AIRWiki - User contributions [en]

LURCH - The autonomous wheelchair

2009-11-29T11:13:31Z

MarcoAssini: /* Available Documentation */

{{Project
|title=LURCH_-_The_autonomous_wheelchair
|image=LURCH wheelchair.jpg
|short_descr=LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) capable of autonomous navigation and obstacle avoidance. LURCH. is the acronym of "Let Unleashed Robots Crawl the House".
|tutor=MatteoMatteucci;SimoneCeriani;DavideMigliore
|students=MatteoRossi;MauroBrenna;
|resarea=Robotics
|status=Active
}}


L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House".

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==Available Documentation==

- Documentation on the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitDocument.pdf]].

- '''WARNING''': the circuit was modified and the documentation above is upgraded by this new file: [[Media:LurchXBee.pdf]].

- How to modify the wheelchair joystick to connect to the interface circuit: [[Media:LurchCircuitJoystick.pdf]].

- Brief discussion about the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitJoystickBrief.pdf]].

- Brief description of the LURCH project: [[Media:LurchBriefDesc.pdf]].

- Brief description of the communication between the wheelchair interface circuit and a PC via RS232 port: [[Media:LurchProtocol.pdf]].

- Source code for PIC 18F452 microprocessor and Eagle project (schematic and board): [[Media:LurchCircuitProject.zip]].

- Battery replacement done on May 2009, description of work: [[Media:LurchBatteryReplacement.pdf]].

- Thesis by Simone Ceriani, titled ''Sviluppo di una carrozzina autonoma d'ausilio ai disabili motori'' (Development of an autonomous wheelchair to help motor-disabled persons): [[Media:LurchThesisCeriani.pdf]] (in Italian)

- Thesis presentation by Simone Ceriani (note: Videos don't work, you can found similar videos below): [[Media:LurchPresentazioneThesisCeriani.zip]]

- Thesis by Marco Dalli, titled ''Sviluppo di un sistema di controllo basato su odometria per una carrozzina robotica'' (Development of a control system based on odometry for a robotic wheelchair): [[Media:LurchThesisDalli.pdf]] (in Italian)

- Thesis presentation by Marco Dalli: [[Media:LurchPresentazioneThesisDalli.zip]]

- Thesis by Marco Assini, titled ''Sviluppo di un pianificatore di percorsi geometrici per una carrozzina autonoma'' (Development of a geometric path planner for an autonomous wheelchair): [[Media:LurchThesisAssini.pdf]] (in Italian)

- Thesis presentation by Marco Assini (the file contains a ppt version, a pptx, and a simplified pdf version without animation): [[Media:LurchPresentazioneThesisAssini.zip]]

- Pdf with ArtoolKitPlus Fiducial Markers collection. Dimension are 160x160mm. [[Media:ArtoolKitPlusMarkers-160mm.pdf.zip]]

==PCBricks Configuration==
PCBrick-03 and PCBrick-05 feature Xubuntu Linux 7.10, Xfce Window Manager, Openchrome graphics drivers and eGalax touchscreen drivers v1.08.1227 (Drivers [http://210.64.17.162/web20/TouchKitDriver/linuxDriver.htm here]).
The touchscreen is configured and calibrated on both machines, hence it can be used with either one or the other indifferently.

==Electronics development==
We are currently designing a new electronic main board for the wheelchair.

The idea is to base the whole system on a CANbus, allowing a complete modularization of the on-board electronics.

[[Lurch_electronics_development|Read more on this topics here...]]

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

==Software Installation [TODO: complete]==
This guide is tested on Ubuntu 8.10, 9.04 and Xubuntu 8.10. GCC version in 4.3.

* Install the following packages:
** qt3-dev-tools
** qt4-dev-tools
** build-essential
** flex
** bison
** libjsw-dev
** libboost-dev
** libdc1394-13-dev
** libgsl0-dev
** libgtk2.0-dev
** libncurses5-dev

If you want you can cut and paste this command line:
sudo apt-get install ...

* Download this file: [TODO], which contains ARToolKitPlus Libraries

** unpack it in /opt folder
** go into /opt/ARToolKitPlus_2.1.1
** export ARTKP=/opt/ARToolKitPlus_2.1.1
** qmake
** make
** sudo make install

* download lurch-control.tar.gz
** extract it in your home folder
** make cleanall
** make ROBOT=wheelchair MODULE=misc
** make ROBOT=wheelchair
** cd wheelchair
** ln -s ../logExtract.sh ./
** ln -s ../run.sh ./

* download lurch-wheelchair-standalone.tar.gz
** extract it in your home folder
** go into lurch-wheelchair-standalone/config
** edit config.ini
*** replace line with hostname=airlab-blackbox with hostname=<yourhostname>
** edit agent.ini
*** find and replace all "airlab-blackbox" with <yourhostname>

* download the server for simulation (you need sun-java6-jdk installed and Eclipse is suggested)
...

* from lurch-wheelchair-standalone
** sudo ./run.sh

=People Involved=

[[User:AndreaBonarini|Andrea Bonarini]]

[[User:MatteoMatteucci|Matteo Matteucci]]

[[User:DavideMigliore|Davide Migliore]]

[[User:GiulioFontana|Giulio Fontana]]

[[User:BernardoDalSeno|Bernardo Dal Seno]]

[[User:MarcoDalli|Marco Dalli]] (ex-Tesista)

[[User:SimoneCeriani|Simone Ceriani]] (Assegnista di ricerca)

[[User:MatteoRossi|Matteo Rossi]] (Tesista)

[[User:MarcoAssini|Marco Assini]] (ex-Tesista)

[[User:MauroBrenna|Mauro Brenna]] (Tesista)

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

File:LurchPresentazioneThesisAssini.zip

2009-11-29T11:07:43Z

MarcoAssini:

File:LurchThesisAssini.pdf

2009-11-29T11:01:13Z

MarcoAssini: Sviluppo di un pianificatore di percorsi geometrici per una carrozzina autonoma

Sviluppo di un pianificatore di percorsi geometrici per una carrozzina autonoma

LURCH - The autonomous wheelchair

2009-08-06T11:35:03Z

MarcoAssini: /* Software Installation [TODO: complete] */

[[Image:LURCH wheelchair.jpg|thumb|right|300px|LURCH in DEI exploration]]
L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House".

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==Available Documentation==

- Documentation on the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitDocument.pdf]].

- '''WARNING''': the circuit was modified and the documentation above is upgraded by this new file: [[Media:LurchXBee.pdf]].

- How to modify the wheelchair joystick to connect to the interface circuit: [[Media:LurchCircuitJoystick.pdf]].

- Brief discussion about the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitJoystickBrief.pdf]].

- Brief description of the LURCH project: [[Media:LurchBriefDesc.pdf]].

- Brief description of the communication between the wheelchair interface circuit and a PC via RS232 port: [[Media:LurchProtocol.pdf]].

- Source code for PIC 18F452 microprocessor and Eagle project (schematic and board): [[Media:LurchCircuitProject.zip]].

- Battery replacement done on May 2009, description of work: [[Media:LurchBatteryReplacement.pdf]].

- Thesis by Simone Ceriani, titled ''Sviluppo di una carrozzina autonoma d'ausilio ai disabili motori'' (Development of an autonomous wheelchair to help motor-disabled persons): [[Media:LurchThesisCeriani.pdf]] (in Italian)

- Thesis presentation by Simone Ceriani (note: Videos don't work, you can found similar videos below): [[Media:LurchPresentazioneThesisCeriani.zip]]

- Thesis by Marco Dalli, titled ''Sviluppo di un sistema di controllo basato su odometria per una carrozzina robotica'' (Development of a control system based on odometry for a robotic wheelchair): [[Media:LurchThesisDalli.pdf]] (in Italian)

- Thesis presentation by Marco Dalli: [[Media:LurchPresentazioneThesisDalli.zip]]

- Pdf with ArtoolKitPlus Fiducial Markers collection. Dimension are 160x160mm. [[Media:ArtoolKitPlusMarkers-160mm.pdf.zip]]

==PCBricks Configuration==
PCBrick-03 and PCBrick-05 feature Xubuntu Linux 7.10, Xfce Window Manager, Openchrome graphics drivers and eGalax touchscreen drivers v1.08.1227 (Drivers [http://210.64.17.162/web20/TouchKitDriver/linuxDriver.htm here]).
The touchscreen is configured and calibrated on both machines, hence it can be used with either one or the other indifferently.

==Electronics development==
A universal interface to connect various models of joysticks to the wheelchair onboard systems is currently under design. The interface should be programmable in order to accept absolute or differential analog voltage inputs and generate a coherent output, while transferring the values read to the PC via serial port.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

==Software Installation [TODO: complete]==
This guide is tested on Ubuntu 8.10, 9.04 and Xubuntu 8.10. GCC version in 4.3.

* Install the following packages:
** qt3-dev-tools
** qt4-dev-tools
** build-essential
** flex
** bison
** libjsw-dev
** libboost-dev
** libdc1394-13-dev
** libgsl0-dev
** libgtk2.0-dev
** libncurses5-dev

If you want you can cut and paste this command line:
sudo apt-get install ...

* Download this file: [TODO], which contains ARToolKitPlus Libraries

** unpack it in /opt folder
** go into /opt/ARToolKitPlus_2.1.1
** export ARTKP=/opt/ARToolKitPlus_2.1.1
** qmake
** make
** sudo make install

* download lurch-control.tar.gz
** extract it in your home folder
** make cleanall
** make ROBOT=wheelchair MODULE=misc
** make ROBOT=wheelchair
** cd wheelchair
** ln -s ../logExtract.sh ./
** ln -s ../run.sh ./

* download lurch-wheelchair-standalone.tar.gz
** extract it in your home folder
** go into lurch-wheelchair-standalone/config
** edit config.ini
*** replace line with hostname=airlab-blackbox with hostname=<yourhostname>
** edit agent.ini
*** find and replace all "airlab-blackbox" with <yourhostname>

* download the server for simulation (you need sun-java6-jdk installed and Eclipse is suggested)
...

* from lurch-wheelchair-standalone
** sudo ./run.sh

=People Involved=

[[User:AndreaBonarini|Andrea Bonarini]]

[[User:MatteoMatteucci|Matteo Matteucci]]

[[User:DavideMigliore|Davide Migliore]]

[[User:GiulioFontana|Giulio Fontana]]

[[User:BernardoDalSeno|Bernardo Dal Seno]]

[[User:MarcoDalli|Marco Dalli]] (ex-Tesista)

[[User:SimoneCeriani|Simone Ceriani]] (Assegnista di ricerca)

[[User:MatteoRossi|Matteo Rossi]] (Tesista)

[[User:MarcoAssini|Marco Assini]] (Tesista)

[[User:MauroBrenna|Mauro Brenna]] (Tesista)

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

LURCH - The autonomous wheelchair

2009-08-06T11:10:28Z

MarcoAssini: /* Software Installation [TODO: complete] */

[[Image:LURCH wheelchair.jpg|thumb|right|300px|LURCH in DEI exploration]]
L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House".

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==Available Documentation==

- Documentation on the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitDocument.pdf]].

- '''WARNING''': the circuit was modified and the documentation above is upgraded by this new file: [[Media:LurchXBee.pdf]].

- How to modify the wheelchair joystick to connect to the interface circuit: [[Media:LurchCircuitJoystick.pdf]].

- Brief discussion about the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitJoystickBrief.pdf]].

- Brief description of the LURCH project: [[Media:LurchBriefDesc.pdf]].

- Brief description of the communication between the wheelchair interface circuit and a PC via RS232 port: [[Media:LurchProtocol.pdf]].

- Source code for PIC 18F452 microprocessor and Eagle project (schematic and board): [[Media:LurchCircuitProject.zip]].

- Battery replacement done on May 2009, description of work: [[Media:LurchBatteryReplacement.pdf]].

- Thesis by Simone Ceriani, titled ''Sviluppo di una carrozzina autonoma d'ausilio ai disabili motori'' (Development of an autonomous wheelchair to help motor-disabled persons): [[Media:LurchThesisCeriani.pdf]] (in Italian)

- Thesis presentation by Simone Ceriani (note: Videos don't work, you can found similar videos below): [[Media:LurchPresentazioneThesisCeriani.zip]]

- Thesis by Marco Dalli, titled ''Sviluppo di un sistema di controllo basato su odometria per una carrozzina robotica'' (Development of a control system based on odometry for a robotic wheelchair): [[Media:LurchThesisDalli.pdf]] (in Italian)

- Thesis presentation by Marco Dalli: [[Media:LurchPresentazioneThesisDalli.zip]]

- Pdf with ArtoolKitPlus Fiducial Markers collection. Dimension are 160x160mm. [[Media:ArtoolKitPlusMarkers-160mm.pdf.zip]]

==PCBricks Configuration==
PCBrick-03 and PCBrick-05 feature Xubuntu Linux 7.10, Xfce Window Manager, Openchrome graphics drivers and eGalax touchscreen drivers v1.08.1227 (Drivers [http://210.64.17.162/web20/TouchKitDriver/linuxDriver.htm here]).
The touchscreen is configured and calibrated on both machines, hence it can be used with either one or the other indifferently.

==Electronics development==
A universal interface to connect various models of joysticks to the wheelchair onboard systems is currently under design. The interface should be programmable in order to accept absolute or differential analog voltage inputs and generate a coherent output, while transferring the values read to the PC via serial port.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

==Software Installation [TODO: complete]==
This guide is tested on Ubuntu 8.10, 9.04 and Xubuntu 8.10. GCC version in 4.3.

* Install the following packages:
** qt4-dev-tools
** build-essential
** flex
** bison
** libjsw-dev
** libboost-dev
** libdc1394-13-dev
** libgsl0-dev
** libgtk2.0-dev
** libncurses5-dev

If you want you can cut and paste this command line:
sudo apt-get install ...

* Download this file: [TODO], which contains ARToolKitPlus Libraries

** unpack it in /opt folder
** go into /opt/ARToolKitPlus_2.1.1
** export ARTKP=/opt/ARToolKitPlus_2.1.1
** qmake
** make
** sudo make install

* download lurch-control.tar.gz
** extract it in your home folder
** make cleanall
** make ROBOT=wheelchair MODULE=misc
** make ROBOT=wheelchair
** cd wheelchair
** ln -s ../logExtract.sh ./
** ln -s ../run.sh ./

* download lurch-wheelchair-standalone.tar.gz
** extract it in your home folder
** go into lurch-wheelchair-standalone/config
** edit config.ini
*** replace line with hostname=airlab-blackbox with hostname=<yourhostname>
** edit agent.ini
*** find and replace all "airlab-blackbox" with <yourhostname>

* download the server for simulation (you need sun-java6-jdk installed and Eclipse is suggested)
...

* from lurch-wheelchair-standalone
** sudo ./run.sh

=People Involved=

[[User:AndreaBonarini|Andrea Bonarini]]

[[User:MatteoMatteucci|Matteo Matteucci]]

[[User:DavideMigliore|Davide Migliore]]

[[User:GiulioFontana|Giulio Fontana]]

[[User:BernardoDalSeno|Bernardo Dal Seno]]

[[User:MarcoDalli|Marco Dalli]] (ex-Tesista)

[[User:SimoneCeriani|Simone Ceriani]] (Assegnista di ricerca)

[[User:MatteoRossi|Matteo Rossi]] (Tesista)

[[User:MarcoAssini|Marco Assini]] (Tesista)

[[User:MauroBrenna|Mauro Brenna]] (Tesista)

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

Media Coverage

2009-03-23T14:27:10Z

MarcoAssini: /* LURCH - The autonomous wheelchair */

Welcome to the Media Content of the AIRwiki.
This page contains all the materials that have been published on non-scientific media such as News papers, TV programs etc.

== [[Affective Computing]] ==
* ''Ai Robot trasmetto emozioni'' ([http://airwiki.elet.polimi.it/mediawiki/images/7/73/195PA472008.pdf Pdf]), Panorama n°47 2008,[http://www.panorama.it/edicola/panorama/2008-47-195-58 pag. 195]. [http://airwiki.elet.polimi.it/mediawiki/index.php/User:SimoneTognetti Simone Tognetti]

== [[LURCH - The autonomous wheelchair]] ==

* Rai 3 TgLeonardo speaks about AirLab, Lurch is involved! thanks to Gianmaria :-) ([http://it.youtube.com/watch?v=lRP-ae4iaZA Video]), 08/2008

* '' Comandata dal cervello!'' ([http://airwiki.elet.polimi.it/mediawiki/images/7/77/Superando-Lurch.pdf Pdf]), Superando.it, 22/01/2009
* ''Realizzata in Italia la prima sedia a rotelle guidata col "pensiero" ''([http://airwiki.elet.polimi.it/mediawiki/images/7/73/OrdineMediciPalermo-Lurch.pdf Pdf]), Ordine dei Medici di Palermo, 22/01/2009
* ''Muoversi con il pensiero'' ([http://tv.repubblica.it/tecno-e-scienze/muoversi-con-il-pensiero/28512?video Video]), RepubblicaTv, 22/01/2009
* ''Muoversi con il pensiero'' ([http://espresso.repubblica.it/multimedia/4483675/2 Video]), L'espresso multimedia, 22/01/2009
* ''Il Polimi inventa la cyber-carrozzella'' ([http://airwiki.elet.polimi.it/mediawiki/images/b/b3/Corriereuniv-Lurch.pdf Pdf]), Corriere dell’Università e del Lavoro, 22-01-2009
* ''Dall'Italia sedia a rotelle guidata dal cervello'' ([http://airwiki.elet.polimi.it/mediawiki/images/e/e2/Ansa.pdf Pdf]), ANSA, 22/01/2009
* ''Penso dunque muovo'' ([http://airwiki.elet.polimi.it/mediawiki/images/b/b3/Galileo_Giornale_di_scie...pdf Pdf]), Galileo, 22/01/2009
* ''Tecnologia: presto sedia a rotelle autonoma comandata dal cervello'' ([http://airwiki.elet.polimi.it/mediawiki/images/1/14/Instablog.pdf Pdf]), Instablog.org, 22/01/2009
* ''La carrozzella autonoma comandata dal cervello'' ([http://airwiki.elet.polimi.it/mediawiki/images/6/64/ItaliaNews.pdf Pdf]), Italia-News.it, 22/01/2009
* ''Sedia a rotelle comandata dal "pensiero". Progetto del Politecnico di Milano'' ([http://airwiki.elet.polimi.it/mediawiki/images/e/ea/Redattoresociale.pdf Pdf]), Redattore Sociale, 22/01/2009
* ''La carrozzella autonoma comandata dal cervello'' ([http://airwiki.elet.polimi.it/mediawiki/images/2/25/Salus.pdf Pdf]), Salus.it, 22/01/2009
* ''Sedia a rotelle guidata dal pensiero'' ([http://airwiki.elet.polimi.it/mediawiki/images/3/31/24_minuti.pdf Pdf]), 24 Minuti, 22/01/2009

* ''Politecnico Milano realizza carrozzella azionata dal pensiero'' ([http://airwiki.elet.polimi.it/mediawiki/images/4/44/Yahoo-Lurch.pdf Pdf]), Yahoo, 23/01/2009
* ''Il Politecnico di Milano realizza una carrozzella che si può muovere con il pensiero'' ([http://airwiki.elet.polimi.it/mediawiki/images/3/3c/Blogo.pdf Pdf]), 02blog.it, 23/01/2009
* ''La carrozzella autonoma comandata dal cervello. Un progetto del Politecnico di Milano'' ([http://airwiki.elet.polimi.it/mediawiki/images/f/ff/Bur.pdf Pdf]), BUR.it, 23/01/2009
* ''La carrozzella autonoma comandata dal cervello'' ([http://airwiki.elet.polimi.it/mediawiki/images/8/86/Domotica.pdf Pdf]), domotica.it, 23/01/2009
* ''Dal Politecnico di Milano il progetto della carozzella "guidata" dal cervello'' ([http://airwiki.elet.polimi.it/mediawiki/images/6/6e/Libero.pdf Pdf]), Libero, 23/01/2009
* ''Politecnico Milano realizza carrozzella azionata dal pensiero'' ([http://airwiki.elet.polimi.it/mediawiki/images/8/83/Mytech.pdf Pdf]), MyTech.it, 23/01/2009
* ''Politecnico Milano realizza carrozzella azionata dal pensiero'' ([http://airwiki.elet.polimi.it/mediawiki/images/4/4b/Reuters.pdf Pdf]), Reuters, 23/01/2009
* ''La sedia a rotelle che si guida col pensiero'' ([http://airwiki.elet.polimi.it/mediawiki/images/3/3c/Zeus.pdf Pdf]), ZEUS News, 23/01/2009
* ''La carrozzella autonoma comandata dal cervello'' ([http://airwiki.elet.polimi.it/mediawiki/images/d/d6/Handytv.pdf Pdf]), HandyTV, 23/01/2009

* ''Disabili: arriva la carrozzella-robot, si guida con la forza del pensiero'' ([http://airwiki.elet.polimi.it/mediawiki/index.php/Image:Adnkronos.pdf Pdf]), adnkronos, 26/01/2009
* ''Ecco la sedia a rotelle che si guida col pensiero'' ([http://www.video.mediaset.it/mplayer.html?sito=studioaperto&data=2009/01/26&id=42126&from=studioaperto Video]), Studio Aperto, 26/01/2009

* ''8 domande a Matteo Matteucci'' ([http://airwiki.elet.polimi.it/mediawiki/images/5/58/2009-01-27_IL_GIORNO_37_36.pdf Pdf]), Il Giorno, 27/01/2009

* ''Comandata dal cervello!'' ([http://airwiki.elet.polimi.it/mediawiki/images/3/30/Superando.pdf Pdf]), Superando.it, 28/01/2009

* ''La robotica al servizio dei disabili'' ([http://airwiki.elet.polimi.it/mediawiki/images/f/f7/Moebius.pdf Pdf] [http://airwiki.elet.polimi.it/mediawiki/images/0/0a/Sedia_rotelle_cervello.mp3.zip Audio Intervista]), Moebius, 02/02/2009

* ''Nel laboratorio del futuro che muove le ruote con il pensiero'' ([http://airwiki.elet.polimi.it/mediawiki/images/9/94/Larepubblica.pdf Pdf]), La Repubblica, 04/02/2009

* ''Muoversi col pensiero. La carrozzina del futuro'' ([http://airwiki.elet.polimi.it/mediawiki/images/c/cf/City.pdf Pdf]), City, 11/02/2009

* ''Mente move cadeira de rodas'' ([http://airwiki.elet.polimi.it/mediawiki/images/d/d2/Correiobr.pdf Pdf]), Correio Braziliense, 26/02/2009
* ''Entrevista - Bernardo Dal Seno: Criador fala sobre cadeira de rodas movida pela mente'' ([http://airwiki.elet.polimi.it/mediawiki/images/5/5b/Correio_Braziliense.pdf Pdf]), Correio Braziliense Online, 26/02/2009

* ''En Italia crean una silla de ruedas manejada con el pensamiento'' ([http://airwiki.elet.polimi.it/mediawiki/images/f/f4/NOTICIA_SECCION.pdf Pdf]), www.hoybolivia.com, 02/03/2009

* ''Ich denke, also fahre ich'' ([http://airwiki.elet.polimi.it/mediawiki/images/9/98/SZ-Rollstuhl_Politecnico.pdf Pdf]), Süddeutsche Zeitung, 05/03/2009

* ''La carrozzella che si guida con il pensiero'' ([http://www.focus.it/Scienza/video/La_carrozzella_che_si_guida_con_il_pensiero.aspx Video]), Focus.it, 23/03/2009

LURCH - The autonomous wheelchair

2009-03-11T11:42:13Z

MarcoAssini: /* People Involved */

[[Image:LURCH wheelchair.jpg|thumb|right|300px|LURCH in DEI exploration]]
L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House".

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# Brain Computer Interface driving system [[Brain-Computer Interface|brain-computer interface]]

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==Available Documentation==

- Documentation on the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitDocument.pdf]].

- '''WARNING''': the circuit was modified and the documentation above is upgraded by this new file: [[Media:LurchXBee.pdf]].

- How to modify the wheelchair joystick to connect to the interface circuit: [[Media:LurchCircuitJoystick.pdf]].

- Brief discussion about the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitJoystickBrief.pdf]].

- Brief description of the LURCH project: [[Media:LurchBriefDesc.pdf]].

- Brief description of the communication between the wheelchair interface circuit and a PC via RS232 port: [[Media:LurchProtocol.pdf]].

- Source code for PIC 18F452 microprocessor and Eagle project (schematic and board): [[Media:LurchCircuitProject.zip]].

- Thesis by Simone Ceriani, titled ''Sviluppo di una carrozzina autonoma d'ausilio ai disabili motori'' (Development of an autonomous wheelchair to help motor-disabled persons): [[Media:LurchThesisCeriani.pdf]] (in Italian)

- Thesis presentation by Simone Ceriani (note: Videos don't work, you can found similar videos below): [[Media:LurchPresentazioneThesisCeriani.zip]]

- Pdf with ArtoolKitPlus Fiducial Markers collection. Dimension are 160x160mm. [[Media:ArtoolKitPlusMarkers-160mm.pdf.zip]]

==PCBricks Configuration==
PCBrick-03 and PCBrick-05 feature Xubuntu Linux 7.10, Xfce Window Manager, Openchrome graphics drivers and eGalax touchscreen drivers v1.08.1227 (Drivers [http://210.64.17.162/web20/TouchKitDriver/linuxDriver.htm here]).
The touchscreen is configured and calibrated on both machines, hence it can be used with either one or the other indifferently.

==Electronics development==
A universal interface to connect various models of joysticks to the wheelchair onboard systems is currently under design. The interface should be programmable in order to accept absolute or differential analog voltage inputs and generate a coherent output, while transferring the values read to the PC via serial port.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://it.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://it.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://it.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://it.youtube.com/watch?v=iRw8PhY8IF4 External link]

=People Involved=

[[User:AndreaBonarini|Andrea Bonarini]]

[[User:MatteoMatteucci|Matteo Matteucci]]

[[User:DavideMigliore|Davide Migliore]]

[[User:GiulioFontana|Giulio Fontana]]

[[User:BernardoDalSeno|Bernardo Dal Seno]]

[[User:MarcoDalli|Marco Dalli]] (Tesista)

[[User:SimoneCeriani|Simone Ceriani]] (Assegnista di ricerca)

[[User:MatteoRossi|Matteo Rossi]] (Tesista)

[[User:MarcoAssini|Marco Assini]] (Tesista)

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

User:MarcoAssini

2009-03-09T13:39:12Z

MarcoAssini:

{{Student
|firstname=Marco
|lastname=Assini
|email=marco(dot)assini(at)gmail(dot)com
|advisor=MatteoMatteucci
|photo=MarcoAssiniPhoto.jpg
|projectpage=LURCH_-_The_autonomous_wheelchair
}}

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level working on a thesis with prof. Matteo Matteuci as Advisor

Project: Planner for LURCH - The autonomous wheelchair (http://airwiki.elet.polimi.it/mediawiki/index.php/LURCH_-_The_autonomous_wheelchair)

User:MarcoAssini

2009-03-09T13:36:17Z

MarcoAssini:

{{Student
|firstname=Marco
|lastname=Assini
|Politecnico di Milano= matr.675583
|email=marco(dot)assini(at)gmail(dot)com
|advisor=MatteoMatteucci
|photo=MarcoAssiniPhoto.jpg
}}

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level working on a thesis with prof. Matteo Matteuci as Advisor

Project: Planner for LURCH - The autonomous wheelchair (http://airwiki.elet.polimi.it/mediawiki/index.php/LURCH_-_The_autonomous_wheelchair)

User:MarcoAssini

2009-03-09T13:35:05Z

MarcoAssini:

{{Student
|firstname=Marco
|lastname=Assini
|Politecnico di Milano= matr.675583
|email=marco(dot)assini(at)gmail(dot)com
|advisor=MatteoMatteucci
}}

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level working on a thesis with prof. Matteo Matteuci as Advisor

Project: Planner for LURCH - The autonomous wheelchair (http://airwiki.elet.polimi.it/mediawiki/index.php/LURCH_-_The_autonomous_wheelchair)

User:MarcoAssini

2009-03-09T13:33:56Z

MarcoAssini:

{{Student
|firstname=Marco
|lastname=Assini
|Politecnico di Milano= matr.675583
|email=marco(dot)assini(at)gmail(dot)com
}}

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level working on a thesis with prof. Matteo Matteuci as Advisor

Project: Planner for LURCH - The autonomous wheelchair (http://airwiki.elet.polimi.it/mediawiki/index.php/LURCH_-_The_autonomous_wheelchair)

User:MarcoAssini

2009-03-09T13:33:34Z

MarcoAssini:

{{User
|firstname=Marco
|lastname=Assini
|Politecnico di Milano= matr.675583
|email=marco(dot)assini(at)gmail(dot)com
}}

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level working on a thesis with prof. Matteo Matteuci as Advisor

Project: Planner for LURCH - The autonomous wheelchair (http://airwiki.elet.polimi.it/mediawiki/index.php/LURCH_-_The_autonomous_wheelchair)

File:MarcoAssiniPhoto.jpg

2009-03-09T13:30:10Z

MarcoAssini: Marco Assini

Marco Assini

User:MarcoAssini

2009-03-09T08:52:54Z

MarcoAssini:

{{UserProf
|firstname=Marco
|lastname=Assini
|Politecnico di Milano= matr.675583
|email=marco(dot)assini(at)gmail(dot)com
}}

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level working on a thesis with prof. Matteo Matteuci as Advisor

Project: Planner for LURCH - The autonomous wheelchair (http://airwiki.elet.polimi.it/mediawiki/index.php/LURCH_-_The_autonomous_wheelchair)

User:MarcoAssini

2009-03-09T08:52:23Z

MarcoAssini:

{{UserProf
|firstname=Marco
|lastname=Assini
|Politecnico di Milano= matr.675583
|email=marco(dot)assini(at)gmail(dot)com
}}

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level working on a thesis with prof. Matteo Matteuci as Advisor

Project: Planner for http://airwiki.elet.polimi.it/mediawiki/index.php/LURCH_-_The_autonomous_wheelchair

User:MarcoAssini

2009-03-09T08:51:57Z

MarcoAssini:

{{UserProf
|firstname=Marco
|lastname=Assini
|Politecnico di Milano= matr.675583
|email=marco(dot)assini(at)gmail(dot)com
}}

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level working on a thesis with prof. Matteo Matteuci as Advisor
Project: http://airwiki.elet.polimi.it/mediawiki/index.php/LURCH_-_The_autonomous_wheelchair

User:MarcoAssini

2009-03-09T08:45:40Z

MarcoAssini:

User:MarcoAssini

2009-03-09T08:36:29Z

MarcoAssini: New page: Marco Assini was born in Brescia, Italy, in 21/04/1980. He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a de...

Marco Assini was born in Brescia, Italy, in 21/04/1980.
He received the Bachelor degree in Computer Science Engineering in 2005 from the Politecnico di Milano and he is now achieving a degree of second-level.