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The INRIA Robotics Teams Propose a
Large-Scale Initiative Action
“Personally Assisted Living”
March 18, 2009
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LSIA Personally Assisted Living “The aim of the Large-scale Initiative Actions Program is to achieve a specific level of scale for a research subject identified by the Institute with a direct link to its strategic plan and the defined milestones.”
• Assistance and Service Robotics in a Human Environment
• Independence for the Elderly and Disabled
INRIA Strategic Plan Key Challenges
Environment
Public Places Private Places
People
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Our Motivations
Other international initiatives
Co-Mobility, Japan, (Prof Kawashima, Keio Univ.) Development of communication and mobility aids for the elderly, specifically in rural areas.Quality of Life Technology (QoLT), USA, (Takeo Kanade, Carnegie Mellon and the Univ. of Pittsburgh) “Enable people who are aging and persons with disabilities to independently participate in the community”
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Actors: 12 INRIA TeamsInvolvement Level
Full participation (will drive the LSIA): 7 teams Task participation: 3 teamsLight participation (information + share expertise):
Cortex + Demar
PulsarPulsar
Prima Prima
FlowerFlower
ImaraImara
MaiaMaia
BipopBipop
MobilityMobility
PerceptionPerception
UnderstandingUnderstanding
InterfaceInterface
InteractionInteraction
ManipulationManipulation
E-motionE-motion
LagadicLagadic
ArobasArobas
CoprinCoprin
ModelingModeling
LocalizationLocalization
NavigationNavigation
CommunicationCommunication
Uncertainties Uncertainties
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Actors: External Participants
Field Experts: Key actors
2. Service Prescribers1. User Associations
Drive/Validate proposed actions• Architect
• Sociologist• Urban planner
• Doctor• Gerontologist• Physiotherapist …
External Research PartnersNational or International Teams
Provide Expertisein complementary area
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Call for Scenarios
1. Implication of Field Experts2. Cooperation between Teams3. Scientific impacts4. Strategy of Integration
Propositions should underline…Scenarios are open …
1. Within the area of the 2 Inria Milestones
2. To external team collaboration3. To incomplete partnership
- call for new participant - new research challenge
Validation through the run of full-scale # scenarios
Limits on the LSIA scientific areasSignificant and Relevant ApplicationsEnrollment of Complementary Teams Emergence of New Challenges
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Simple Scenario Example “An elderly falls at home. His health condition is
checked and possibly his mobility is restored”
Lift Assistance: Coprin, Lagadic
“His health condition
is checked”
“An elderly falls at home”
“possiblyhis mobility Is restored”
Splitting in Service Objects
Localization, map builder, 1+ mobile robot : Arobas, Maia
Check emotions : FlowersPreliminary diagnostic : Gerontologist, E-motion
health diagnostic
with appropriate
sensors
Lagadic, E-motion, Bipop
Outdoor scenario (Arobas, Imara, Lagadic, Maia …)
the diagnostic detect a problemDrive the elderly to hospital
Intelligent Building
Elderly monitoring Prima, Pulsar, Maia
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Summary
covers the scientific part of selected scenarios
Internship, Doc, Post-Doc
LSIA Large Scale Initiative Action
ADT Technological Development actionswill cover the implementation of the LSIA results
Local and National Platforms
Key Issues- Close collaboration between Robotics Teams and Field expert- Appropriated and efficient integration of solutions
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Teams expertise
1. Arobas: Advanced perception systems, localization and map building, sensor-based control, autonomous navigation, mobile manipulator coordination, control of critical systems
2. Bipop: Mobility, Interface, Core technologies3. Coprin: Appropriate Design, Interface Devices, Robotics Assistance,
Manipulation 4. E-motion: Open & dynamic environments, Reasoning under
uncertainty, Robust perception & navigation, Modeling & Learning Behaviors
5. Flower: Interface, Interaction, understanding6. Imara: Signal processing, Control of the vehicle, Communications,
Modeling, Control and optimisation of transport systems7. Lagadic: Computer vision, visual servoing8. Maia: Swarm robotics, Elderly monitoring (environmental, biological
sensors), Cognitive robotics9. Prima: Distributed Perception of Human Activity, Active
Environments, Interactive Environments, Situation Understanding10. Pulsar: Perception, activity recognition, Elderly monitoring