RADIO--Robots in Assisted Living (eBook)

Dr. Vangelis Karkaletsis is Research Director and Head of the Software and Knowledge Engineering Lab (SKEL), Institute of Informatics and Telecommunications, NCSR “Demokritos”. His research interests are in the areas of big data management, content analysis, natural language interfaces, ontology engineering, and personalization. He has organized international summer schools, workshops and conferences. He is currently Director of the MSc program on Data Science, and responsible for the Institute educational activities.  He is co-founder of the spin-off company ‘i-sieve Technologies’ that exploited SKEL research work on on-line content analysis. He is currently involved in the founding of the new spin-off company NewSum that exploits SKEL technology on multilingual and multi-document summarization. Dr Karkaletsis coordinated the Radio project.Dr. Stasinos Konstantopoulos holds an MEng in Computer Engineering (Univ. Patras, Greece, 1997), an MSc in Artificial Intelligence (Edinburgh Univ., U.K., 1998), and a PhD on machine learning and computational logic (Groningen Univ., the Netherlands, 2003). He leads Roboskel, the robotics activity of the Institute of Informatics and Telecommunications, NCSR “Demokritos”. His main research interests are artificial intelligence and computational logic, and their applications to semantic modelling, data management, and robot perception. He has published several papers in these fields and is or has been on the program and organizing committees of various international conferences, including chairing the Programme Committee of the 6th Hellenic AI Conference (SETN 2010), Athens, 2010. Dr Konstantopoulos was the scientific manager of the Radio project.Dr. Nikolaos S. Voros received his Diploma in Computer and Informatics Engineering, in 1996, and his PhD degree, in 2001, from University of Patras, Greece. His research interests fall in the area of embedded system design, and include specification techniques for complex embedded telecommunication systems, hardware-software co-design, formal refinement techniques, and reuse practices. Currently, Dr Voros is Assistant Professor at Technological Institute of Western Greece, department of Computer and Informatics Engineering where he is leading the Embedded Systems Lab. He was the General Chair of the IEEE Computer Society Annual Symposium on VLSI, which took place in Kefalonia, Greece on July 2010, Program Co-Chair for 24th International Conference on Field Programmable Logic and Applications (FPL 2014), which will take place at Technical University of Munich on September 2nd – 4th, 2014 and General Chair of the 14th International Symposium on Applied Reconfigurable Computing (ARC 2018) held on May 2nd – 4th, Santorini, Greece, 2018.  He has served as Associate Editor at IEEE Consumer Electronic Magazine, IEEE Transactions on Nanotechnology, ACM Transactions, Transactions on Reconfigurable Technology and Systems.Roberta Annicchiarico is a geriatrician. Degree in Medicine (1994) and specialisation in Geriatrics (1998) at “La Sapienza” University of Rome; PhD in “Neurosciences, rehabilitation and behavioural sciences” (2003) at “La Sapienza” University of Rome. Since 2002, she is Medical Assistant at Fondazione Santa Lucia, Rome. She is contracted professor of Internal Medicine with focus on Geriatrics at the School of Physiotherapy since 2004 and at the School of Nursing since 2005 (University of Tor Vergata, Rome). She is teacher at the postgraduate courses on “Alzheimer’s disease and Dementias”, held by Fondazione Santa Lucia since 2001, and was teacher at the “European Master Degree in Preventive and Adapted Physical Activity” (2003). She has been involved in several European Projects. Her main research interests are the disability correlates of chronic diseases, and possible clinical applications of new technologies. Dr Annicchiarico was the clinical manager of the RADIO Project.Dr. Maria Dagioglou studied Electrical and Computer Engineering (Democritus University of Thrace, Xanthi, Greece, 2007). She also holds a MSc in Biomedical Engineering (TU Delft, the Netherlands, 2010). During her M.Sc. thesis, she collaborated with the Department of Neuroscience of Erasmus Medical Centre. She was then employed as a Marie Curie Fellow (2010-2013, ITN “C7: Cerebellar-Cortical Control: Cells, Circuits, Computation, and Clinic”), in the Predictive Sensory Motor (PRISM) Lab of the School of Psychology in the University of Birmingham, UK., where she studied on human motor control and learning. She received her PhD in Psychology in July 2014. Since April 2014, she is a research associate at NCSR-D working on autonomous robotic navigation and human robot interaction. Dr Dagioglou was the biomedical engineer of the Radio project, coordinating work between the clinical partners and the technical partners.Dr. Christos P. Antonopoulos received his Diploma and PhD at Electrical Engineering and Computer Technology from the Department of Electrical Engineering and Computer Technology, University of Patras Greece in 2002 and 2008 respectively. From 2002, he has been involved in more than 10 European projects (FP5,6,7 and Horizon 2020) and more than 5 Greek National research projects holding key positions both technical as well as managerial. He has published high number (>65) of research papers and 13 book chapters in international journals and conferences which have received over 450 citations while he has served as editor to two Springer books. From 2002 he has worked as adjunct assistant professor at the Technological Institute of Patras, while from 2010 he is working as adjunct assistant professor at the Computer and Informatics Engineering Department, Technological Educational Institute of Western Greece (Antirio). His main research interests lay in the areas of CyberPhysical Systems, Internet of Things, Ambient Assisted Living Platforms. More specifically his technical expertise lay in the fields of Wireless Networks, Network Communication Protocols, Network Simulation, Performance Evaluation, Embedded Software, Sensor Networks, Wireless Broadband Access Networks, Embedded System Architecture and Programming. In Radio, Dr Antonopoulos led the work package that developed the ADL recognition methods.

Preface 5
Acknowledgements 7
Contents 8
About the Editors 10
1 Introduction to the RADIO Project 13
1.1 Introduction 13
1.2 Project Objectives 14
1.3 Overview of RADIO Outcomes 14
1.4 Conclusion 16
References 16
Early Detection of Emerging Functional Impairments 17
2 A System of Recognition Services for Clinical Assessment 18
2.1 Introduction 18
2.2 Audio-Based Event Recognition 20
2.2.1 Feature Extraction 20
2.2.2 Audio Feature Aggregation 21
2.2.3 Audio Recognition 22
2.3 Recognizing Events in Visual Content 23
2.3.1 Preprocessing 23
2.3.2 Motion Detection 24
2.3.3 Silhouette Tracking 24
2.3.4 Behaviour and Activity Detection 25
2.3.5 Fused Audiovisual Analysis 25
2.4 ADL Recognition Architecture 26
2.5 Conclusion 28
References 28
3 Obtrusiveness Considerations of AAL Environments 30
3.1 Introduction 30
3.2 Physical Dimension 31
3.3 Usability Dimension 32
3.4 Privacy Dimension 34
3.5 Function Dimension 35
3.6 Human Interaction Dimension 35
3.7 Self-concept Dimension 37
3.8 Routine Dimension 38
3.9 Sustainability Dimension 38
3.10 Obtrusiveness and RADIO Home Visitors 39
3.11 Conclusions 40
References 40
4 Realistic and Unobtrusive Solutions for Independent Ageing 44
4.1 Introduction 44
4.2 Realistic Monitoring Solutions and Obtrusiveness Considerations 46
4.3 Application of the Balancing Guidelines Methodology 49
4.4 Further Considerations for Balancing Between Obtrusiveness and User Requirements 52
4.5 Tackling Overall Obtrusiveness 53
4.6 Conclusions 54
References 55
The RADIO System 56
5 Integrating Robots and WSN: Communication and Interfacing Aspects 57
5.1 Conceptual RADIO Communication Architecture 57
5.1.1 End-to-End Conceptual Communication Architecture 57
5.1.2 Requirements at WSN Level 59
5.1.2.1 Communication Technology Support 60
5.1.2.2 Low Power Consumption 60
5.1.2.3 Data Throughput Capabilities 60
5.1.2.4 Delay—Jitter Requirements 60
5.1.2.5 Easy and Rapid Connection Support 61
5.1.2.6 Security Support 61
5.1.3 Requirements at Backend Level 61
5.2 Integrated Wireless Communication Technologies and Bridging Considerations 63
5.2.1 Introduction to Z-Wave and Interfaces 63
5.2.2 Introduction to BLE and Interfaces 65
5.2.3 Introduction to ZigBEE and Interfaces 66
5.2.4 Bridging WSN and WiFi Interfaces in RADIO 67
5.3 RADIO Gateway Component 69
5.3.1 Main Controller 69
5.3.2 Z-Wave GW 70
5.3.3 BLE GW 71
5.4 Novel Services Based on BLE Capabilities 75
5.4.1 Introduction to BLE Multiloop Communication Capabilities 75
5.4.2 Indoor Localization Based on BLE Beacons 78
5.5 Backend Infrastructures 86
5.5.1 EnConrtol 86
5.5.2 ATLAS Presentation 89
5.6 Summary 91
References 91
6 ROS as Integration Medium for Service Robotics 93
6.1 The Robot Operating System 93
6.1.1 Advantages 93
6.1.2 Disadvantages 94
6.1.3 Typical Usage 95
6.2 The RADIO ROS System 95
6.2.1 Communication Via ROS Topics 96
6.2.2 Networking 96
6.2.3 Localization 96
6.2.4 Navigation 97
6.2.5 Node Handling 97
6.2.6 Bridging Various Devices and Protocols 97
6.2.7 First RADIO Architecture Summary 98
6.3 Final Implementation 98
6.3.1 Communication Via ROS Services 98
6.3.2 Rostune 99
6.3.3 ROS Multimaster 99
6.3.4 Navigation 99
6.3.5 System Startup 100
6.4 Conclusion 100
7 Accelerating AAL Home Services Using Embedded Hardware Components 101
7.1 Introduction 101
7.2 Data Collection and Processing 102
7.3 The AAL Robot as a Heterogeneous Processing System 103
7.4 Fast and Energy-Efficient Data Processing 104
7.4.1 Concept Within the Distributed RADIO Environment 106
7.4.2 Modeling the Operational States of the AAL Robot 107
7.4.3 The Role of a Dedicated HW Component 109
7.5 Experimental Profiling and Results 109
7.5.1 Example ADL Use Cases 109
7.5.2 Optimizing for Power 110
7.5.3 Profiling on Daily Activity Use Cases 111
7.5.4 Power-Saving Results 112
7.6 Accelerating Image Processing Algorithms 112
7.6.1 Profiling Results 115
7.6.2 Hardware Accelerator Design 115
7.6.3 Evaluation 119
7.7 Summary 120
References 121
8 Designing User Interfaces for the Elderly 123
8.1 Introduction: GUI Design Requirements for the Elderly 123
8.2 GUI Design Good Practices 125
8.3 enControl GUI Design 128
8.3.1 Login to the Service 128
8.3.2 User Settings 128
8.4 Dashboard 130
8.4.1 Notifications 132
8.4.2 Control Function 132
8.4.3 Devices Global View 133
8.4.4 Rules 134
8.4.5 Scenes 136
8.5 RADIO End-User GUI Evaluation 138
8.5.1 RADIO End-User GUI 138
8.5.2 RADIO End-User GUI Evaluation 139
8.5.2.1 Expert Evaluation 139
8.5.2.2 Eye-Tracking User Testing 141
8.6 Conclusion 155
References 156
9 The Ecosystem of Connected RADIO Systems 159
9.1 Introduction 159
9.1.1 Requirements 160
9.1.1.1 Privacy Requirements 160
9.2 The Architecture of the RADIO Ecosystem 161
9.2.1 Entities and Components 161
9.2.2 Topology 162
9.2.3 Security in Communication 163
9.2.4 Changes in the Topology 164
9.3 Remote Medical Assessment 166
9.4 Privacy-Preserving Statistical Analysis 167
9.4.1 The Compilation Layer 168
9.4.2 The Aggregation Protocol 169
9.4.3 Discussion 169
9.4.4 The RASSP Protocol 170
9.5 Conclusions 172
References 173
The Road to Commercialization 174
10 Roadmap to Expanding Alternatives to Hospitalization 175
10.1 Aging Society 175
10.2 Elderly Services 176
10.3 Long-Term Care Services for Elderly in Europe 176
10.4 New Frontiers in LTC for Elderly: ICT Services 179
10.5 Vision and Objectives 180
10.6 Prevention and Wellness Services 181
10.7 Home Care Solutions 181
10.8 Residential Care Solutions 182
10.9 Rehabilitative Solutions 182
10.10 Conclusions 183
References 183
11 Robots in Home Automation and Assistive Environments 185
11.1 Introduction 185
11.2 Overview of the Current Situation 186
11.2.1 Drivers for Robots’ Integration in Home Automation and Assistive Environments 186
11.2.2 Technological Challenges for the Integration of Robots in Home Automation and Assistive Environments 189
11.2.3 Initial Roadmap for the Integration of Robots in Home Automation and Assistive Environments 191
11.3 Market Opportunities Arisen from RADIO Robot 193
11.4 Conclusion 195
References 195
Index 197