1. 3 levels Basic User Tasks Intermediate User Tasks Advanced User Tasks

2. Basic User Tasks - Patient How to Use the GUI How to Start Up the chair How to Shut down the chair How to Recharge the chair How to Move the Chair By Pushing How to Re-enable the Motors After E-Stop

3. GUI The touch screen interface on the chair Will be able to support other devices at later date

4. Start Up the chair, Shut down the chair, Recharge the chair Start from the back of the chair Start from the screen Start by unplugging

5. Move By Pushing Just in case something goes wrong Motors disengaged Lever in back Patient may need to be able to tell someone how

6. Re-enable the motors after hitting the emergency stop button Two emergency stop buttons – Immediately apply breaks and disable motors Push the rectangular red button to get the motors back – Once for joystick – Twice to return to normal

7. Intermediate User Tasks - Doctor/Therapist How to Connect With X11 How to Use Xming How to Connect to the Wheelchair from a PC How to Open MobileEyes How to Localize the Robot How to Drive the Robot From MobileEyes How to Change Maps in MobileEyes How to Enable/Disable Goals on the Chair’s Interface

8. What is X11/Xming? A way to get the touchscreen graphics on a remote computer

9. Connect With X11 and Use Xming Useful to be able to control the chair remotely as if in chair – Ex: For choosing goals

10. What is MobileEyes? The main way to handle the chair remotely The place to make and edit maps, change goals, and change parameters

11. Connecting remotely – Change your IP address – Connect to the Network Opening MobileEyes – Username and password unnecessary – Set the Robot Server Connect Remotely to the Wheelchair And Open MobileEyes

12. Localize the Robot and Use MobileEyes for Driving Localizing – Drag robot to correct spot on map and check localization score – Repeat as necessary Buttons on top menu bar for Manual and Safe Drive Goal list at bottom left

13. Change Maps in MobileEyes and Enable/Disable Goals on the Chair's Interface Need to open both Map and LazerLocalizationMap to change maps To enable/disable goals – Go to Look & Feel, then Goal List on wheelchair (Or X-Windows) – Choose goals from list

14. Chair Guru Tasks - Administrator/Developer How to Create a New Map How to Create a New Goal on the Map How to Change Parameters in MobileEyes

15. Create a New Map and Create New Goals on the Map Drive the chair around so the upper sensor can create the map Clean up the new map using tools in MobileEyes Add new goals in MobileEyes

16. Change Parameters in MobileEyes Got to Tools, then RobotConfig Parameters allow you to change things like the speed of the chair and the size of the padding