1. Exploring Different Localization Technologies Lucy Huh Master’s Electrical and Computer Engineering

2. Outline Technologies Explored: Visual Localization Sound Localization Passive Infrared (PIR) Sensors IR Remote Control Technology Chosen: IR Remote Control IRMan

3. Visual Localization Robot will head toward the user who is distinguished by bright clothing. However, Cannot expect elders to dress differently Cameras are expensive

4. Sound Localization Robot will head toward the user using microphones as “ears”. Pros: All-directional Microphone receives sound energy from all directions. Therefore, no line-of-sight problem. Audition requires no illumination, enabling a robot to work in darkness or low light. Audition is not effected by obstacles. However, difficult to implement in given amount of time with limited experience in Robotics.

5. Passive Infrared (PIR) Sensors PIR Sensors are passive: They detect radiation but do not emit it. They are maximally sensitive to objects that emit heat energy at the wavelength emitted by humans. Robot “sees” infrared heat energy emitted by people. Triggering occurs when a change in infrared levels are detected. When a warm object moves in or out of view of one of the sensor’s “eyes”

6. PIR Sensors (continued..) Cons: Strictly line-of-sight devices Cannot “see” around corners or see a person if there’s an obstruction. Robot will not be able to distinguish between two users in the same room.

7. Technology Chosen : IR Remote Control Using an IR Remote control and the CARMEN Robot Navigation Software Toolkit for mobile robot control. IR Remote Control done using commercial device, IRMan.

8. IRMan IRMan can received infrared signals by all sorts of remotes. Receiver can reach up to 10m and has a 80 degree angle of sight. On the back there is a cable that connects to a serial port on the PC. Does not require any external power.

9. Software for IRMan Wrote software to parse the serial data from the IRMan and figure out which button on the remote was pressed. This software was integrated to the wheelchair. Specifically, it was integrated to the CARMEN navigation software toolkit for mobile robot control.