Robot Cooking - Revision history

Marcoo at 12:09, 28 November 2016

2016-11-28T12:09:38Z

Marcoo at 10:47, 15 November 2016

2016-11-15T10:47:04Z

Marcoo at 10:46, 15 November 2016

2016-11-15T10:46:50Z

Marcoo: Marcoo moved page Robot First Aid to Robot Cooking: students have proposed a different topic

2016-11-06T14:57:26Z

Marcoo moved page Robot First Aid to Robot Cooking: students have proposed a different topic

Marcoo at 14:56, 6 November 2016

2016-11-06T14:56:24Z

Marcoo at 14:54, 6 November 2016

2016-11-06T14:54:56Z

Marcoo at 14:54, 6 November 2016

2016-11-06T14:54:22Z

Marcoo at 18:21, 29 October 2016

2016-10-29T18:21:17Z

Marcoo: Created page with "{{StudentProjectTemplate |Summary=Capability to physically perform first aid for an autonomous (mobile) robot |Keywords=Robots, First Aid, Visual Recognition, Healthcare |Tim..."

2016-06-10T15:16:42Z

Created page with "{{StudentProjectTemplate |Summary=Capability to physically perform first aid for an autonomous (mobile) robot |Keywords=Robots, First Aid, Visual Recognition, Healthcare |Tim..."

New page

{{StudentProjectTemplate
|Summary=Capability to physically perform first aid for an autonomous (mobile) robot
|Keywords=Robots, First Aid, Visual Recognition, Healthcare
|TimeFrame=2017/1/1-2017/8/30
|References=-first aid

Travers, A. H., Rea, T. D., Bobrow, B. J., et al. (2010). Part 4: CPR overview
2010 American Heart Association guidelines for cardiopulmonary resuscitation and
emergency cardiovascular care. Circulation, 122(18 suppl 3), S676-S684.

-pose recognition

Jamie Shotton, Ross Girshick, Andrew Fitzgibbon, Toby Sharp, Mat Cook, Mark Finocchio, Richard Moore, Pushmeet Kohli, Antonio Criminisi, Alex Kipman, Andrew Blake, "Efficient Human Pose Estimation from Single Depth Images", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.35, no. 12, pp. 2821-2840, Dec. 2013, doi:10.1109/TPAMI.2012.241

|Prerequisites=Strong multidisciplinary interest, strong work ethic, software (also ability to work with libraries), possibly some hardware/electronics
|Supervisor=Martin Cooney,
|Examiner=Antanas, Slawomir
|Level=Master
|Status=Open
}}

The student will be part of a research drive at HH connected to the Intelligent Home to develop the capability for home robots to help save people's lives in emergencies.
So far, although smart phones have acquired huge popularity, robots have failed to gain wide acceptance in people's homes; the cause is that a very good reason for having a versatile (expensive) embodiment in a home has not yet been established.
We think first aid can be such a reason.
First, many of us know of someone who has fallen down and not received immediate medical attention; the repercussions can be very serious.
Second, first aid is a complex problem which requires a complex robotic embodiment; a simple vacuum cleaner-like machine is not enough to help.
Within this context, the student will use an excellent robot (Baxter from Rodney Brooks, on a Clearpath mobile base) to develop some capability to conduct first aid.
Some notes:
*In this exploratory project the robot will touch a mannequin in place of a real human, due to ethics and safety concerns.
*We will seek to obtain advice from various experts, e.g., in nursing and computer vision.
*The robot will also be used from time to time by others (researchers and students).
*Various possibilities exist for contributions to intelligent systems:
**an approach for carrying out basic first aid steps: e.g., chest compressions, adjusting pose to assist airway, and artificial ventilation. This could involve designing a special gripper and approach for using it. OR
**an approach for stemming bleeding by detecting bleeding (rate, location of wounds and arteries) and treating (cooling a wound with a peltier, applying pressure to the wound with pads or to arteries, and elevating limbs). OR
**an approach for assessing a person's mental state/confusion such as AVPU or the Glascow coma scale, which requires the robot to execute multimodal behavior like touching a person and recognize reactions such as the manner of contraction of an arm.

Goal: the robot will, while recognizing, conduct some basic steps for first aid on a mannequin (involving physical touch)

Relation to some previous work:

Several student projects have focused on preparation for robotic first aid.
In 2014, Meyr built a mobile robot system which could be commanded to go to the location of an emergency and ask humans if they were okay; Lazaro built a computer vision algorithm to distinguish fallen humans from objects.
In 2015, Zhang and Zhao built a recognition system using Kinect data to recognize health signs in an unconscious person related to first aid.
In 2016, Hotze created a mobile robot system to find fallen humans and locate on a map body parts important for first aid, to allow for cpr to be conducted.
The current project will draw insight from this previous work by students at HH and be the first to result in a system capable of physically conducting some form of first aid (physically touching a human mock-up).

Possible Steps:

•Preparation: (January) Becoming (more) familiar with OpenCV, ROS, (Arduino,) Baxter(/Ridgeback), getting robot/robot arms to move

•(February) Basic literature review; last preparation, such as attaching secondary systems which might be needed such as touch sensors to the robot

•Main part: (March-April) Sensing, Planning, Acting
For example:
(sense) the robot will use its sensors to locate important first aid points in 3d
(plan) the robot will use inverse kinematics to position its end effectors to do first aid
(act) the robot will move to do first aid, controlling its motions via feedback from sensors

•After-work: (May) Evaluating; writing/presenting

Possible evaluation metrics: e.g., objective measures (time, positioning, force); qualitative assessment by an expert; and/or comparison to a novice human first aider

Expected results: a thesis/report, code, video
(for this project, the student is expected to be willing to also write a six page shortened version of the thesis, to be submitted to a conference)

@@ Line 28: / Line 28: @@
 Timeline:
 January-February: Preparation: literature review; setting up basic capability for a robot to do a simple cooking task (formulate instructions from a recipe, detect tools and ingredients, and carry out instructions)
 March-April: Main point:learning a common sense model to avoid errors
 May: Evaluation, writing/presenting
 Expected results: a thesis/report, code, video (we also hope to offer some food cooked by the robot)

@@ Line 1: / Line 1: @@
 {{StudentProjectTemplate
 |Summary=Common sense for a robot to cook healthy food
-|Keywords=Robots,Healthcare, Visual Recognition
+|Keywords=Robots, Healthcare, Visual Recognition
 |TimeFrame=2017/1/1-2017/8/30
 |References=-robot cooking
 Christian Østergaard Laursen, Søren Pedersen, Timothy Merritt, Ole Caprani. Robot-Supported Food Experiences: Exploring Aesthetic Plating with Design Prototypes. In J.T.K.V. Koh et al. (Eds.): Cultural Robotics 2015, LNAI 9549, pp. 107–130, 2016. DOI: 10.1007/978-3-319-42945-8 10 Springer International Publishing Switzerland 2016.012.241
 -common sense acquisition
-Rakesh Gupta and Mykel J. Kochenderfer. Common Sense Data Acquisition for Indoor Mobile Robots. ROBOTICS
 |Prerequisites=Strong multidisciplinary interest, strong work ethic, software (also ability to work with libraries), possibly some small work with hardware/electronics
 |Supervisor=Martin Cooney,
@@ Line 15: / Line 17: @@
 |Status=Ongoing
 }}
 This project will be about designing a capability for "common sense" in a robot, within the context of helping an elderly person at home with cooking.
 Our motivation is that robots could be helpful to people and contribute to their well-being, health, and quality of life, but first some major challenges must be overcome. One challenge is that everyday tasks which humans perform can be complex and confusing. This is especially a problem with elderly persons with declined physical and cognitive abilities (e.g. dementia), when the person can no longer function by themselves but requires support, which is sometimes not available from other humans. To support such a person, we believe a robot should have some degree of what we call here "common sense"; related to robustness, this is an ability to function correctly in the presence of some errors which a healthy adult person can typically detect.

@@ Line 13: / Line 13: @@
 |Supervisor=Martin Cooney,
 |Examiner=Antanas, Slawomir
 |Level=Master
-|Status=Open
+|Status=Ongoing
 }}
 This project will be about designing a capability for "common sense" in a robot, within the context of helping an elderly person at home with cooking.

← Older revision	Revision as of 14:57, 6 November 2016
(No difference)

@@ Line 1: / Line 1: @@
 {{StudentProjectTemplate
 |Summary=Capability to physically perform first aid for an autonomous (mobile) robot
 |Keywords=Robots, First Aid, Visual Recognition, Healthcare
 |TimeFrame=2017/1/1-2017/8/30
 |References=-first aid
@@ Line 11: / Line 11: @@
 -pose recognition
 Jamie Shotton, Ross Girshick, Andrew Fitzgibbon, Toby Sharp, Mat Cook, Mark Finocchio, Richard Moore, Pushmeet Kohli, Antonio Criminisi, Alex Kipman, Andrew Blake, "Efficient Human Pose Estimation from Single Depth Images", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.35, no. 12, pp. 2821-2840, Dec. 2013, doi:10.1109/TPAMI.2012.241
 |Prerequisites=Strong multidisciplinary interest, strong work ethic, software (also ability to work with libraries), possibly some hardware/electronics
 |Supervisor=Martin Cooney,
 |Examiner=Antanas, Slawomir
 |Level=Master
-|Status=Open
+|Status=Ongoing
 }}
 The student will be part of a research drive at HH connected to the Intelligent Home to develop the capability for home robots to help save people's lives in emergencies.
 So far, although smart phones have acquired huge popularity, robots have failed to gain wide acceptance in people's homes; the cause is that a very good reason for having a versatile (expensive) embodiment in a home has not yet been established.