1. Autonomous Wheelchair Rittika Shamsuddin '12 Melissa Frechette '11 Abigail Drury '10 Professor Audrey Lee St. John Dr. Dan Barry Dr. William Kennedy 23 April 2010

2. Outline 1. General Project Overview 2. Overview of Interaction with the Wheelchair 3. Testing and Results 4. Final Thoughts 5. Tutorial Walk- Throughs

3. Outline 1. General Project Overview 2. Overview of Interaction with the Wheelchair 3. Testing and Results 4. Final Thoughts 5. Tutorial Walk- Throughs

4. Project Created by MobileRobots and Dr. Dan Barry Research team methodically tested and developed comprehensive documentation Doing our first exchange of the the chair - the first step to giving patients the option for independent mobility and privacy

5. Working with the Wheelchair First semester with research assistants Objective was to determine optimal parameter lists Majority of work done through wireless connection between wheelchair and PC

6. Wireless Networking http://tradelinecom.com/images/WirelessHomeNetwork.jpg Home Wireless Network Wheelchai r Wireless Network

7. Testing Environment Clapp 201 - Lab

8. Testing Environment Clapp 201 - Lab

9. Testing Environment Clapp 201 - Lab

10. Testing Environment Clapp Hallway

11. Testing Environment Clapp Hallway - Doors

12. Testing Environment Kendade Bridge - Doors

13. Testing Environment Kendade Bridge

14. Testing Environment Kendade Bridge

15. Testing Environment Kendade Atrium

16. Testing Environment Kendade Atrium

17. Testing Environment Kendade Atrium

18. Laser Sensors Laser sensors use light beams to measure distance The way the light returns to the sensor is used to calculate the distance http://www.philohome.com/sensors/lasersensor.htm

19. Sensors Upper Sensor Lower Back Sensor Touch Screen  Three laser sensors  One high, two low  Scan on horizontal plane  Laser sensors are used for localization and path planning  Bump sensors in case laser sensors fail

20. User Interface  Currently uses a touch screen and keyboard/mouse as main I/O device.  In future, it will also support other interfaces

21. Manual Drive Mode Smart Drive Mode Express Drive Mode Drive Modes

22. Manual Drive Mode Smart Drive Mode Express Drive Mode Drive Modes - Manual

23. Manual Drive Mode Smart Drive Mode Express Drive Mode Drive Modes - Smart

24. Manual Drive Mode Smart Drive Mode Express Drive Mode Drive Modes - Express

26. Express Drive Mode in Action

27. Goal Drive Mode and MobileEyes

28. Wheelchair Goal Path

29. Goal Drive Mode and MobileEyes Person

30. Outline 1. General Project Overview 2. Overview of Interaction with the Wheelchair 3. Testing and Results 4. Final Thoughts 5. Tutorial Walk- Throughs

31. Melissa’s slides go here :)

32. Outline 1. General Project Overview 2. Overview of Interaction with the Wheelchair 3. Testing and Results 4. Final Thoughts 5. Tutorial Walk- Throughs

33. Rittika’s slides go here :)

34. Outline 1. General Project Overview 2. Overview of Interaction with the Wheelchair 3. Testing and Results 4. Final Thoughts 5. Tutorial Walk- Throughs

35. Blind Spots floor, 0 cm bottom lasers, 13 cm upper laser, 1.7 m

36. Blind Spots

37. Final Observations  Chair cannot see:  Objects shorter than 13 cm  Objects only present between 13 cm and 1.7 m  Hardware-based issue  Side padding can be a little scary for pedestrians  Can be solved in future through software

38. Cautions Difficulty starting too close to an obstacle Inability to see black objects

39. When Express Drive Mode Goes Wrong

40. Conclusions and Future Work  The wheelchair is in good shape, but it needs work to improve safety  Continued exchange between the research group and Spaulding  Further documentation needs to be developed

41. Outline 1. General Project Overview 2. Overview of Interaction with the Wheelchair 3. Testing and Results 4. Tutorial Walk- Throughs

42. Thank You! A special thank you to Dr. Dan Barry, Dr. William Kennedy, and MobileRobots Questions?