area is 2 The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU A micro-area is 2 square meter wide. • Robot took in mean less than 22 seconds for service delivery • In the 76% of the trials the user was located within 2 micro- areas respect to the current position, still in the Kinect localization workspace. • Kinect on robot and information on user position provided by the CAM made the service acceptable and usable for the old persons involved in the experimentations.
  • 21. Video Shopping service example The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU Video
  • 22. Conclusions The smart environments could be important to enhance the service robotics performance Usually smart environments are a cheaper solution with respect to robots with high complexity Improvements are needed for: The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU Improvements are needed for: – Interoperability – Dependable middleware and connections (bandwidth 4G-5G, data throughput, channel optimization, etc.) – Big data management / scalability – …
  • 23. March 14, 2013, Track 2, 8:30-12:30 - Topic Group “Robot Companion for Assisted Living (Chair Prof. Paolo Dario) March 14, 2013, Track 2, 8:30-12:30 ERF 2014: other sessions with Robot-Era The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU March 14, 2013, Track 2, 8:30-12:30 - State of art from FP7 projects and their relation to the H2020 and euRobotics topic group (Chairs: Farshid Amirabdollahian, Filippo Cavallo, Christophe Leroux and Paolo Fiorini)
  • 24. Thank you for your attention The Robot-Era Project has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement num. 288899 - WWW.ROBOT-ERA.EU www.robot-era.eu

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