Adaptive Robot Nursing Assistant (ARNA)

Contributions

Software Architecture

Lead a team of 8 graduate and undergraduate students for this effort.
Robot Operating System (ROS) based Framework.
On-board computing systems:
- VersaLogic Blackbird (Real-Time Processing)
- Nvidia Jetson TX2 (Peripheral Processing)
- Teensy Microcontrollers
Remote computing systems:
- Desktop PC (Base Station)
- Google Pixel C (Tablet Based Applications)
Sensors Used:
- Hokuyo Lidar
- Asus Xtion Pro
- ATI Force Torque Sensor
- Ultrasonic Sensors
- Bump Sensors
- IR Sensors
Proposed Directive Observer and Lead Assistant (DOLA) Framework.

Directive Observer and Lead Assistant (DOLA) Framework

Real-Time Network Setup (EtherCAT)

Developed EtherCAT network for the ARNA robot to support real-time processing and data transfer.
Hardware used:
- EasyCAT Pro
- Teensy Microcontrollers
Used Distributed Clocks Sync (DC Sync) to synchronize slaves for real-time process.
Ubuntu RT Patch was applied to make the system real-time.
Achieved 1KHz data rate with 4 EtherCAT Slaves.

Autonomous Navigation

ROS Navigation stack was implemented for autonomous navigation.
Sensors used:
ROS AMCL used for localization.
ROS Gmapping used for mapping.

Map of a room created with Gmapping

Manufacturing and Rapid Prototyping

Software Tools
- SolidWorks
Prototyping Tools:
- Formlabs Resin 3D printer
- MakerBot
- Laser Cutter
- Waterjet Cutting (Metal Cutting)

Intermediate design of robot in Solidworks

Research Study and Analysis

Conducted research with nursing students.
Collected questionnaire based data.
Tested the viability of the developed robot in a hospital environment using Technology Acceptance Model (TAM).

Technology Acceptance Model (TAM)

Google Sites

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