Tag Archives: disabled
#438553 New Drone Software Handles Motor ...
Good as some drones are becoming at obstacle avoidance, accidents do still happen. And as far as robots go, drones are very much on the fragile side of things. Any sort of significant contact between a drone and almost anything else usually results in a catastrophic, out-of-control spin followed by a death plunge to the ground. Bad times. Bad, expensive times.
A few years ago, we saw some interesting research into software that can keep the most common drone form factor, the quadrotor, aloft and controllable even after the failure of one motor. The big caveat to that software was that it relied on GPS for state estimation, meaning that without a GPS signal, the drone is unable to get the information it needs to keep itself under control. In a paper recently accepted to RA-L, researchers at the University of Zurich report that they have developed a vision-based system that brings state estimation completely on-board. The upshot: potentially any drone with some software and a camera can keep itself safe even under the most challenging conditions.
A few years ago, we wrote about first author Sihao Sun’s work on high speed controlled flight of a quadrotor with a non-functional motor. But that innovation relied on an external motion capture system. Since then, Sun has moved from Tu Delft to Davide Scaramuzza’s lab at UZH, and it looks like he’s been able to combine his work on controlled spinning flight with the Robotics and Perception Group’s expertise in vision. Now, a downward-facing camera is all it takes for a spinning drone to remain stable and controllable:
Remember, this software isn’t just about guarding against motor failure. Drone motors themselves don’t just up and fail all that often, either with respect to their software or hardware. But they do represent the most likely point of failure for any drone, usually because when you run into something, what ultimately causes your drone to crash is damage to a motor or a propeller that causes loss of control.
The reason that earlier solutions relied on GPS was because the spinning drone needs a method of state estimation—that is, in order to be closed-loop controllable, the drone needs to have a reasonable understanding of what its position is and how that position is changing over time. GPS is an easy way to take care of this, but GPS is also an external system that doesn’t work everywhere. Having a state estimation system that’s completely internal to the drone itself is much more fail safe, and Sun got his onboard system to work through visual feature tracking with a downward-facing camera, even as the drone is spinning at over 20 rad/s.
While the system works well enough with a regular downward-facing camera—something that many consumer drones are equipped with for stabilization purposes—replacing it with an event camera (you remember event cameras, right?) makes the performance even better, especially in low light.
For more details on this, including what you’re supposed to do with a rapidly spinning partially disabled quadrotor (as well as what it’ll take to make this a standard feature on consumer hardware), we spoke with Sihao Sun via email.
IEEE Spectrum: what usually happens when a drone spinning this fast lands? Is there any way to do it safely?
Sihao Sun: Our experience shows that we can safely land the drone while it is spinning. When the range sensor measurements are lower than a threshold (around 10 cm, indicating that the drone is close to the ground), we switch off the rotors. During the landing procedure, despite the fast spinning motion, the thrust direction oscillates around the gravity vector, thus the drone touches the ground with its legs without damaging other components.
Can your system handle more than one motor failure?
Yes, the system can also handle the failure of two opposing rotors. However, if two adjacent rotors or more than two rotors fail, our method cannot save the quadrotor. Some research has shown that it is possible to control a quadrotor with only one remaining rotor. But the drone requires a very special inertial property, which is hard to satisfy in real applications.
How different is your system's performance from a similar system that relies on GPS, in a favorable environment?
In a favorable environment, our system outperforms those relying on GPS signals because it obtains better position estimates. Since a damaged quadrotor spins fast, the accelerometer readings are largely affected by centrifugal forces. When the GPS signal is lost or degraded, a drone relying on GPS needs to integrate these biased accelerometer measurements for position estimation, leading to large position estimation errors. Feeding these erroneous estimates to the flight controller can easily crash the drone.
When you say that your solution requires “only onboard sensors and computation,” are those requirements specialized, or would they be generally compatible with the current generation of recreational and commercial quadrotors?
We use an NVIDIA Jetson TX2 to run our solution, which includes two parts: the control algorithm and the vision-based state estimation algorithm. The control algorithm is lightweight; thus, we believe that it is compatible with the current generation of quadrotors. On the other hand, the vision-based state estimation requires relatively more computational resources, which may not be affordable for cheap recreational platforms. But this is not an issue for commercial quadrotors because many of them have more powerful processors than a TX2.
What else can event cameras be used for, in recreational or commercial applications?
Many drone applications can benefit from event cameras, especially those in high-speed or low-light conditions, such as autonomous drone racing, cave exploration, drone delivery during night time, etc. Event cameras also consume very little power, which is a significant advantage for energy-critical missions, such as planetary aerial vehicles for Mars explorations. Regarding space applications, we are currently collaborating with JPL to explore the use of event cameras to address the key limitations of standard cameras for the next Mars helicopter.
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Posted in Human Robots
#437667 17 Teams to Take Part in DARPA’s ...
Among all of the other in-person events that have been totally wrecked by COVID-19 is the Cave Circuit of the DARPA Subterranean Challenge. DARPA has already hosted the in-person events for the Tunnel and Urban SubT circuits (see our previous coverage here), and the plan had always been for a trio of events representing three uniquely different underground environments in advance of the SubT Finals, which will somehow combine everything into one bonkers course.
While the SubT Urban Circuit event snuck in just under the lockdown wire in late February, DARPA made the difficult (but prudent) decision to cancel the in-person Cave Circuit event. What this means is that there will be no Systems Track Cave competition, which is a serious disappointment—we were very much looking forward to watching teams of robots navigating through an entirely unpredictable natural environment with a lot of verticality. Fortunately, DARPA is still running a Virtual Cave Circuit, and 17 teams will be taking part in this competition featuring a simulated cave environment that’s as dynamic and detailed as DARPA can make it.
From DARPA’s press releases:
DARPA’s Subterranean (SubT) Challenge will host its Cave Circuit Virtual Competition, which focuses on innovative solutions to map, navigate, and search complex, simulated cave environments November 17. Qualified teams have until Oct. 15 to develop and submit software-based solutions for the Cave Circuit via the SubT Virtual Portal, where their technologies will face unknown cave environments in the cloud-based SubT Simulator. Until then, teams can refine their roster of selected virtual robot models, choose sensor payloads, and continue to test autonomy approaches to maximize their score.
The Cave Circuit also introduces new simulation capabilities, including digital twins of Systems Competition robots to choose from, marsupial-style platforms combining air and ground robots, and breadcrumb nodes that can be dropped by robots to serve as communications relays. Each robot configuration has an associated cost, measured in SubT Credits – an in-simulation currency – based on performance characteristics such as speed, mobility, sensing, and battery life.
Each team’s simulated robots must navigate realistic caves, with features including natural terrain and dynamic rock falls, while they search for and locate various artifacts on the course within five meters of accuracy to score points during a 60-minute timed run. A correct report is worth one point. Each course contains 20 artifacts, which means each team has the potential for a maximum score of 20 points. Teams can leverage numerous practice worlds and even build their own worlds using the cave tiles found in the SubT Tech Repo to perfect their approach before they submit one official solution for scoring. The DARPA team will then evaluate the solution on a set of hidden competition scenarios.
Of the 17 qualified teams (you can see all of them here), there are a handful that we’ll quickly point out. Team BARCS, from Michigan Tech, was the winner of the SubT Virtual Urban Circuit, meaning that they may be the team to beat on Cave as well, although the course is likely to be unique enough that things will get interesting. Some Systems Track teams to watch include Coordinated Robotics, CTU-CRAS-NORLAB, MARBLE, NUS SEDS, and Robotika, and there are also a handful of brand new teams as well.
Now, just because there’s no dedicated Cave Circuit for the Systems Track teams, it doesn’t mean that there won’t be a Cave component (perhaps even a significant one) in the final event, which as far as we know is still scheduled to happen in fall of next year. We’ve heard that many of the Systems Track teams have been testing out their robots in caves anyway, and as the virtual event gets closer, we’ll be doing a sort of Virtual Systems Track series that highlights how different teams are doing mock Cave Circuits in caves they’ve found for themselves.
For more, we checked in with DARPA SubT program manager Dr. Timothy H. Chung.
IEEE Spectrum: Was it a difficult decision to cancel the Systems Track for Cave?
Tim Chung: The decision to go virtual only was heart wrenching, because I think DARPA’s role is to offer up opportunities that may be unimaginable for some of our competitors, like opening up a cave-type site for this competition. We crawled and climbed through a number of these sites, and I share the sense of disappointment that both our team and the competitors have that we won’t be able to share all the advances that have been made since the Urban Circuit. But what we’ve been able to do is pour a lot of our energy and the insights that we got from crawling around in those caves into what’s going to be a really great opportunity on the Virtual Competition side. And whether it’s a global pandemic, or just lack of access to physical sites like caves, virtual environments are an opportunity that we want to develop.
“The simulator offers us a chance to look at where things could be … it really allows for us to find where some of those limits are in the technology based only on our imagination.”
—Timothy H. Chung, DARPA
What kind of new features will be included in the Virtual Cave Circuit for this competition?
I’m really excited about these particular features because we’re seeing an opportunity for increased synergy between the physical and the virtual. The first I’d say is that we scanned some of the Systems Track robots using photogrammetry and combined that with some additional models that we got from the systems competitors themselves to turn their systems robots into virtual models. We often talk about the sim to real transfer and how successful we can get a simulation to transfer over to the physical world, but now we’ve taken something from the physical world and made it virtual. We’ve validated the controllers as well as the kinematics of the robots, we’ve iterated with the systems competitors themselves, and now we have these 13 robots (air and ground) in the SubT Tech Repo that now all virtual competitors can take advantage of.
We also have additional robot capability. Those comms bread crumbs are common among many of the competitors, so we’ve adopted that in the virtual world, and now you have comms relay nodes that are baked in to the SubT Simulator—you can have either six or twelve comms nodes that you can drop from a variety of our ground robot platforms. We have the marsupial deployment capability now, so now we have parent ground robots that can be mixed and matched with different child drones to become marsupial pairs.
And this is something I’ve been planning for for a while: we now have the ability to trigger things like rock falls. They still don’t quite look like Indiana Jones with the boulder coming down the corridor, but this comes really close. In addition to it just being an interesting and realistic consideration, we get to really dynamically test and stress the robots’ ability to navigate and recognize that something has changed in the environment and respond to it.
Image: DARPA
DARPA is still running a Virtual Cave Circuit, and 17 teams will be taking part in this competition featuring a simulated cave environment.
No simulation is perfect, so can you talk to us about what kinds of things aren’t being simulated right now? Where does the simulator not match up to reality?
I think that question is foundational to any conversation about simulation. I’ll give you a couple of examples:
We have the ability to represent wholesale damage to a robot, but it’s not at the actuator or component level. So there’s not a reliability model, although I think that would be really interesting to incorporate so that you could do assessments on things like mean time to failure. But if a robot falls off a ledge, it can be disabled by virtue of being too damaged to continue.
With communications, and this is one that’s near and dear not only to my heart but also to all of those that have lived through developing communication systems and robotic systems, we’ve gone through and conducted RF surveys of underground environments to get a better handle on what propagation effects are. There’s a lot of research that has gone into this, and trying to carry through some of that realism, we do have path loss models for RF communications baked into the SubT Simulator. For example, when you drop a bread crumb node, it’s using a path loss model so that it can represent the degradation of signal as you go farther into a cave. Now, we’re not modeling it at the Maxwell equations level, which I think would be awesome, but we’re not quite there yet.
We do have things like battery depletion, sensor degradation to the extent that simulators can degrade sensor inputs, and things like that. It’s just amazing how close we can get in some places, and how far away we still are in others, and I think showing where the limits are of how far you can get simulation is all part and parcel of why SubT Challenge wants to have both System and Virtual tracks. Simulation can be an accelerant, but it’s not going to be the panacea for development and innovation, and I think all the competitors are cognizant those limitations.
One of the most amazing things about the SubT Virtual Track is that all of the robots operate fully autonomously, without the human(s) in the loop that the System Track teams have when they compete. Why make the Virtual Track even more challenging in that way?
I think it’s one of the defining, delineating attributes of the Virtual Track. Our continued vision for the simulation side is that the simulator offers us a chance to look at where things could be, and allows for us to explore things like larger scales, or increased complexity, or types of environments that we can’t physically gain access to—it really allows for us to find where some of those limits are in the technology based only on our imagination, and this is one of the intrinsic values of simulation.
But I think finding a way to incorporate human input, or more generally human factors like teleoperation interfaces and the in-situ stress that you might not be able to recreate in the context of a virtual competition provided a good reason for us to delineate the two competitions, with the Virtual Competition really being about the role of fully autonomous or self-sufficient systems going off and doing their solution without human guidance, while also acknowledging that the real world has conditions that would not necessarily be represented by a fully simulated version. Having said that, I think cognitive engineering still has an incredibly important role to play in human robot interaction.
What do we have to look forward to during the Virtual Competition Showcase?
We have a number of additional features and capabilities that we’ve baked into the simulator that will allow for us to derive some additional insights into our competition runs. Those insights might involve things like the performance of one or more robots in a given scenario, or the impact of the environment on different types of robots, and what I can tease is that this will be an opportunity for us to showcase both the technology and also the excitement of the robots competing in the virtual environment. I’m trying not to give too many spoilers, but we’ll have an opportunity to really get into the details.
Check back as we get closer to the 17 November event for more on the DARPA SubT Challenge. Continue reading
Posted in Human Robots
#434303 Making Superhumans Through Radical ...
Imagine trying to read War and Peace one letter at a time. The thought alone feels excruciating. But in many ways, this painful idea holds parallels to how human-machine interfaces (HMI) force us to interact with and process data today.
Designed back in the 1970s at Xerox PARC and later refined during the 1980s by Apple, today’s HMI was originally conceived during fundamentally different times, and specifically, before people and machines were generating so much data. Fast forward to 2019, when humans are estimated to produce 44 zettabytes of data—equal to two stacks of books from here to Pluto—and we are still using the same HMI from the 1970s.
These dated interfaces are not equipped to handle today’s exponential rise in data, which has been ushered in by the rapid dematerialization of many physical products into computers and software.
Breakthroughs in perceptual and cognitive computing, especially machine learning algorithms, are enabling technology to process vast volumes of data, and in doing so, they are dramatically amplifying our brain’s abilities. Yet even with these powerful technologies that at times make us feel superhuman, the interfaces are still crippled with poor ergonomics.
Many interfaces are still designed around the concept that human interaction with technology is secondary, not instantaneous. This means that any time someone uses technology, they are inevitably multitasking, because they must simultaneously perform a task and operate the technology.
If our aim, however, is to create technology that truly extends and amplifies our mental abilities so that we can offload important tasks, the technology that helps us must not also overwhelm us in the process. We must reimagine interfaces to work in coherence with how our minds function in the world so that our brains and these tools can work together seamlessly.
Embodied Cognition
Most technology is designed to serve either the mind or the body. It is a problematic divide, because our brains use our entire body to process the world around us. Said differently, our minds and bodies do not operate distinctly. Our minds are embodied.
Studies using MRI scans have shown that when a person feels an emotion in their gut, blood actually moves to that area of the body. The body and the mind are linked in this way, sharing information back and forth continuously.
Current technology presents data to the brain differently from how the brain processes data. Our brains, for example, use sensory data to continually encode and decipher patterns within the neocortex. Our brains do not create a linguistic label for each item, which is how the majority of machine learning systems operate, nor do our brains have an image associated with each of these labels.
Our bodies move information through us instantaneously, in a sense “computing” at the speed of thought. What if our technology could do the same?
Using Cognitive Ergonomics to Design Better Interfaces
Well-designed physical tools, as philosopher Martin Heidegger once meditated on while using the metaphor of a hammer, seem to disappear into the “hand.” They are designed to amplify a human ability and not get in the way during the process.
The aim of physical ergonomics is to understand the mechanical movement of the human body and then adapt a physical system to amplify the human output in accordance. By understanding the movement of the body, physical ergonomics enables ergonomically sound physical affordances—or conditions—so that the mechanical movement of the body and the mechanical movement of the machine can work together harmoniously.
Cognitive ergonomics applied to HMI design uses this same idea of amplifying output, but rather than focusing on physical output, the focus is on mental output. By understanding the raw materials the brain uses to comprehend information and form an output, cognitive ergonomics allows technologists and designers to create technological affordances so that the brain can work seamlessly with interfaces and remove the interruption costs of our current devices. In doing so, the technology itself “disappears,” and a person’s interaction with technology becomes fluid and primary.
By leveraging cognitive ergonomics in HMI design, we can create a generation of interfaces that can process and present data the same way humans process real-world information, meaning through fully-sensory interfaces.
Several brain-machine interfaces are already on the path to achieving this. AlterEgo, a wearable device developed by MIT researchers, uses electrodes to detect and understand nonverbal prompts, which enables the device to read the user’s mind and act as an extension of the user’s cognition.
Another notable example is the BrainGate neural device, created by researchers at Stanford University. Just two months ago, a study was released showing that this brain implant system allowed paralyzed patients to navigate an Android tablet with their thoughts alone.
These are two extraordinary examples of what is possible for the future of HMI, but there is still a long way to go to bring cognitive ergonomics front and center in interface design.
Disruptive Innovation Happens When You Step Outside Your Existing Users
Most of today’s interfaces are designed by a narrow population, made up predominantly of white, non-disabled men who are prolific in the use of technology (you may recall The New York Times viral article from 2016, Artificial Intelligence’s White Guy Problem). If you ask this population if there is a problem with today’s HMIs, most will say no, and this is because the technology has been designed to serve them.
This lack of diversity means a limited perspective is being brought to interface design, which is problematic if we want HMI to evolve and work seamlessly with the brain. To use cognitive ergonomics in interface design, we must first gain a more holistic understanding of how people with different abilities understand the world and how they interact with technology.
Underserved groups, such as people with physical disabilities, operate on what Clayton Christensen coined in The Innovator’s Dilemma as the fringe segment of a market. Developing solutions that cater to fringe groups can in fact disrupt the larger market by opening a downward, much larger market.
Learning From Underserved Populations
When technology fails to serve a group of people, that group must adapt the technology to meet their needs.
The workarounds created are often ingenious, specifically because they have not been arrived at by preferences, but out of necessity that has forced disadvantaged users to approach the technology from a very different vantage point.
When a designer or technologist begins learning from this new viewpoint and understanding challenges through a different lens, they can bring new perspectives to design—perspectives that otherwise can go unseen.
Designers and technologists can also learn from people with physical disabilities who interact with the world by leveraging other senses that help them compensate for one they may lack. For example, some blind people use echolocation to detect objects in their environments.
The BrainPort device developed by Wicab is an incredible example of technology leveraging one human sense to serve or compliment another. The BrainPort device captures environmental information with a wearable video camera and converts this data into soft electrical stimulation sequences that are sent to a device on the user’s tongue—the most sensitive touch receptor in the body. The user learns how to interpret the patterns felt on their tongue, and in doing so, become able to “see” with their tongue.
Key to the future of HMI design is learning how different user groups navigate the world through senses beyond sight. To make cognitive ergonomics work, we must understand how to leverage the senses so we’re not always solely relying on our visual or verbal interactions.
Radical Inclusion for the Future of HMI
Bringing radical inclusion into HMI design is about gaining a broader lens on technology design at large, so that technology can serve everyone better.
Interestingly, cognitive ergonomics and radical inclusion go hand in hand. We can’t design our interfaces with cognitive ergonomics without bringing radical inclusion into the picture, and we also will not arrive at radical inclusion in technology so long as cognitive ergonomics are not considered.
This new mindset is the only way to usher in an era of technology design that amplifies the collective human ability to create a more inclusive future for all.
Image Credit: jamesteohart / Shutterstock.com Continue reading
Posted in Human Robots
#430874 12 Companies That Are Making the World a ...
The Singularity University Global Summit in San Francisco this week brought brilliant minds together from all over the world to share a passion for using science and technology to solve the world’s most pressing challenges.
Solving these challenges means ensuring basic needs are met for all people. It means improving quality of life and mitigating future risks both to people and the planet.
To recognize organizations doing outstanding work in these fields, SU holds the Global Grand Challenge Awards. Three participating organizations are selected in each of 12 different tracks and featured at the summit’s EXPO. The ones found to have the most potential to positively impact one billion people are selected as the track winners.
Here’s a list of the companies recognized this year, along with some details about the great work they’re doing.
Global Grand Challenge Awards winners at Singularity University’s Global Summit in San Francisco.
Disaster Resilience
LuminAID makes portable lanterns that can provide 24 hours of light on 10 hours of solar charging. The lanterns came from a project to assist post-earthquake relief efforts in Haiti, when the product’s creators considered the dangerous conditions at night in the tent cities and realized light was a critical need. The lights have been used in more than 100 countries and after disasters, including Hurricane Sandy, Typhoon Haiyan, and the earthquakes in Nepal.
Environment
BreezoMeter uses big data and machine learning to deliver accurate air quality information in real time. Users can see pollution details as localized as a single city block, and data is impacted by real-time traffic. Forecasting is also available, with air pollution information available up to four days ahead of time, or several years in the past.
Food
Aspire Food Group believes insects are the protein of the future, and that technology has the power to bring the tradition of eating insects that exists in many countries and cultures to the rest of the world. The company uses technologies like robotics and automated data collection to farm insects that have the protein quality of meat and the environmental footprint of plants.
Energy
Rafiki Power acts as a rural utility company, building decentralized energy solutions in regions that lack basic services like running water and electricity. The company’s renewable hybrid systems are packed and standardized in recycled 20-foot shipping containers, and they’re currently powering over 700 household and business clients in rural Tanzania.
Governance
MakeSense is an international community that brings together people in 128 cities across the world to help social entrepreneurs solve challenges in areas like education, health, food, and environment. Social entrepreneurs post their projects and submit challenges to the community, then participants organize workshops to mobilize and generate innovative solutions to help the projects grow.
Health
Unima developed a fast and low-cost diagnostic and disease surveillance tool for infectious diseases. The tool allows health professionals to diagnose diseases at the point of care, in less than 15 minutes, without the use of any lab equipment. A drop of the patient’s blood is put on a diagnostic paper, where the antibody generates a visual reaction when in contact with the biomarkers in the sample. The result is evaluated by taking a photo with an app in a smartphone, which uses image processing, artificial intelligence and machine learning.
Prosperity
Egalite helps people with disabilities enter the labor market, and helps companies develop best practices for inclusion of the disabled. Egalite’s founders are passionate about the potential of people with disabilities and the return companies get when they invest in that potential.
Learning
Iris.AI is an artificial intelligence system that reads scientific paper abstracts and extracts key concepts for users, presenting concepts visually and allowing users to navigate a topic across disciplines. Since its launch, Iris.AI has read 30 million research paper abstracts and more than 2,000 TED talks. The AI uses a neural net and deep learning technology to continuously improve its output.
Security
Hala Systems, Inc. is a social enterprise focused on developing technology-driven solutions to the world’s toughest humanitarian challenges. Hala is currently focused on civilian protection, accountability, and the prevention of violent extremism before, during, and after conflict. Ultimately, Hala aims to transform the nature of civilian defense during warfare, as well as to reduce casualties and trauma during post-conflict recovery, natural disasters, and other major crises.
Shelter
Billion Bricks designs and provides shelter and infrastructure solutions for the homeless. The company’s housing solutions are scalable, sustainable, and able to create opportunities for communities to emerge from poverty. Their approach empowers communities to replicate the solutions on their own, reducing dependency on support and creating ownership and pride.
Space
Tellus Labs uses satellite data to tackle challenges like food security, water scarcity, and sustainable urban and industrial systems, and drive meaningful change. The company built a planetary-scale model of all 170 million acres of US corn and soy crops to more accurately forecast yields and help stabilize the market fluctuations that accompany the USDA’s monthly forecasts.
Water
Loowatt designed a toilet that uses a patented sealing technology to contain human waste within biodegradable film. The toilet is designed for linking to anaerobic digestion technology to provide a source of biogas for cooking, electricity, and other applications, creating the opportunity to offset capital costs with energy production.
Image Credit: LuminAID via YouTube Continue reading
Posted in Human Robots
#430172 Affordable Italian robot maid
Trust the Italians to design a robot maid with flair! R1 aims to be a service humanoid to help the disabled, frail and elderly around the house – kinda like Rosie from the Jetsons…
Posted in Human Robots