NS-2: Autonomous Networked Personal Service Robot

In fulfillment of Concordia University COEN/ELEC 490 Capstone Projects course. NS-2 is designed to autonomously assist the sick and the elderly in hospitals and nursing homes. NS-2 can transports items to multiple locations at specific times, ensuring that patients receive their food and medication. NS-2 is a multi-purpose platform, allowing it to also be operated in home and office environments.
NS-2 features a telepresence ability, which reduces travelling time and expenses. Users can access the robot from a distant location and have a video chat with their relatives, customers, or coworkers, while remotely navigating NS-2 in the remote environment.

Autonomous Mode:
- Simultaneous Localization and Mapping (SLAM) using Dead Reckoning
- User defined Point to Point Navigation with User Service
- Interactive Occupancy Grid Map
- 2D Depth Image (using an XBox 360 Kinect) to 3D World Coordinate to 2D overhead Map
- Time-based Task Scheduler
- Kinect Depth Feed (160x120 at 30 FPS)
- Runtime Sensor and Encoder Calibration
- Transportation of items up to 15 kg

Telepresence Mode:
- P2P Audio-Visual Conferencing
- Video Feed (160x120 at 15 FPS)
- Toggle Audio Chat
- Remote control of robot
- Speech capabilities with over 50 phrases
- Robot speed control
- Robot Localization

NS-2 Components:
- 10.1" Acer Aspire One Netbook
- XBox 360 Kinect
- Arduino ATMega 1280
- Pololu DC Motor (x4)
- Logitech C210 Webcam
- HM55B Magnetic Compass
- Pololu Dual Motor Driver (x2)
- Vex Omni Wheel (x4)
- 14.8V Li-Po Battery

Created By:
Andrew Wolczak
Giuseppe Pirrera
Allan Tran

Category:

Science & Technology

Tags:

• NS-2
• Autonomous
• Networked
• Personal
• Service
• Robot
• SLAM
• Occupancy
• Grid
• Mapping
• Telepresence
• XBox
• Kinect
• Concordia
• Capstone
• COEN
• ELEC
• 490

[SteveW1008]

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