Advancements in iTAD: Intelligent Telepresence and Assistive Devices 2020-2021
Intelligent Telepresence
and Assistive Devices
2020 - 2021
Date:2021/03/26
1
iTAD
Dr. Mojtaba Ahmadi, PhD; Dr. Ala’ Qadi, PhD
Three Teams
•
Mobile Manipulator (MM)
•
Versatile Assistive Roaming System (VARS)
•
Remote Assessment of High-Risk Patients (RAHP)
Date: 2021/03/26
2
iTAD 2020 - 2021
Mobile Manipulator
Date:2021/03/26
Presenter Name:
Matthew Soulodre
3
Mobile Manipulator
ITAD 3.0
Automated Bedside Assistant (Fall Concept)
ITAD 4.0
Mobile Manipulator
Date:2021/03/26
Presenter Name:
Matthew Soulodre
4
2
0
2
0
–
2
0
2
1
A
c
c
o
m
p
l
i
s
h
m
e
n
t
s
•
Patient interaction research & analysis
•
Omni-directional drivetrain design
•
Frame and Shell design
•
Electronics overhaul and shelving design
•
Designed a tendon driven arm
•
Improved gripper design
•
3D vision & Point cloud mapping
•
Object recognition using deep learning mega-
architecture
•
Created a foundation for real-time app control
Mobile Manipulator
Date:2021/03/26
Presenter Name:
Matthew Soulodre
5
Mobile Manipulator Roles
Date:2021/03/26
Presenter Name:
Matthew Soulodre
6
Drivetrain Design and Human Factors
(1 member)
Frame/Shell Design and Human Factors
(1 member)
Arm Design
(1 member)
Gripper Design
(1 member)
Electronics
(1 member)
Controls and Sensing
(2 members)
Systems and Software
(2 members)
Mobile Manipulator Goals
Date:2021/03/26
Presenter Name:
Matthew Soulodre
7
Roadmap for 2021-2022
•
Update design Iterations
•
Head design
•
Robot Build
•
FEA on structural components
•
Vibration & resonance analysis
•
Internal cooling solution
•
Continuation on software frameworks
•
Navigation simulations & implementation
Related Courses to Take
•
Feedback Control Systems MAAE-3500
•
Introduction to Robotics MECH-4503
•
Mechatronics MECH-4806
More information and Videos:
https://carleton.ca/mae/itad/
VARS
Date:2021/03/26
Presenter Name:
Jessica Mayenburg
8
Versatile Assistive Roaming
System
VARS
Date:2021/03/26
Presenter Name:
Jessica Mayenburg
9
Alinker
VARS
Date:2021/03/26
Presenter Name:
Jessica Mayenburg
10
Variation 1
Variation 2
Variation 3
VARS
Date:2021/03/26
Presenter Name:
Jessica Mayenburg
11
2
0
2
0
–
2
0
2
1
A
c
c
o
m
p
l
i
s
h
m
e
n
t
s
•
Alinker survey
•
Biomechanical analysis
•
Three design variations
•
Vortex Studio simulations
•
Electronic hardware design
and fabrication
•
Software redesign and
organization
VARS Roles
Date:2021/03/26
Presenter Name:
Jessica Mayenburg
12
Biomechanics and Human Factors
(2 members)
Dynamics and Kinematics
(1 member)
Mechanical and Electrical Design
(2 members)
Controls and Sensing
(0.5 members)
Systems and Software
(0.5 members)
VARS Goals
Date:2021/03/26
Presenter Name: Jessica Mayenburg
13
Roadmap for 2021-2022
•
Revisit simulation capabilities
•
Choose design variation
•
Collect in-person user data
•
Create an obstacle course for VARS prototype
•
Overall system transfer function
•
Thorough controls testing
RAHP
Date:2021/03/26
Presenter Name:
James Anawati
14
Remote Assessment of
High-Risk Patients
RAHP
Date:2021/03/26
Presenter Name:
James Anawati
15
2
0
2
0
–
2
0
2
1
A
c
c
o
m
p
l
i
s
h
m
e
n
t
s
•
Designed UV disinfection drawer
•
Designed robot head
•
Designed robot shell
•
Designed auto-docking system
•
Simulated dynamics model of
MiCA
•
Designed testing procedures for
human interactions in hospitals
RAHP
Date:2021/03/26
Presenter Name:
James Anawati
16
RAHP Roles
Date:2021/03/26
Presenter Name:
James Anawati
17
Human Factors and Shell Design
(
1
member)
Human Factors and Head Design
(1 member)
Dynamics and Kinematics
(1 member)
Electronics and Controls
(
1
member)
Team Integration
Date:2021/03/26
Presenter Name:
James Anawati
18
•
Three teams – one working meeting per week
•
Focus on technical work
•
Full project – one meeting per week with lead engineers
•
Feedback from lead engineers
•
Feedback from other teams
Thank you
Questions?
Date: 2021/03/26
19
iTAD
More information and Videos:
https://carleton.ca/mae/itad/
The iTAD project presents significant achievements in the development of assistive technologies, including Mobile Manipulator, Versatile Assistive Roaming System, and Remote Assessment of High-Risk Patients. Key accomplishments include patient interaction research, drivetrain and frame design, electronics overhaul, and innovative gripper and arm designs. The project aims to continue its progress with updates in design iterations, structural analysis, cooling solutions, and software frameworks. For more information, visit the provided link.
Download Presentation
Please find below an Image/Link to download the presentation.
The content on the website is provided AS IS for your information and personal use only. It may not be sold, licensed, or shared on other websites without obtaining consent from the author. Download presentation by click this link. If you encounter any issues during the download, it is possible that the publisher has removed the file from their server.
E N D
Presentation Transcript
iTAD Intelligent Telepresence and Assistive Devices 2020 - 2021 Dr. Mojtaba Ahmadi, PhD; Dr. Ala Qadi, PhD Date:2021/03/26 1
iTAD 2020 - 2021 Three Teams Mobile Manipulator (MM) Versatile Assistive Roaming System (VARS) Remote Assessment of High-Risk Patients (RAHP) Date: 2021/03/26 2
Mobile Manipulator Mobile Manipulator ITAD 3.0 Automated Bedside Assistant (Fall Concept) ITAD 4.0 Date:2021/03/26 Presenter Name: Matthew Soulodre 3
Mobile Manipulator 2020 2021 Accomplishments Patient interaction research & analysis Omni-directional drivetrain design Frame and Shell design Electronics overhaul and shelving design Designed a tendon driven arm Improved gripper design 3D vision & Point cloud mapping Object recognition using deep learning mega- architecture Created a foundation for real-time app control Date:2021/03/26 Presenter Name: Matthew Soulodre 4
Mobile Manipulator Date:2021/03/26 Presenter Name: Matthew Soulodre 5
Mobile Manipulator Roles Drivetrain Design and Human Factors (1 member) Frame/Shell Design and Human Factors(1 member) Arm Design (1 member) Gripper Design (1 member) Electronics (1 member) Controls and Sensing (2 members) Systems and Software (2 members) Date:2021/03/26 Presenter Name: Matthew Soulodre 6
Mobile Manipulator Goals Roadmap for 2021-2022 Update design Iterations Head design Robot Build FEA on structural components Vibration & resonance analysis Internal cooling solution Continuation on software frameworks Navigation simulations & implementation Related Courses to Take Feedback Control Systems MAAE-3500 Introduction to Robotics MECH-4503 Mechatronics MECH-4806 More information and Videos: https://carleton.ca/mae/itad/ Date:2021/03/26 Presenter Name: Matthew Soulodre 7
VARS Versatile Assistive Roaming System Date:2021/03/26 Presenter Name: Jessica Mayenburg 8
VARS Alinker Date:2021/03/26 Presenter Name: Jessica Mayenburg 9
VARS Variation 1 Variation 3 Variation 2 Date:2021/03/26 Presenter Name: Jessica Mayenburg 10
VARS 2020 2021 Accomplishments Alinker survey Biomechanical analysis Three design variations Vortex Studio simulations Electronic hardware design and fabrication Software redesign and organization Date:2021/03/26 Presenter Name: Jessica Mayenburg 11
VARS Roles Biomechanics and Human Factors (2 members) Dynamics and Kinematics (1 member) Mechanical and Electrical Design (2 members) Controls and Sensing (0.5 members) Systems and Software (0.5 members) Date:2021/03/26 Presenter Name: Jessica Mayenburg 12
VARS Goals Roadmap for 2021-2022 Revisit simulation capabilities Choose design variation Collect in-person user data Create an obstacle course for VARS prototype Overall system transfer function Thorough controls testing Date:2021/03/26 Presenter Name: Jessica Mayenburg 13
RAHP Remote Assessment of High-Risk Patients Date:2021/03/26 Presenter Name: James Anawati 14
RAHP 2020 2021 Accomplishments Designed UV disinfection drawer Designed robot head Designed robot shell Designed auto-docking system Simulated dynamics model of MiCA Designed testing procedures for human interactions in hospitals Date:2021/03/26 Presenter Name: James Anawati 15
RAHP Date:2021/03/26 Presenter Name: James Anawati 16
RAHP Roles Human Factors and Shell Design (1 member) Human Factors and Head Design (1 member) Dynamics and Kinematics (1 member) Electronics and Controls (1 member) Date:2021/03/26 Presenter Name: James Anawati 17
Team Integration Three teams one working meeting per week Focus on technical work Full project one meeting per week with lead engineers Feedback from lead engineers Feedback from other teams Date:2021/03/26 Presenter Name: James Anawati 18
iTAD Thank you Questions? More information and Videos: https://carleton.ca/mae/itad/ Date: 2021/03/26 19
