This presentation summarizes the goals, achievements, hardware, and software of Work Package 7 for the ALIAS project. The goals were to implement pilots and integrate hardware and software modules. Key achievements included developing robots, adapting middleware, and integrating software for field trials. Main hardware included robot components like sensors and a display. Software was updated including a new middleware and 3D collision avoidance. Issues addressed hardware problems and limitations of the current prototype. Future work includes verifying new driving systems and integrating useful tablet functions for business cases.

1. WP 7 Presentation
Andreas Bley with contributions from Christian
Martin, Christian Reuther, Stefan Ulbrich,
Norbert Herda (MLAB)

2. Goals
Pilots and System integration
• To implement and design the ALIAS pilots and
prototype
• To integrate additional hardware
• To integrate developed software modules, like the
human-machine-interface and the dialog manager
11.06.2013 WP 7 Presentation 2

3. Achievements at a glance
• Hardware adaptations, development and
assembling of the ALIAS robots
• Development and adaptation of the new
middleware MIRA
• Test and integration of software modules
for the first and second field trials and
several dissemination events
• Providing web infrastructure for the
second field trials
• Preparations of cost-effictive solutions
for a later exploitation
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4. Achievements
• D7.1 Definition of the proofed ALIAS software
framework
• D7.2 First ALIAS pilot for user trials
• D7.3 Second ALIAS pilot for user trials
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5. Main integrated hardware
 SCITOS-PC: Intel Core 2 Duo T7400, 2.16 GHz, 2 GB RAM
(initial configuration)
 Other sensors: Bumper and ultrasonic range finders
 Omnidirectional camera: panorama image of about 1.400 x
240 pixel
 Safety laser range finder: SICK S300
 15” TFT display (1024x768) with touch screen
 Mac-Mini: Intel Core 2 Duo P9600, 2.66 GHz, 4 GB RAM
 Nintendo Wii
 Two speakers and four microphone channels
 GigE camera 2 MegaPixel with a fish-eye lens
 Add-on: BCI sensor
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6. Hardware architecture of the prototypes
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7. Updates of the hardware
• Gyroscope unit for better odometry
• Integration of new microphones
(developed by Fraunhofer)
• Development of a more charging
module (12 A instead of 4 A)
• Ground lighting
• Firmware updates in charger unit
• Repairs on the robot:
– Fixed broken drive wheel
– Maintenance work
Status of WP7 – Christian Martin 7

8. Development of a wireless charging unit
 Developed in cooperation with Kontenda
 up to 330 W charging power
 need exakt positioning of robot at
charging coils (max 20mm misalignment
for full power usage)
 problems:
 charging coils at robots bottom side:
needs base plate for charging station
→ trip hazard
 charging coils at front of robot: not
compatible with so far robots
enclosure shape
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9. Updates of ALIAS’s software
• Adaption of new Middleware MIRA to the ALIAS robot
– MIRA was developed by IUT and MLAB
– MIRA replaces the “old” MetraLabs
software (Blackboard, RobotDaemon, …)
• CogniDrive:
– Simplified mapping process
– Long-term tests with 3D collision avoidance
Status of WP7 – Christian Martin 9

10. 3D collision avoidance needs depth data
• Different drivers for PrimeSense devices (Asus, Kinect) are
available
– OpenNI:
• different branches available (official, avin2, ROS, more?)
• very heavy and bulky and contains a lot of stuff, which is not necessary
– OpenKinect / libfreenect:
• very limited functionality
• different branches for different sensors, no common version available
• Goal: Own MIRA driver for PrimeSense devices:
– reduce overhead as much as possible
– fast and light weight, only using libusb
– Released February 2013
Status of WP7 – Christian Martin 10

11. Integration with tablet PCs
 Communication with middleware MIRA on robot
 Direct TCP connection using a JSON-protocol over WebSockets (HTTP)
 Android application replicates basic concepts of MIRA (Channels, Units, ...)
 Bidirectional real-time data exchange and synchronous service method calling
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 Running exclusive applications on
android
 „SureLock“ forces an app to stay visible
and hides Android UI elements
 Using peripheral equipment and
internal sensors
 Streaming video and audio from the
device's camera
 Using accelerometer to control the robots
movements

12. Fixed problems and limitations:
 Possibility of an electrical damage of the robot head unit caused by a motor
controller of the eye lids.
 Similar problem with the pan motor unit
 Additional components need a lot of power
 DVD of Wii can only be exchanged, when the housing of the robot is removed
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Open problems:
 Still a lot of hard-coded operation sequences
 Some modules are very limited to the scenarios.

13. Problems & Lessons Learned
 Sometimes too much coding ("hacking session").
 Some deadlocks due to module dependencies.
 Single point of failure: If the dialog manager does not work, nothing else will work.
Missing fallback system?
 Focus more one functions, that are really required by the users.
 Omit functions, which are optional or too sophisticated.
 Two state machines (one in the Dialog Manager and one on the Linux side) is not a
good idea.
 Too much (unused, expensive and/or unsuitable) hardware on the current prototype
 Integration of a Tablet PC with available functionalities would be useful. This would
increase the value of the robot very much.
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14. Outlook / Future Work
• Verification of the belt-based driving system
• Integration of useful functionalities in Android
• Tailored functionalities to the business cases
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