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D1.2 Technological Component Specifications

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1. E SEVENTH FRAMEWORK PROGRAMME Project Acronym GiraffPlus Project Title Combining social interaction and long term monitoring for promoting independent living Grant agreement no 288173 Starting date 1st January 2012 Ending date 31st December 2014 9 GIRAF Fus D1 2 Technological Component Specifications WP related to the Deliverable WP1 Nature R Dissemination Level P Version Final Author s Maria Lind n MDH Javier Gonzalez UMA Francisco Melendez UMA Andrea Orlandini CNR ISTC Francesco Furfari CNR ISTI Michele Girolami CNR ISTI Filippo Palumbo CNR ISTI Stephen von Rump Giraff AB Soraia Rocha Intellicare John Barry Tunstall Lars Karlsson ORU Reviewer Fransesco Furfari CNT ISTI Silvia Coradeschi ORU Project Participant s Contributing MdH UMA ORU CNR ISTC CNR ISTI GRF Intellicare TUN Contractual Date of Delivery 1 04 2012 Actual Date of Delivery 24 05 2012 GiraffPlus D1 2 Technological Component Specifications Document History Version Date Type of editing Editorial V2 03 04 revision V3 26 04 revision V4 08 05 revision V5 18 05 revision V6 27 05 final Deliverable Summary This deliverable reports the work performed in Task 1 3 Technical Component Assessment and Selection Within this task an assessment of suitable technological components to be integrated with the GiraffPlus project has
2. early stage of the project we have focused on sensor solutions that already have reached the market Complementary alternative sensors can be considered in the project due to specific needs from the users or lack of user acceptance of the initial provided sensors It has for example been shown that people with chronic heart failure found it difficult and painful to use an upper arm cuff blood pressure monitor 1 whereas a wrist mounted system showed a higher user acceptance 2 Below is a first description over possible complementary alternative sensors systems and solutions that could be useful to the project The sensors should be wearable comfortable and also provide the data to the GiraffPlus system in an automatic way to avoid human input errors Wireless technologies are used when appropriate Pulse and oxygen saturation Pulse and oxygen saturation can be measured by a pulse oximeter There are several mobile systems available on the market but if the intention is to manage monitoring of mobile users in their home the flexibility and comfortability is important Such a system is available from Nonin 3 Heart monitoring In certain situations there could be a need to record ECG data One solution is the use of the Zenicor system allowing dry electrode recordings by using contact with the thumbs 4 Using this sensor arrhythmia investigations and screening for atrial fibrillation among risk groups can be performed When used in r
3. or equivalent L2 cache 4 MB Memory 4 GB Storage 64 GB Conclusions Work packages WP2 WP4 and WP5 are closely related to the Giraff Robot Platform and therefore the specification of the sensorial system and the computational requirements described above are important inputs for them Concretely the work packages that will be influenced by the considered specifications are WP2 Task 2 6 Increase the Giraff robot mobility WPS Task 5 6 Integrate the Giraff robot platform with the GiraffPlus system Version 0 6 Final 27 05 2012 Page 35 of 46 GiraffPlus D1 2 Technological Component Specifications WP5 Task 5 7 Integrate the data related to the Giraff robot provided by the GiraffPlus system with a working prototype WP4 Tasks 4 1 and 4 3 Design of the Interaction and Visualization Service that will be in charge of designing and implementing the user interface with the Giraff robot platform 3 3 Increasing interaction capabilities An aspect that can be of interest in the project is enhancing the interaction capabilities of the Giraff robot to allow an increased engagement for remote operators i e secondary users during the interactions through the robot The use of computers and mouse devices for controlling the robot may result as a sort of barrier in having a thorough immersion in the remote environment Therefore the use of alternative tangible interfaces to control the robotic platform has been investigated A
4. Another is the Zeo sleep manager a system composed of a wireless headband a bedside display a set of online analytical tool cost 149 USD 11 Activity monitoring There are several commercial available systems for activity monitoring A system called IDEEA has been used to analyse movements of various body parts 12 The physical activity together with the energy consumption during daily activities is measured The Fitbit system 13 measures physical activity calculates the energy consumption and presents the sleeping pattern The product GeneActiv is worn as a bracelet and measures daily physical activity body position and sleeping pattern 14 The ActivePal from PAL technologies provides a similar system with an inclinometer and tri axis accelerometers It is attached to the user s leg and calculates step energy consumption and how long time the user has been moving 15 The product Trigno Mobile combines EMG measurements with acceleration in a wireless sensor 16 Balance and movement assessment Inertia sensors available as research prototypes within the GiraffPlus project have been assessed in a pilot investigation for rehabilitation of patients with Whiplash associated disorders 17 This sensor system could be modified to be used in the assessment of balance There are also available products initially developed for the gaming market as Nintendo Wii with a Balance Board which can be used for balance assessment and home rehabilit
5. Bluetooth protocol The kit can also use Wi Fi However Wi Fi is not a power saving technology and the tendency is to consider low power Wi Fi equipment or even Zig bee Technologies like Zig bee are very interesting because of their characteristics low power mash etc However there are still some certification issues ongoing To summarize the following remote communication is used in the kit default communications in bold e Remote communications used in the Gateway GPRS 3G Ethernet e Wireless Technologies that the Gateway supports Wi Fi Bluetooth e It is possible to use USB to access the Gateway configurations Intellicare aims to be compliant with HL7 standard in the software communications and Continua Alliance The Continua Alliance strives to allow several sensor manufacturers integrate the same communication protocol for several sensor manufacturers and service providers Figure 6 offer an overview of the proposed data transmission solution for GiraffPlus Sends Gateway Bluetooth Sensor e wi fi Sensor Bluetooth zig bee Sensor Continua Alliance Ethemet 5 Sensors ahead Receives Receives Figure 3 Overview of data transmission The sensors proposed are compliant with Continua Alliance and can be from different manufacturers They can also use different wireless technologies as ZigBee Wi Fi and Bluetooth The data sent by those sensors are acknowledged by the gateway that also supports Wi
6. Fi WLAN 802 11b g n Intel Centrino Advanced N 6205 Wi Fi module installed e 1RJ 45 Ethernet Port e 3 USB 2 0 ports e Microphone Headphone Line Out 2x MicroHDMI MicroSD slot e WPAN 802 15 4 TI CC2531 SOC ready for ZigBee certification or for 6LoPAN or Wireless HART WPAN use e 3G 4G WWAN Ericsson 5521gw 3G module e Ultra low power high performance three axis linear accelerometer e OS Wind River Linux 4 1 Indicative costs 500 800 depending on the configuration The following figures describe a possible configuration of the sensors network which is composed of a certain number of hardware gateways each providing access to different sensor technologies Software modules of the GiraffPlus system communicate with such gateways to access sensor data by means of software middleware which enables protocol interoperability Version 0 6 Final 27 05 2012 Page 28 of 46 GiraffPlus D1 2 Technological Component Specifications IP Client Giraff module Wireless Wired Local Area Network ZigBee Intellicare Tunstall Gateway Gateway Gateway Figure 5 Integrating different sensor networks The following figure describes the stack of layers used to integrate ZigBee technology and for each one report the main functional purpose Java is used to guarantee portability with different Operating System OSGi enables the remote management of the gateway and therefore it might be useful to provide remot
7. Frequency signalling or Touch tones for several decades With more and more IP being used in telephone networks both as a customer service and as a back haul technology Tunstall has invented a modification of DTMF that allows for the coding and decoding of analogue signals over digital networks In addition Tunstall has a native IP solution that uses IP for the signalling between the carephone and the monitoring system and then opens an analogue voice channel for voice communications between the carephone and the monitoring center This requires that the house has either a digital subscriber line with an Analogue Terminal Adaptor voice gateway or a digital subscriber line with an analogue voice connection In the following the sensors used in the ADLife system are described Version 0 6 Final 27 05 2012 Page 9 of 46 GiraffPlus D1 2 Technological Component Specifications ADLIFE SENSORS e FAST Passive InfraRed motion detector Generally in social alarms the PIRs are specified to be slow triggers resetting only after 3 minutes to preserve battery power the fast PIR resets more regularly to be able to give a time sensitive view of the local activity The typical deployment of ADLife will have 3 FAST PIRs located to monitor the bedroom bathroom and one additional location typically the entry way or kitchen These are the key locations to monitor time in bed trips to the bathroom length of time in bathroom trips to kitchen time in kitc
8. Technological Component Specifications 1 3 The requirements in tables 6 and 7 are more of general character and will also be considered in Deliverable 1 3 Two of the industrial partners in the GiraffPlus project i e Intellicare and Tunstall will provide their sensors to the project These sensors and systems are described in detail in the sections below Sec 2 1 Environmental Sensors from Tunstall and Sec 2 2 Physiological Sensors from Intellicare The measured parameters include physiological sensors for measurements of heart rate blood pressure temperature oxygen saturation and glucose level and environmental sensors monitoring activity pattern and alerts in case of deviations from normal as well as social alarm with a radio trigger button and Electrical Usage Sensor warning if an electrical device as a toaster is forgotten passive infrared sensors for monitoring of movement bed and chair sensors for monitoring location and activity and door opening and closing sensors Further a fall detection sensor detection of body fluids and medication dispensers are available There are also environmental sensors for fire detection flood sensor and gas detection sensors In section 2 3 complementary sensors to the ones already available via Tunstall and Intellicare are presented Section 2 4 considers a possible solution to create a sensor network among the sensors that is using ZigBee technology The project is open also to other solutions lik
9. This includes environmental data including activity pattern and alerts in case of deviations from normal as well as social alarm which can be monitored by the Tunstall system Tunstall also provides a system for fall detection which would be of interest to include in the system Intellicare provides technology to follow oxygen saturation blood pressure measurements weight and glucose level which also are of primary interest to monitor Complementary sensors systems enabling monitoring of identified key parameters have also been reviewed The requirements will be further analysed and an initial set of sensors will be selected within WP 2 Task 2 4 at month 6 Increasing the autonomous capabilities of the Giraff platform includes both improving the sensorial system and the computational performance The Kinect sensor is considered an attractive solution In order to perform the computational tasks required if the Kinect sensor is used the current version of the Giraff has to be improved Alternative interaction capabilities of the Giraff platform have been presented There are alternatives as Nintendo Wii remote control Kinect and smartphones with accelerometers which would allow control by gestures An important issue for the next step is how to integrate services sensors with the configuration planning and context recognizer As concluded in section 4 1 1 in this document the configuration Version 0 6 Final 27 05 2012 Page 40 of 46 Giraff
10. describing the dependencies with other bundles The main features that OSGi offers are e a service model where every application component can be registered as service into a service registry Version 0 6 Final 27 05 2012 Page 25 of 46 GiraffPlus D1 2 Technological Component Specifications e an execution environment where multiple applications can run on the same virtual machine e a set of API for the control of the bundles life cycle The software components bundles wishing to detect the presence of a particular service configure a service listener with appropriate filters and as soon as the specified service becomes available the OSGi framework notifies all the listeners with a service handler instance ZB40SGi exploits the OSGi execution environment exporting the ZigBee network services dynamically by means of different application level technologies for instance UPnP protocol 33 SOAP REST based services and others The following figure depicts the service oriented model defined by the ZB4OSGi architecture All of the 3 layers are here represented Access Abstraction and Integration layer together with the underlying OSGi platform ee lt registers gt S cuses gt Integration Layer lt registers gt Profile based Abstraction Layer sJ Aq JU W U J Y 5 o ZigBee service lt uses gt Cluster Neutral lt registers gt ZigBee service Access Layer Jang aseg oe Zig
11. devices Note that although the Abstraction Layer is designed as a generic layer it should include a specific refinement driver for each ZigBee profile in use The Integration Layer finally maps the profile based ZigBee services to an application level protocol Figure 4 show as example a ZigBee light Device exported as UPnP Light The way the Integration Layer reacts to the services registered by the Abstraction Layer follows the standard OSGi event mechanism ZB40SGi fully integrates ZigBee nodes adhering to the standard ZigBee Home Automation Profile but further profiles can be easily included Currently the ZigBee Alliance defines profiles for 8 different application domains e Building Automation e Remote Control e Smart Energy e Health Care e Home Automation e Input Device e Retail Services and e Telecom Services Recently a first set of ZigBee Health Care devices has been certified and released by the Brunel University of London http www zigbee org Products CertifiedProducts ZigBeeHealthCare aspx e Blood Pressure Monitor e Weighing Scale e Pulse Oximeter e Blood Glucose Reader e Pill Dispenser The devices will be launched on the market the next year In order to integrate health care devices with the ZB4OSGi software a new refinement drivers has to be developed which implements ISO IEEE 11073 protocol Possible Scenarios In order to execute ZB40SGi software the hardware and software requirements are e PC wi
12. is a system for remote monitoring of health and wellbeing parameters blood pressure heart rate blood glucose weight oximetry body temperature among others in the home environment The patient can be monitored by his doctor nurse pharmacist or relative In the following table the sensors available in the kit are presented A detailed description of the sensors and of the overall kit follows Version 0 6 Final 27 05 2012 Page 11 of 46 GiraffPlus D1 2 Technological Component Specifications Blood Pressure Glucose Description Weigh l Thermometer escriptio Mater Mata eight Scale ermomete Blood Pressure Glucose levels Weight Body temperature Pulse Body mass index Measurements Body fat index Body water Hypertension and Diabetes Overweight and Obesity Hypo and hyperthermia Hypotension Mellitus Hypertension Infections e g fever Diabetes Mellitus Diabetes Heart Diseases Overweight and Obesity Gestational Respiratory Failure Postoperative Risk Factors Fitness Focus Heart Diseases Fitness Risk Factors Assessment in the General Population Promoting the Adoption of Healthy Habits for Life Table 8 Overview of Intellicare s Sensors 2 2 1 Sensors Description In the following sections we describe the sensors available from Intellicare 2 2 1 1 Blood pressure and glucose meter Key Features This is a 2 in 1 sensor equipment It has the Blood Pressure BP measurement functionality and t
13. Bee USB Dongle Operating System l gt ZigBee Network Figure 4 The ZB4OSGi software architecture The Access Layer directly communicates with the ZigBee network by means of a network adapter called USB dongle or by RS232 dongles or other kind of adapters According to the OSGi Device Access Specification the component implementing the Access Layer is called Base Driver while the components of the upper layers are called Refinement Drivers The main role of the Base Driver is the discovery of all the ZigBee devices available in the network and the registration of service proxies representing the remote devices The proxy services registered by the Access Layer are gradually refined and further abstracted by means of the upper layers In particular the Access Layer registers a ZigBee service proxy that is cluster neutral it provides semantic free methods that accept a ZigBee frame as formal parameter represented as a sequence of byte and injects the frame into the ZigBee network The Abstraction Layer introduces more semantic to the registered proxy services by refining them with new ones These new OSGi services are dynamically registered according to the ZigBee profile implemented by the remote ZigBee devices For this reason the Abstraction Layer registers ZigBee Version 0 6 Final 27 05 2012 Page 26 of 46 GiraffPlus D1 2 Technological Component Specifications services that are profile based i e Light devices thermostat
14. Fi Bluetooth or ZigBee and uses the Internet to send the data to be stored in the server via Ethernet cable or 3G communications The server then stores all the data and uses HL7 with propose of integrating different software interfaces Look4MyHealth offers also a warehousing certified healthcare data storage This means all the data from sensors or patients are secured with respect to legal and ethical requirements All the collection and data transmission are certified and guaranteed by Intellicare Communication Support Intellicare offers also Data Management and Processing Algorithms tested and approved in real and clinic sceneries Version 0 6 Final 27 05 2012 Page 15 of 46 GiraffPlus D1 2 Technological Component Specifications Login Validations and different User Profiles implemented as part of a secure network different degrees in login process admin doctor pharmacies informal care giver user himself The solution also offers Network Traffic Management with partnerships in strategic positioned companies in the market for 3G communications A direct line for customer support is available for technical and end user support 2 3 Complementary sensors systems In addition to the sensors that can be provided by Tunstall and Intellicare there are also complementary sensors systems available as products on the market and or as research prototypes Since the GiraffPlus project will include an evaluation in the homes of elderly at an
15. GHz Intel Smart Cache 3 MB Instruction Set 64 bit Instruction Set Extensions AVX Max Memory Size dependent on memory type 16 GB of Memory Channels 2 Max Memory Bandwidth 21 3 GB s ECC Memory Supported No Processor Graphics Intel HD Graphics 3000 Graphics Base Frequency 650 MHz Graphics Max Dynamic Frequency 1 1 GHz Graphics Output eDP DP HDMI SDVO CRT Details Version 0 6 Final 27 05 2012 Page 31 of 46 GiraffPlus D1 2 Technological Component Specifications http ark intel com products 52220 Intel Core i3 2310M Processor 3M Cache 2 10 GHz Motherboard Intel HM67 Express Chipset 2nd Generation Intel Core i3 i5 i7 Mobile Processors Embedded Windows 7 SO DIMM Dual Channel DDR3 1066 1333 up to 16GB Intel 82577LM PCI E Gigabit LAN 2 SATA2 6Gb s amp 3 SATA2 3Gb s with RAID 24 bit Dual Channel LVDS amp Inverter PCI Express 2 0 x16 PCI Express Mini Card slots 2 USB 3 0 amp 8 USB 2 0 ports VGA DVI HDMI Video Outputs Watchdog Timer HD Audio AMI EFI BIOS Details http www jetwaycomputer com spec NC9B HM67 pdf Memory ValueRAM 512M x 64 bit 4GB DDR3 1333 CL9 SDRAM Synchronous DRAM 2Rx8 memory module based on sixteen 256M x 8 bit DDR3 1333 FBGA components CL IDD 9 cycles Row Cycle Time tRCmin 49 5ns Refresh to Active Refresh 160ns Command Time tRFCmin Row Active Time tRASmin 36ns Details http www kingston com dataSheets KVR1333D3S9_4G pdf Hard drive Interface
16. Plus D1 2 Technological Component Specifications Additionally short range sensors can be considered for covering areas out of the field of view of this sensor such as blind angles stairs etc For this standard optoelectronic devices installed at particular points around Giraff are the most convenient solution For example the SHARP family of proximity sensors are adequate for these purposes like the GP2D12 sensor which is small 4x1 3x1 3 cm approx cheap less than 15S and exhibits a detection range from 10 to 80 cm Figure 10 Sharp sensor Range 10 to 80cm Response Time 39 ms Frequency 25Hz Power supply voltage 4 5 to 5 5V Mean consumption 35mA Peak consumption 200mA Table 13 Main characteristics of the GP2D12 sensor ii Requirements regarding the computational performance of the Giraff Robot platform come from the inclusion of the Kinect sensor and the algorithms to be integrated into the platform for managing 3D data in the navigation localization and obstacle negotiation tasks Memory and storage capacities of the current version of the platform have to be increased The current version of the Giraff platform is based on a computer with a 2GHz Intel Core Duo processor 1 Gb of RAM memory and 4 Gb of hard drive capacity Considering the preliminary tests performed in this period we estimate that the following configuration can fulfil the computational requirements for mobility Processor 2 4GHz Intel Core 2 Duo
17. Plus D1 2 Technological Component Specifications planning process shall be able to start terminate and connect different processes functionalities for process sensor data at different levels of abstraction and to direct data flows to the context recognition process These functionalities should mainly execute locally i e on a computer in the primary user s apartment Version 0 6 Final 27 05 2012 Page 41 of 46 GiraffPlus D1 2 Technological Component Specifications Appendix A References 1 Design Evaluation of a Home Based Telecare System for Chronic Heart Failure Patients A Gund Ekman K Lindecrantz B A Sj qvist E L Staaf and N Thornesk old Engineering in Medicine and Biology Society 30th Annual International Conference of the IEEE EMBC August 20 24 2008 Vancouver Canada 2 On the Design and Evaluation of an eHealth System for Management of Patients in Out of Hospital Care Doctoral thesis Anna Gund Chalmers Uiversity of Technology Gothenburg Sweden 2011 3 http nonin com PulseOximetry Wrist Worn WristOx2 Model 3150 Visited 2012 03 05 4 http www zenicor se Visited 2012 03 05 5 http www medistore se blodtrycksmatare omron r7 med tillval pcanslutning p 2229 aspx 6 Evaluation of the use of digital pens for pain assessment in palliative home healthcare Lind L Stud Health Technol Inform 2008 136 101 6 7 http www liu se forskning forskningsnyheter 1 325498 l en amp sc true Visite
18. SATA III 6Gb s high speed interface Capacity 60GB Data transfer rate Read 550MB S max Write 480MB S max Dura Write technology RAISE technology data protection debug and wear balance for single driver RAID Supports SMART hard drive detection Support for Windows 7 Trim commands Details http www teamgroup com tw filterable_product tabs detail data en 12 576 zfKsFi html 3 1 1 Giraff Motor Controller Board Serial Interface The Giraff software consists of a high level GUI and state management system written in Java and running on the Embedded Windows 7 board described above Low level motion control and sensor feedback is accomplished using a separate AVR micro controller running a single threaded C application Communication between the Java software and the AVR micro controller occurs over a RS 232 serial interface using a library of text based commands Version 0 6 Final 27 05 2012 Page 32 of 46 GiraffPlus D1 2 Technological Component Specifications The AVR micro controller sequences all real time motion control on the Giraff system It is one of numerous components that together form the Motor Controller Board which includes the electronics to control the position and velocity of three brushed motors under PID control using encoder feedback The Motor Controller Board controls motors using a trapezoidal motion profile Speed 100 Rated speed Travel speed Time Linear Linear it acceleration d
19. Sensor Networks 30 WSNs delivered a new industrial standard called ZigBee http www zigBee org Its main application fields are home and factory automation consumer electronic and healthcare The ZigBee specification defines the network and the application layer of low power wireless networks based on the IEEE 802 15 4 30 standard which specifies physical and MAC layer of low power WSN The network layer provides support to star tree and peer to peer multi hop network topologies The application layer provides a framework to support configure and manage distributed applications running on the sensor nodes To enable interoperability of nodes from different manufacturers the ZigBee alliance defines the concepts of application profiles and clusters The application profile is a collection of device descriptions that form a cooperative application A device is described as a set of clusters a sort of standardized network messages exchanged among the cooperating devices In turn a cluster is a collection of commands and attributes data entities which represent a physical quantity or state Interacting with a ZigBee network requires prior knowledge about the ZigBee protocol in particular the messages frames format the interaction paradigm and the ZigBee clusters and profiles The possibility of accessing to the ZigBee network without such prior knowledge and from heterogeneous networks requires to design and to implement ZigBee gateways ab
20. Wii Fit Plus with Available from 1000 SEK Balance board Balance Board Nintendo connected to the Wii game system making balance assessment available Kinect Available from 150 Sensor system based Microsoft on IR sensor for motion detection Temperature Commonly available Thermometer measures the temperature in the house and can alert at extreme temperatures Photo detectors Commonly available Can be used to monitor light status in the house Video camera Commonly available Can be used to monitor who is entering and leaving the house Possible solution if privacy is not considered a concern Table 9 Complementary sensors systems for monitoring physiological parameters Detecting dangerous environmental situations Detection of dangerous environmental situations such as gas leakage water leakage and risk of fire is prioritized in the User requirement and Design Principles Report Systems for environmental monitoring for detection danger are however common available consumer products on the market These systems will not be assessed in detail in this report 2 4 Matching of user requirements with available sensors In the following tables a summary of a matching of user requirements and possible sensors that can be used is presented The user requirements considered are the ones most relevant with respect to sensor selection They are listed in tables 1 3 and 4 and are the ones related to det
21. ample 0 5 uL e Quick Result within 5 seconds e Less Pain by AST Alternative Site Testing e Support OneCare System Detailed specification of the blood glucose sensor is found in Appendix D 2 2 1 2 Thermometer Features of the thermometer e Accurate result in 1 second e 3 color LCD backlight provides a color coded result reading e Probe cover detection and ejection e Supported by OneCare System e Fever indicator over range warning e Large memory capacity up to 10 results e Battery life more than 1000 measurements Detailed specification and user manual of the thermometer is found in Appendix D 2 2 1 3 Weight Scale The scale has a built in 10 user memory and can store up to 135 measurements It provides data transmission via RS232 Bluetooth USB In the GiraffPlus project the version with Bluetooth transmission will be used Detailed specification of the weight scale is found in Appendix D we P j 2 2 2 General description of the functioning of the kit The measurements are done at home with a frequency appropriate to each situation depending on the condition of the user and as prescribed by the care giver They are done through several wireless devices such as blood pressure monitor weight scale or other devices for measuring bio signals with Bluetooth communication capability A remote control is used by the user to register himself in all evaluations it transmits via Bluetooth and iden
22. ation Several studies have been performed with promising results 18 23 Microsoft also provides a system for movement detection by Xbox Kinect using infrared cameras for motion detection Additional environmental sensors Detecting lights status can be performed by the use of photo detectors commonly available on the market Also thermometers common available on the market can be used in order to monitor the in door temperature raising an alert in case of extreme temperature conditions In general it can be noted that although there is a large interest to participate in initiatives as the Continua Alliance most companies tend still to keep their communication protocols protected which hampers the development Measured parameter Product Company Price Comment name Pulse and oxygen WristOx2 Model Compliant to the saturation 3150 Wrist worn Pulse Continua Version One Oximeter Nonin Design Guidelines Heart monitoring ECG Zenicor system 10 000 SEK year Web interface not arrhythmia open for integration investigations and screening for atrial fibrillation Blood pressure Omron 433 SEK for the blood USB interface Version 0 6 Final 27 05 2012 Page 17 of 46 GiraffPlus D1 2 Technological Component Specifications monitor pressure monitor 547 SEK for an usb computer connection System for self Digital pen Anoto License and digital pen Transmits
23. aving Dimension mm 147 105 80 Weight g Batteries Excluded 400 Table 16 Equipment specification weight scale Weight Scale W310a RS232 Link W310b Bluetooth W310c USB Link ee W310d No Communication eS e Figure 12 Specification of the weight scale 3 minutes normal mode or 5 minutes RF mode gt High Accuracy for Each Measuring Result gt Built in 10 User Memory gt Data Transmission via RS232 Bluetooth USB for Better Management e For body weight BMI measurement e LCD backlight with large digital font e 3 set up keys for operation e For up to 135 results stored Kg st Ib conversion switch for weight unit e Auto on off function Version 0 6 Final 27 05 2012 Page 45 of 46 GiraffPlus Specification Application Area Precision Probe Cover Measurement Unit Memory Fever Indicator LCD Backlight Time Displayed Room Temperature Displayed Data Output Power Source Dimension inch Weight Ib without Batteries Ear 0 1 C 0 1 F Yes GIE 10 Yes Yes RS232 Wireless Zigbee 2xAAA 6 38 x 1 49 x 1 27 0 22 D1 2 Technological Component Specifications Table 17 Equipment Specification thermometer Version 0 6 Final 27 05 2012 Page 46 of 46
24. been performed based on the result from Tasks 1 1 and 1 2 Further the need of increased autonomous mobility and increased interaction capabilities of the system have been considered The technical requirements for the personalized interface configuration planning and context recognition have also been outlined In particular a summary of sensors that can be used in the project have been presented and a technical specification of the Giraff robot has been outlined A key section of the deliverable is section 2 4 where the matching of the user requirements with the sensors needed to fulfil them is presented Version 0 6 Final 27 05 2012 Page 2 of 46 GiraffPlus D1 2 Technological Component Specifications Table of Contents List Of FIRU e EESE eE E EE A wb eoseccstaebiccenacessoctoc N cuca pecewsacescccdue sets 4 E Roi E o E A A T TAT 4 I Introd ctio n sicisiscceccvacsticsecsscecdovssessasdssecsconecbv easdesdecdondaveseedsscesdoncedbeaedsedecdsndenssesdsvesedanasbseoedssdecsoeueee 5 1 1 Scope ofthe documentan n Heese r haa eee he ee 5 1 2 Deliverabl structure 4 wince Bian cH iA a A ig ae A aL ans alee 5 2 Part I SONSOMrSscisncecccscscoscsccosesctsccsndccdcanececsdscscescacesessansedcsdannesesstsesecdsdnoessdeandescssanvessssdseescssdaeesessan 8 2 1 Environmental Sensors from Tunstall eeeeceessceeseceeeeeceeeeeaaeceeaeeceaeeeeaaecseaaeceeeeeeaeeseaaeeeeaeeenaees 9 2 2 Physiological Sensors from Intellicare cccccccccce
25. bout and freely interact with them talk and listen see and be seen just as if that caregiver were physically present 2 The Giraff is accessed and controlled over a standard Internet connection via the Pilot computer laptop client From a remote location a person with no prior computer training can visit a home and intuitively navigate the Giraff down hallways through doorways and around tables and chairs Visitors can also look around via a pan tilt z oom camera and be seen and heard in real time via a life size portrait image from their webcam 3 Care organizations manage Giraffs and users via Sentry a user management policy and supporting administration database that ensures only caregivers authorized by the resident can connect to the home and only under the circumstances day time etc dictated by the resident Some trusted caregivers may be allowed in certain situations to connect without the call being answered by the resident Version 0 6 Final 27 05 2012 Page 30 of 46 GiraffPlus D1 2 Technological Component Specifications Sentry management system Pilot caregivers f Figure 7 The Giraff platform The Giraff device itself has 5 components that are relevant to development and integration work for the project particularly integrating work from other organizations This section describes the specifications for these components CPU of Cores 2 of Threads 4 Clock Speed 2 1
26. ceesssscsscecececeseeseaeaeeeeecessessaaeaeeeeseeseessaeaeeeesens 11 2 2 1 SONSOKS DESCFIPTION 2 a bats Lea a aa a a ae ten sbetn ne a a aaa dee aaas 12 2 2 2 General description of the functioning of the kit cccccsssccccecessessnseceeeeeeessesssaeeeeeesseesees 13 2 3 Complementary SENSOrs SYStEMS ccccccssccessseessececsecesseccssseecssececseecesseccsseeeeaseceeseeesseeeesaececseeess 16 2 4 Matching of user requirements with available SCNSOMS ccccccsessssceececessesscneceeeeecesseseaeaeeeesens 19 2 5 Integrating ZigBee Sensor N tWOFKS cccccssssscececessesecnesecececeseesssaeaeeeesceseeeaaeaeeeesesseeseasaeeeesens 25 3 Part Il The Robotic Platform Giraff ccccccccsscssssseeeeeeeececcecssceceeeeeceeeecesesseseeeseeeacceseeeeeseeeoes 30 pale G10 a platformi merer ea eee ee ee 30 3 1 1 Giraff Motor Controller Board Serial Interface ccc eesceeeeeeeceeeeeeaeeeeaceceeeeeeaeeeeaaeeeeaeeeees 32 3 2 Increasing autonomous mobility of the Giraff platfOrm ccceessssececececessessaeeeeeeseessesseaeees 33 3 3 Increasing interaction capabilities cc eccscsssssececececeesessaesecececeeseseuaeceeeescesseeeaeseeeessessesenaeees 36 4 Part Ill Software Services ssosssessssessossosssesssesssosssesesessoosssesssessosssesssesssosssesesesssossseseesssessssss 38 Asi SEMNVICES SPECIFICATIONS xitstese Ath meet Oe At ee AE ee a ea hee a eS 38 4 1 1 Intelligent monitoring and ada
27. d 2012 03 15 8 http www jsk nu order orderanoto html Visited 2012 03 15 9 http www medtronicdiabetes net products guardiancgm Visited 2012 03 15 10 http www medistore se somnregistrering vivago active wellness klocka ultra sleep p 2132 aspx externalsearch 1 Visited 2012 03 15 11 http www myzeo com sleep shop featured products zeo sleep manager bedside html 12 Zhang K Werner P Sun M Pi Sunyer FX Boozer CN Measurement of human daily physical activity Obesity research 2003 11 1 33 40 13 Fitbit Available at http www fitbit com product Accessed Jan 14 2012 14 genactiv Available at http www geneactiv co uk Accessed Jan 14 2012 15 Paltechnologies Available at http www paltechnologies com Accessed Jan 14 2012 16 delsys Available at http www delsys com Products TrignoWireless html Accessed Jan 14 2012 17 Portable sensor system for rehabilitation of WAD patients C Gerdtman M Folke C Bexander A Brodd and M Lind n IEEE Xplore proceedings of the 6th international workshop on Wearable Micro and Nanosystems for Personalised Health pHealth 2009 24 26 June 2009 Oslo Norway 18 Interactive Games to Improve Quality of Life for the Elderly Towards Integration into a WSN Monitoring System Elaine Lawrence CS Karla Felix Navarro Mu Qiao International Conference on eHealth Telemedicine and Social Medicine St Maarten Netherland2010 p 106 12 19 Use of the Nintendo Wii Fit for
28. data to reported health costs about 3900 SEK computer or server related data Continuous Medtronics Transmits data to monitoring of glucose wearable transceiver level Sleep pattern monitor Vivago Active 4400 SEK Continuous Wellness Clock Wrist measurement worn system Sleep pattern monitor Zeo sleep manager 149 USD Wireless headband a bedside display a set of online analytical tools Activity monitoring IDEEA Analyse movements of various body parts the physical activity together with the energy consumption during daily activities are measured Activity monitoring Fitbit system Attached to the user s measures physical leg and calculates activity calculates the step energy energy consumption consumption and how and presents the long time the user has sleeping pattern been moving Activity monitoring GeneActiv Measures daily physical activity body position and sleeping pattern Activity monitoring ActivePal PAL Inclinometer and tri technologies axis accelerometers It is attached to the user s leg and calculates step energy consumption and how long time the user has been moving Activity monitoring Trigno Mobile Combines EMG measurements with acceleration wireless Inertia sensors Research prototypes 3 axis accelerometers available within the and gyroscopes could Version 0 6 Final 27 05 2012 Page 18 of 46 GiraffPlus D1 2 Technological Component Specifications project be used to assess the balance
29. derly person K 5 a 2 alarms to the elderly person in case of emergency K 5 a 3 memorandum repository access through the tele presence robot O 5 a 4 record and store audio video picture memorandum through the tele presence robot O 5 a 5 internet access through the tele presence robot D 5 a 6 book reader service through the tele presence robot D 5 a 7 customize its interface according to the nationality of the elderly person D 5 a 8 support rehabilitation activities K 5 a 9 capable of detecting obstacle K 5 b 1 a low cost system K 5 b 1 paid by public healthcare service K Table 7 User requirements for the overall system The user requirements described above have been used as a guideline to identify which components need to be examined in this deliverable In particular they have influenced the selection of sensors to be considered for detecting physiological parameters activities and situations and environmental parameters 2 Part I Sensors In this section we examine the sensors that can be needed in the GiraffPlus system to satisfy the user requirements Among the user requirements the ones that are most significant for this section are the ones in tables 1 3 and 4 The requirements in tables 2 and 5 are mostly related to the Giraff robotic platform and the personalized interface and will be considered in Deliverable Version 0 6 Final 27 05 2012 Page 8 of 46 GiraffPlus D1 2
30. e Lifeline Connect the Lifeline Connect collects Data from contacts the PNC and A various sensors downloads the collected Data Background call Data is sent via an FTP server using the internetto the ADLife server ADLife server hosted By Tunstall Carers can view resident data or receive Emails from Server EmO Tuem Hesthcre Grag Ut All the reassurance you need METALAC Figure 1 Overview of the ADLife system Tunstall does have several other sensors like enuresis sensors but they are not part of ADLife One of these is the fall detection sensor which is worn around the wrist and gives an alarm in case of a fall There are also medication dispensers sensors for detection of body fluids and environmental sensors for fire detection flood sensor temperature extremes sensor and gas detection sensors If there are other sensors that are applicable for the GiraffPlus project Tunstall will investigate if and how they can be included in the project A full list of peripherals can be found on the webpage 24 2 2 Physiological Sensors from Intellicare Intellicare has developed telemonitoring solution of several biomedical parameters blood pressure blood glucose weight oxygen saturation temperature among others well being monitoring daily routine aid requests and fall detection among others and people and goods tracking In particular Intellicare has developed the Look4my Health kit Look4MyHealth
31. e Bluetooth However we describe in details in this document just the ZigBee solution as it is less commonly used and less know in the consortium 2 1 Environmental Sensors from Tunstall Tunstall sensors can be described as binary sensors that is the alarms they send are only to alert that a threshold has been crossed These are the typical telecare sensors Tunstall has created a second product line called AD Life that is a more advanced deployment of telecare designed to monitor the residence s activity during the day and not just when an alarm is to be raised To achieve this the sensor reports are aggregated and plotted over time to give graphical views to the data to see how change happens over time All in home local radios transmit on the 869 MHz social alarm frequency The transmission is a proprietary radio system that Tunstall has invented that meets the European requirements for social alarms Most specifications refer to 50m in building range Generally Tunstall radios work in at least 200m free space and with the 869 frequency propagation 50 meters is the most likely short distance that can be achieved under the most restrictive home environment The most basic deployment is a social alarm with a radio trigger button Most social alarms are analogue in that they communicate over analogue telephone lines Public Switched Telephone Network or Plain Old Telephone Service This has worked using in band signalling with Dual Tones Multiple
32. e assistance during the pilot site configuration ZigBee4OSGi abstracts from the details of the network protocol by exposing each device as a service and finally the middleware enables each module and component of the Giraff system to communicate and access the sensor data IP Client Giraff Module Protocol interoperability Middleware Middleware Protocol interoperability ZigBee4OSGi Device abstraction OSGi Karaf Felix Remote manageability Java JVM 1 5 Platform Portability Linux Windows ZigBee Gateway Figure 6 The ZigBee Gateway Layers Version 0 6 Final 27 05 2012 Page 29 of 46 GiraffPlus D1 2 Technological Component Specifications 3 Part Il The Robotic Platform Giraff In this section we first describe the Giraff platform and then the technical requirements related to improvements in terms of autonomy and interaction that can be implemented during the GiraffPlus project 3 1 Giraff platform The Giraff platform has 3 main architectural components 1 The Giraff is a remotely controlled mobile human height physical avatar integrated with a videoconferencing system including a camera display speaker and microphone It is powered by motors that can propel and turn the device in any direction even backwards The Giraff is placed in a home or care facility and allows a caregiver formal or informal to virtually visit the residents there move a
33. e destination According to the experience gained by the UMA group in the field of mobile robotics and particularly with the Giraff platform and the inputs collected by the users the results obtained in the EXCITE project are going to be extended in the aforementioned directions In order to achieve these improvements in the mobility of the Giraff platform the recommended specifications from the technical point of view includes i improving the sensorial system and ii improving the computational performance i The requirements for the sensorial system embrace the inclusion of new sensors able to scan the surroundings of the platform in 3D being the novel Kinect sensor an attractive option Among others the main characteristics that make Kinect an interesting solution for improving the perceptual abilities of Giraff are vy It is compact and lightweight It provides both RGB and range images It is fast range information is generated at a frequency of 30 Hz The operation range is acceptable for house like environments from 1 2 to 3 5m eS It is cheap around 150 nowadays RGB camera Motorized base Depth sensors Range camera Figure 9 Kinect sensor Range information provided by Kinect will largely enhance the perception of the Giraff platform enabling the detection of obstacles located in a field of view of 582 in the horizontal plane and 452 in the vertical one Version 0 6 Final 27 05 2012 Page 34 of 46 Giraff
34. eaaaeeeesesseeseaasaeeeeseeseeseaaeas 29 Figure 6 The ZigBee Gateway LaYers cccssccccccecessssssseceeececseseseeaeseeeeecesseseaeseeeesseeeaaeaesececeseesesasaeeeeeeeseeseaaaas 29 Figure 7 The Glratt plattOrin weseeceecScdeFeveicedeccd aan ras ei sbeecnn a sensi uy eas as beens a a N eevee 31 Figure 8 Motion profile of the motor CONTIO ccccssccccceesssessaececececessesnaaeceeeessesseceaaeeeeeesseeseasaeeeesenseeseaaaas 33 Fig re 9 Kinect Sensor opioa i vessie cesei sauce vensvev veel evvessveveveaskues ves sueveseusebesves shoves tseees veh sdevevedeke 34 Figure 10 Sharp Sensor siira e ceek hu a da cau eedee tals a sa denseteauce aa ead eeeeladacees ou a a eens 35 Figure 11 Interaction with the Giraff platfOrim ccccccccccscssssssssececececessesssaeeeeecscessesaaeeeeeessesseasaeeeeeceseeseaaeas 36 Figure 12 Specification of the weight scale cccessssccccecsssesnaececececesseseseseeecsseeseaaaeeeeeesseesasaeeeeseeseesenaeas 45 List of Table Table 1 Physiological parameters that the Users wish tO MONItOL cccescccccecesessenssceeececeseeseaeaeeeeseeseeseaaees 6 Table 2 Social communication functionalities that the users wish from the SYSt M cccecsessseeeeeeeseeseeees 7 Table 3 activities and situations the users wish are monitored by the system cc cccccccesssssssseeeeeeessessaees 7 Table 4 Environmental parameters that the users wish the system to ete ct ccccccccccecesesssstceeee
35. eceleration time time Figure 8 Motion profile of the motor control As can be seen from the above diagram the trapezoid is a plot of speed over time In general a motion command consists of a request to move a specific distance with a specific acceleration and a specific peak velocity This distance can be considered the area under the trapezoid or the integral of speed over time The software calculates the required movement time given the desired acceleration peak velocity and distance Short distance moves may never reach the peak The AVR micro controller software uses get and set commands to modify and query state information regarding the Motor Controller Board set commands are also used to initiate movement commands These commands can be sent to the Motor Controller Board using a text based serial interface program which is described in detail in a separate Application Program Interface API document 3 2 Increasing autonomous mobility of the Giraff platform The GiraffPlus project envisages significant improvements in the autonomous mobility of the Giraff platform Concretely we consider 1 Robust and reliable obstacle detection The robot is aimed to deal with cluttered and dynamic environments A variety of objects placed at different unknown positions with different characteristics i e shape dimensions materials etc are supposed to be present in the environment In order to reliably perceive the environm
36. ection of physiological parameters activities and situations and environmental parameters The first table considers all the identified key requirements in tables 1 3 and 4 and the following tables the desirable ones and a selection of optional ones in the same tables 1 The optional requirements not considered are 1 b 5 Notifying the house presents an unusual setting to caregivers 1 c 8 Monitoring the time spent for preparing lunch 1 c 7 Monitoring cooking ability 1 c 11 Monitoring the social interactions activity These requirements need to be further specified to allow a clear matching to sensor requirements They will be considered further in D1 3 Version 0 6 Final 27 05 2012 Page 19 of 46 GiraffPlus Services parameters identified as KEY D1 2 Technological Component Specifications Services Parameter to Sensors Sensors Complementary Comments monitor provided by provided by sensors systems Intellicare Tunstall 1 a 1 1 a 9 Pulse oximeter WristOx2 Model Pulse oximeter Monitoring of vital Weight scale 3150 Wrist worn can monitor pulse signs Monitoring heart function Pulse Oximeter Zenicor system ECG registrations 1 channel dry electrodes suitable for arrhythmia investigations and screening for atrial fibrillation available from Nonin and oxygen saturation 1 channel ECG registrations using dry electrodes can be suitable for arrhythmia investigations and screening for atrial fibrilla
37. eeessesseaees 7 Table 5 User requirements with respect to teleoperated rObOt cceccessssecccecessssesnsaeeeeeceseesseaeeeeseessessaaees 8 Table 6 User requirements with respect tO Sensors c ccccccccsessessssecececeseesecnsaecececeseeseaaeaeeeeeceseeeaasaeeeesesseeseaaeas 8 Table 7 User requirements for the Overall system cccccccccccssssssssecececeseeseeaeeeeecessesesasaeeececeseesesaeaeeeeseeseeseaaeas 8 Table 8 Overview of Intellicare s Sensors cccccccssssceceessececeeseeeeceeseneecesseeeececseeeeceseeaaecseeesecsseeaaecsseeaaeesseenaees 12 Table 9 Complementary sensors systems for monitoring physiological paraMete S cc cccesceesseceereeeeeees 19 Table 10 Matching key services parameters and Sensors cccesscccsseceesseceeseccssseecsaececseeceseecaseeesaecesseeesees 23 Table 11 Matching desirable services parameters and Sensors ccssccecssecesssccssseeessececseecessecesaeeccaecesseeensees 23 Table 12 Matching optional services parameters and Sensors c cccssccessseceessecssseeessececseecessecesseeecaecesseeeesees 24 Table 13 Main characteristics of the GP2D12 SENSOF cccsesseecesssneeceeseeeeceeseececesseeeecsseeeeececeeaaecseeeeaecseeeaaees 35 Table 14 Sensors Specification blood Pressure SENSOM cscsessececececeesessaececeeseeesecaaecececessesecsseeeeseessessaaeas 44 Table 15 Equipment Features blood glucose SCNSOM cccceseessnsececececeesessaaececececeseeaeaeceeeceseuseasaeeeee
38. eeseeseaaeas 45 Table 16 Equipment specification Weight scale cccccccccecsssssssseceeececesseseeaeceeecscesseaeaeceeeesseesaeaeeeesesseeseaaaas 45 Table 17 Equipment Specification thermometer cccccccccesssssssscecececessessaeceeecssesseseeaeeeeeceseeseasaeeeeeeeseessaaeas 46 Version 0 6 Final 27 05 2012 Page 4 of 46 GiraffPlus D1 2 Technological Component Specifications 1 Introduction 1 1 Scope of the document The aim of this deliverable is to assess and select a set of technological components suitable for both collecting the relevant information and implementing the GiraffPlus services according to the Task 1 1 and Task 1 2 results The result of this work is a selection and specification of the sensors which will be used in Task 2 4 and fully integrated in the GiraffPlus system Further an assessment of the current status of the Giraff robot is performed An initial work on the definition of new functionalities to support limited autonomous mobility and the interaction capabilities that pave the way to actuate the personalization capabilities subject of WP4 in the GiraffPlus Intelligent Environment is performed 1 2 Deliverable structure The deliverable is structured as follows after an introduction which describes the scope of this document and its structures follows a summary of the user requirements based on the result from Deliverable 1 1 User Requirements and Design Principles Report Part specifies the se
39. ent for obstacle detection three dimensional sensors are needed 2 Safe navigation to a user specified place The robot is intended to automatically move in a secure way to particular places pointed out by the user negotiating any possible obstacle that Version 0 6 Final 27 05 2012 Page 33 of 46 GiraffPlus D1 2 Technological Component Specifications may appear along the way Smooth paths and quick response to properly react against obstacles are desirable features will require a significant computational burden in the system 3 Robust manoeuvring to approach distinctive locations e g the recharging station or the idle point Apart from safely navigating to a destination the platform should also be able to perform sophisticated and accurate manoeuvrings in particular for performing the auto docking operation Some simplifications of these feature were already addressed with success by the UMA group under the EXCITE project Concretely simple algorithms for obstacle detection were integrated utilizing 2D laser rangefinder sensors This functionality was combined with autonomous navigational algorithms that permitted the Giraff platform to approach to the recharging station from a limited distance and orientation and to autonomously moving between short distances stopping when a close obstacle was detected In such cases the secondary user had to take the control of the robot and command it to avoid the obstacle in order to arrive to th
40. esearch projects the cost for one system is 10 000 SEK per year Blood pressure monitor A clinical evaluated wrist mounted blood pressure monitor is available from Omron The cost is 1 433 SEK for the blood pressure monitor and an additional cost of 547 SEK for an usb computer connection 5 Applications for self reported health related data Self report of health related data has shown to increase patients compliance and both objective and subjective symptoms data are important to follow 2 This can be performed by web based questionnaires in combination with objective sensor data capture In the case of persons with limited or no user experience of computers a digital pen can be used on a special paper for the computer input This has for example been used in palliative care 6 and in the care of severe heart failure patients 7 A license and digital pen costs about 3900 SEK and is available from Anoto 8 Version 0 6 Final 27 05 2012 Page 16 of 46 GiraffPlus D1 2 Technological Component Specifications Continuous monitoring of glucose level Some patients have difficulties in controlling their glucose levels For those continuous monitoring of glucose level might help in finding a balance in food intake medication and exercise Such systems are provided by e g Medtronics 9 Sleep pattern monitor There are several systems available to monitor sleep pattern One system is the wellness watch that is worn around the wrist 10
41. f body fluids D 1 a 9 Monitoring Heart function K 1 a 6 Monitoring body temperature O 1 a 7 Determining whether the person suffers from incontinence D 1 a 8 Monitoring body weight O 1 a 10 Monitoring sleep activity O Table 1 Physiological parameters that the users wish to monitor 1 b 1 Facilitating contact between the person 1 b 4 Reminding medications K and healthcare professionals K 1 b 3 Facilitating contact between the person 1 6 8 Warning notice to secondary users K and home care assistant K 1 b 2 Periodic reporting to secondary users K 1 b 5 Notifying the house presents an unusual setting to caregivers 0 1 b 7 Allowing forced entry in case of emergency K 1 b 1 Facilitating contact between the person and healthcare professionals home care Version 0 6 Final 27 05 2012 Page 6 of 46 GiraffPlus D1 2 Technological Component Specifications assistant family D Table 2 Social communication functionalities that the users wish from the system 1 c 1 Detecting the position in the home K 1 c 12 Detecting decline in mobility K 1 c 2 Monitoring the movement K 1 c 13 Detecting absence of the elderly person K 1 c 3 Detecting the absence of movement K 1 c 15 Detecting Falls K 1 c 6 Monitoring of night activities D 1 c 16 Monitoring the time spent in bed K 1 c 14 Monitoring the use of home appliances D 1 c 17 Monitoring person balance K 1 c 4 Temporal mo
42. fferent rooms according to the elderly person preferences K 3 a 2 3 suitable size and material K 3 b 2 sounds setting can be easily adjusted O 3 d 2 allowed to access the rooms according to the elderly person preferences K 3 c 1 Adjustable dimensions K 3 a 4 customizable colors D 3 b 3 reaching the charging station or to 3 c 5 robot open to object allocation D 3 d 3 charging station placed according to Version 0 6 Final 27 05 2012 Page 7 of 46 GiraffPlus D1 2 Technological Component Specifications move to some the elderly person positions after voice preferences K commands O 3 a 5 3 c 3 with 3 c 4 4 6 5 robot open adjustable screen to sensors installation position K O Table 5 User requirements with respect to teleoperated robot Appearance Integration in the home environment 4 a 1 graceful aspect D 4 b 1 gracefully integrated within the home environment K 4 a 2 reduced dimensions D 4 b 2 suitable for installation in different home environment positions according to the elderly person preferences D 4 a 3 suitable materials D 4 b 3 limited number of sensors to be installed in the home environment according to the elderly person preferences K 4 a 4 different colors D 4 b 4 camouflage sensors according to the elderly person preferences K Table 6 User requirements with respect to sensors 5 a 1 reminders to the el
43. fied as DESIRABLE but feasible to consider Services Parameter to Sensors Sensors provided Complementary Comments monitor provided by by Tunstall sensors systems Intellicare 1 c 6 Monitoring of Bed Chair Vivago Active night activities Occupancy Sensor FAST Passive InfraRed motion detector Door usage Electrical Usage Sensor Wellness Clock Wrist worn system that monitors sleep pattern Zeo sleep manager Wireless headband a bedside display a set of online analytical tool Fitbit system measures physical activity calculates the energy consumption and presents the sleeping pattern GeneActiv measures daily physical activity body position and sleeping pattern 1 a 2 1 a 7 Determining whether the person suffers from incontinence Detection of body fluids Sensors available from Tunstall 1 c 14 Monitoring the use of home appliances Electrical Usage Sensor 2 a 6 Monitoring the temperature inside the house Temperature extremes sensor Thermometers common available Table 11 Matching desirable services parameters and sensors Version 0 6 Final 27 05 2012 Page 23 of 46 GiraffPlus D1 2 Technological Component Specifications Services parameters identified as OPTIONAL but feasible to consider Services Parameter to Sensors provided Sensors Complementary Comments monitor by Intellicare provided by sensors systems Tunstall 1 a 8 M
44. he Blood Glucose BG measurement functionality as well Blood Pressure BP Sensor FORA D40b Bluetooth e Automated Averaging 3 Measurements AVG Technology conducts 3 measurements within 2 minutes to provide the most accurate and reliable final average test result e RB Irregular Rapid Beat Technology a technology with high precision to detect pulse irregularities during the measurement It alerts the user of any unusual spike patterns and trends for further check ups with the doctor but it does not substitute for a cardiac examination Detailed specification of the blood pressure sensor is found in Appendix D Blood Glucose BG Sensor e No Coding Required to reduce errors and enhance the accuracy while performing the blood glucose test e Safe Strip Ejection to protect from infection and also eliminate any hand contact with the test strip e Pre amp Post Meal Recording to distinguish the blood glucose test data between pre and post meal in order to improve blood glucose level with a better control Version 0 6 Final 27 05 2012 Page 12 of 46 GiraffPlus D1 2 Technological Component Specifications e Clear amp Wide Screen View to provide comfortable result reading for people of all ages and eyesight quality e Accuracy by International Protocol clinical accuracy of the device is further guaranteed by the ESH validation e Memory up to 864 Tests with Date amp Time e 7 14 21 28 60 90 Days Average e Tiny Blood S
45. hen and entry exit information The local area connection is 869MHz Tunstall protocol The battery life expectancy is one year and the battery is user changeable e Electrical Usage Sensor A box that plugs in a serial connection between the mains socket and the device plug It detects when significant current is being drawn and reports the start event to the social alarm When the current is no longer being drawn it reports the end event to the social alarm This is quite useful for appliances like a toaster coffee maker or kettle where the standby current is minimal or there is no draw and not useful for appliances like refrigerators where there is a consistently high draw For the larger appliances a door usage sensor can be used The local area connection is an 869MHz Tunstall protocol The electrical usage sensor is mains powered e Universal Sensor This name Universal comes from the devices flexibility By itself the Universal Sensor can be uses as a door usage open or close sensor In combination with other sensors it enables wired devices to transmit a signal to a social alarm The Universal sensor has many different configurations that customise how the alerts are transmitted The Universal Sensor has a five year battery in order to support being deployed in different situations e Bed Chair Occupancy Sensor requires Universal Sensor is a pressure sensitive mat that is used with the Universal Sensor in ADLife deployments The bed
46. ify user requirements on the GiraffPlus system with the use of focus groups e a quantitative study to validate and prioritize the user requirements by questionnaires Primary and secondary end users from three countries have been involved in the focus groups and have answered the questionnaires Primary end users are the persons who will be actually using the GiraffPlus system services i e the elder while secondary end users are persons directly in contact with a primary end user see Section 4 of D1 1 User Requirements Analysis and Design Principles Report for a presentation of GiraffPlus key aspects In Deliverable 1 1 user requirements are used to prioritize the physiological and environmental parameters of interest to monitor within the GiraffPlus project ranking them as Key Desirable or Optional For definition of the level of priority for each parameter to monitor see section 6 2 6 in D1 1 In the following a list of aspect that the users wish the system to be able to monitor are outlined In particular four tables are presented physiological parameters social communication activities and situations and environmental parameters A letter indicates if the requirement is considered a Key requirement K Desirable D or Optional O 1 a 3 Monitoring blood pressure K 1 a 1 Monitoring of vital signs K 1 a 4 Monitoring blood glucose levels K 1 a 5 Monitoring blood oxygen levels K 1 a 2 Detecting the presence o
47. is accelerometers attached to the user s leg and calculates step energy consumption and how long time the user has been moving Trigno Mobile Combines EMG measurements with acceleration wireless Body worn inertia sensors available as research prototypes within the GiraffPlus project 1 c 15 Detecting falls Fall sensor worn around the wrist Body worn inertia sensors available as research prototypes within the GiraffPlus project 1 c 17 Monitoring person balance Wii balance plate Kinect sensor system Body worn inertia sensors available as research prototypes within the GiraffPlus project 1 c 13 Detecting absence of the older person FAST Passive InfraRed motion detector Door usage Bed Chair Occupancy Sensor Electrical Usage Sensor Video camera detecting who is entering and leaving the house placed outside the entrance door Possible solution if privacy is not considered a concern 1 c 16 Monitoring the Bed Chair Version 0 6 Final 27 05 2012 Page 21 of 46 GiraffPlus D1 2 Technological Component Specifications time spent in bed Occupancy Sensor 2 a 1 2 a 5 2 a 7 Carbon Systems for Gas shut off Detecting dangerous Monoxide environmental valve when environmental Detector monitoring for combined with the situations gas leakage wireless detecting hazardous natural gas water leakage risk of Telecare Flood events are in detect
48. itoring and adaptation services will be developed and deployed in WP 3 An important issue is the transfer and storage of physiological data which may constitute a large volume if recorded over an extended amount of time and which needs to be transferred and stored in a secure manner This issue should be resolved in Task 1 4 Version 0 6 Final 27 05 2012 Page 38 of 46 GiraffPlus D1 2 Technological Component Specifications 4 1 2 Services for personalization and users Interaction The User Centered Design approach pursued within the GiraffPlus development aims at promoting optimal human computer interactions both for primary and secondary users Primary end users are the persons who will be actually using the GiraffPlus system services i e the elder while secondary end users are persons directly being in contact with a primary end user see Section 4 1 of D1 1 User Requirements Analysis and Design Principles Report for a further presentation The former should be considered the driving element for the technology and services development while the latter should be enabled to perform complex tasks more quickly and accurately thus improving their analysis satisfaction communication capability and support efficacy Broadly speaking elderly people show low acceptance for new technology mainly due to the fear of too high complexity in its use At the same time secondary users should be facilitated in operating with the GiraffPlus system a
49. le to ease the access to the ZigBee nodes and simultaneously able to export the ZigBee services to different target networks More generally the design of a ZigBee gateway gives rise to two main aspects that should be taken into account 1 Seamless integration ZigBee nodes become accessible from outside without any prior knowledge about the specific technology message format hardware features interaction paradigm network topology etc 2 Interoperability services exposed by the ZigBee nodes cooperate by adopting a service oriented model The services can be integrated within existing architectures drawing the so called mash up services These aspects are taken into account by ZB4OSGi software developed by CNR ISTI 31 ZB40SGi is an OSGi based software gateway that exports the ZigBee network services via different channels by exploiting a 3 layered architecture The gateway exports an abstract view of the ZigBee network in which only the services provided by the ZigBee nodes are mapped into some OSGi services The OSGi specification 32 defines a service oriented component based platform for Java developers and it offers a standardized way to manage the software life cycle The OSGi implementations are containers running on top of a Java virtual machine in which components can be installed removed started and stopped at run time An OSGi component called bundle is a JAR file that contains Java classes resources and metadata
50. llicare s sensors BG Basic Features BP Basic Features Sample Size uL Test Time seconds Enzyme Type Code Hematocrit Range BG Measuring Range Accuracy of Pressure Accuracy of Heart Rate BP Measuring Unit Pressure range Heart rate range Systolic Measurement Range Diastolic Measurement Range Pulse Rate Measurement Range Irregular Rapid Beat IRB Detection 3 Times Average Function AVG Auscultatory Mode Hi Lo Indicator Sys 140 Dia 90 Number of Users D1 2 Technological Component Specifications 0 5 5 GOD No Coding 20 60 20 600mg dL 1 1 33 3mmol L 3 mmHg or 2 of reading 4 of reading mmHg or KPa 0 300 mmHg 40 199 beat per minute 55 mmHg 255 mmHg 25 mmHg 195 mmHg 40 199 beats minute Yes Yes Yes 4users Table 14 Sensors Specification blood pressure sensor Version 0 6 Final 27 05 2012 Page 44 of 46 GiraffPlus Memory 864 sets Talking Function Yes Strip Ejection Yes Strip Feed Light Daily Alarm AST Yes Advanced Features Ketone Warning Yes 240mg dL ACIPC in Memory Yes QC Record Yes Day Average 7 14 21 28 60 90 days LCD Backlight D40a USB PC Link D40b USB BT D40g USB GPRS Table 15 Equipment Features blood glucose sensor D1 2 Technological Component Specifications AA 4 alkaline batteries AA 4 rechargeable Ni MH Rechargeable Li lon Battery special order External batteries Power Source Specification DC 6V Power S
51. llowing them to mainly focus their attention on their particular assistive tasks 4 1 3 Interaction and personalization Regarding the interaction interpreted in a broad sense two main services will be designed e the Interaction and Visualization Service IVS e the Personalization Service PerS The IVS activity will produce a well organized set of functionalities for allowing secondary users to connect with the GiraffPlus environment during its continuous use by means of interaction modalities both easy to use and adequate for different classes of people The PerS contributes a new functionality that continuously guarantees fine grained personalization to the specific elderly at home The PerS can be seen as a continuous loop around two data structure a a User Knowledge Base that initially contains data about classes of potential users a la User Stereotypes and during use will contain an increasingly accurate model of the target old user at home b a Person Dynamic Model which uses a representation based on temporal constraint network also called timelines for modeling and updating key features that should be maintained over time to enable more complex personalized services The use of the timeline representation will be exploited as reference model for the interaction visualizations toward the secondary users Then advanced visualization capabilities should be built allowing to effectively visualizing trends of data over long period
52. ng run It will essentially consist of three processes one for configuration planning one for context recognition and one for the context database It should be possible to run these processes either locally i e on a computer in the apartment or centrally at some server The configuration planning process shall be able to interact with the sensor network by activating and deactivating various sensors and by directing the various sensor network data to different processes functionalities for further processing The configuration planning process shall also be able to start terminate and connect different processes functionalities for process sensor data at different levels of abstraction and to direct data flows to the context recognition process These functionalities should mainly be execute locally i e on a computer in the primary user s apartment and communicate with sockets or some other means The functionalities may be coded and compiled in Java C C or other languages Finally the configuration planning process shall be able to start processes that control any available actuators in the sensor network The context recognition process and the configuration planning process shall be able to exchange information e g about what state variables to track The context database allows the context recognition system to store data permanently This database can either be stored locally or centrally The intelligent mon
53. nitoring of the position O 1 c 5 Detecting changes of habit O 1 c 8 Monitoring the time spent for preparing lunch O 1 c 7 Monitoring cooking ability O 1 c 9 Monitoring the time spent in different home places O 1 c 11 Monitoring the social interactions activity O 1 c 10 Monitoring the use of refrigerator at home O Table 3 activities and situations the users wish are monitored by the system 2 a 1 Detecting dangerous environmental situations K 2 a 7 Detecting risky situations K 2 a 3 Detecting open doors K 2 a 9 Detecting taps status K 2 a 8 Detecting water leaks K 2 a 2 Detecting misplaced objects inside the house K 2 a 5 Detecting gas leaks 2 a 4 Detecting lights status O 2 a 6 Monitoring temperature D Table 4 Environmental parameters that the users wish the system to detect A number of additional aspects have also emerged with respect to the design on the system In particular in the following tables expectation with respect to the telepresence robot the sensors and the overall system are presented A letter indicates again if the requirement is considered a Key requirement K Desirable D or Optional O Appearance Sounds and Voice Position in the home environment Hardware Configuration 3 a 1 nice to see aspect D 3 b 1 no noisy engine and or unpleasant sounds K 3 c 2 operated also with reduced light conditions K 3 d 1 placed in di
54. nsors that are considered for integration in the GiraffPlus system The matching of the user requirements in terms of activities and parameters to be monitor with the respective sensors needed is presented in section 2 4 Thereafter follows Part Il describing the present Robotic Platform Giraff and an initial work on the definition of new functionalities including increased autonomous mobility and increased interaction capabilities Part Ill describes software services available and an initial assessment on how to integrate intelligent monitoring and adaptation and personalization and interaction of the system Part Ill stresses that a User Centered Design approach will be used throughout the development process In Part IV the overall conclusions are drawn Version 0 6 Final 27 05 2012 Page 5 of 46 GiraffPlus D1 2 Technological Component Specifications 1 3 Summary of user requirements from D1 1 The GiraffPlus project aims at developing a system that addresses the challenge of early detection and adaptive support to changing individual needs related to aging In order to select the most important physiological and environmental parameters to incorporate for monitoring in the GiraffPlus project a thorough investigation has been performed in Task 1 1 and described in Deliverable 1 1 User requirement and Design Principles Report This investigation comprises e a literature study on indicators for independent living e a qualitative study to ident
55. o exploited An additional key aspect to facilitate interaction between services in WP3 and WP4 is that the Person Dynamic Model uses an internal representation compatible with the one used for the context model the SAM module WP3 As a consequence it is relatively easy to exchange data to create different services synchronized at knowledge level The dynamic context module is also responsible for accepting new information and new constraints from the secondary users that contribute additional information and set constraints to be monitored on the Person Dynamic Model representation 5 Part IV Overall Conclusions Within this deliverable an assessment of suitable technological components to be integrated with the GiraffPlus project has been performed based on the results from Tasks 1 1 and 1 2 and reported in Deliverable 1 1 the User Requirements and Design Principles Report Further the needs of increased autonomous mobility increased interaction capabilities and high level reasoning of the system have been considered To fulfil the overall goal of the GiraffPlus project to develop a system that addresses the challenge of early detection and adaptive support to changing individual needs related to aging a set of sensors that can be used in the project have been outlined and matched with the user requirements section 2 4 Most of these parameters can be monitored by technology supplied by partner companies within the GiraffPlus project
56. of time Given the above specifications both IVS and PerS will be provided to secondary users and will access the context database remotely This implies that the software should be running on secondary users computers Therefore the software should be platform independent as well as endowed with a suitable security protocol for data transfer and storage communications In order to implement the IVS and PerS system modules a timeline based reasoning environment will be exploited Namely the J TRE Java Timeline Representation Environment 29 will constitute the core software module of the interaction and personalization services The J TRE is implemented in Java a programming language that ensures cross platform feature and strong software portability This results from the use of the Java Runtime Environment The JRE allows Version 0 6 Final 27 05 2012 Page 39 of 46 GiraffPlus D1 2 Technological Component Specifications running software on quite different computer configurations and supports 32 bits and 64 bits processors architectures The J TRE software platform has its own graphical interface that requires the JavaFX libraries http www javafx com later than version 2 The presence of graphical hardware endowed with the new Prism pipeline a wide range of Graphic Processing Units GPUs currently available on the market allows the use of an accelerated Graphical interface If not supported standard graphical modalities can be als
57. onitoring body Thermometer temperature 1 a 6 Monitoring body Weight scale Also estimates weight the body water and fat percentage Can be useful in monitoring patient s nutrition status and heart failure 1 a 10 Monitoring sleep activity Vivago Active Wellness Clock Wrist worn system that monitors sleep pattern Zeo sleep manager Wireless headband a bedside display a set of online analytical tool Fitbit system measures physical activity calculates the energy consumption and presents the sleeping pattern GeneActiv measures daily physical activity body position and sleeping pattern 1 c 5 Detecting changes of habit FAST Passive InfraRed motion detector Door usage Bed Chair Occupancy Sensor Electrical Usage Sensor 2 a 4 Detecting lights status Photo detectors common available Table 12 Matching optional services parameters and sensors Version 0 6 Final 27 05 2012 Page 24 of 46 GiraffPlus D1 2 Technological Component Specifications 2 5 Integrating ZigBee Sensor Networks In this section we consider a possible solution to create a sensor network that is using ZigBee technology The project is open also to other solutions like Bluetooth However we describe in details in this document just the ZigBee solution as it is less commonly used and less know in the consortium In the recent past a consortium of major industries interested in Wireless
58. or this fire detector addition to Tunstall s solution Gas shut off sensors also automatically cuts valve commonly available off the gas supply Natural gas consumer products to an appliance detector on the market when a leak is Smoke detector detected wireless Heat Detector Heat Detector provides Temperature additional extremes sensor protection against the risk of fires in rooms where smoke detectors are unsuitable e g kitchen Temperature extremes sensor Helps minimise the risks associated with changes in temperature including the build up of heat ina kitchen and the risk of sustained periods of cold weather 2 a 2 Detecting misplaced objects inside the house Could be detected by video cameras Possible solution if privacy is not considered a concern 2 a 3 1 c 10 Detecting open doors Monitoring the use of refrigerator at home Door usage used in combination with the Universal Sensor to detect open or closed doors 2 a 9 Detecting taps Telecare Flood status detector 5 a 1 Reminding Medication Automatically medication dispenser dispensing medication and Version 0 6 Final 27 05 2012 Page 22 of 46 GiraffPlus D1 2 Technological Component Specifications providing audible and visual alerts to the user each time medication should be taken Table 10 Matching key services parameters and sensors Services parameters identi
59. ptation cccccccccccccsssssssceceeeceesessaececeeseesseseaeeeeeeseeesesssaeees 38 4 1 2 Services for personalization and users INtCractiON ccccccccccccssssscsceceeecesseseceseeeeseessessaeees 39 4 1 3 Interdction and persOnaliZation se eeit a e ease ee ee ee 39 5 Part IV Overall COMCIUSIONS ccccccnsensesseeserscencenscnsenseescesonsonssencessersonsenscsscessescoasenscnsenseesonss 40 Appendix A Referentes sisi ciscdec iacecdsisecceetsisasedesceucdes lacecdsiseuceet ssecssduhscansuselscacdeassiceedsiiascdudseeseededanse 42 Appendic B Equipment specification of IntelliCare s SCNSOIS sssssecsssssceccssssceccsssceccessssseceesseees 44 Version 0 6 Final 27 05 2012 Page 3 of 46 GiraffPlus D1 2 Technological Component Specifications List of Figures Figure 1 Overview of the ADLife system cccccccsessssssceceeecessessaaeseeeeecessesaaecececssesseaaseseesesseesesasaeeeeeeeseeseaaaas 11 Figure 2 Overview of the system provided by IntelliCare c cccccccsccsssssssecececeeessesseaeceeeesseesessaeeeeeeeseeseaaeas 14 Figure 3 Overview Of data transmission c ccccccccsssssssscecccecsesessnaeseceessesseseeaeseeecssessesaaaeeeesesseeseusaaeeeeseeseeseaaaas 15 Figure 4 The ZB4OSGi Software architecture cccscsssccccceeessessecececscesseseaaeseeecsseeseseaeeeeeesseeseceaeeeeeeeseuseaaeas 26 Figure 5 Integrating different sensor NETWOFKS ccccccccccscssssssseesecececessesnsaeceeecscees
60. resence experience Version 0 6 Final 27 05 2012 Page 37 of 46 GiraffPlus D1 2 Technological Component Specifications e Social Richness a measure of how much the tele presence tool enhances sociality Then the concepts mentioned above should be carefully assessed while evaluating the possible prototype of alternative tangible interfaces implemented to control the Giraff robot According to the results of that activity also the impact on both the business model and the standardization task should be carefully evaluated in Work package 8 4 Part Ill Software Services This section shortly introduces the software services that will be produced within work packages 3 and 4 They will play a role of added value services that act on top of the basic services for sensing and actuating in the home environment 4 1 Services specifications These services are developed on top of the basic data gathering of the home sensors and relay on high level reasoning to improve understanding of the activities performed in the home and configure the sensor network In addition they also provide visualization of the information and personalization of the interface In the following we briefly consider the technical requirements for these components of the system 4 1 1 Intelligent monitoring and adaptation The software for intelligent monitoring and adaptation will be written in Java which implies great flexibility regarding on what platform it is bei
61. retty small object As such devices rely on mobile Internet connection the available bandwidth may represent a critical issue In fact controlling the Giraff requires a real time control of the robot as well as a high quality video call service Conclusions If the development of alternative interfaces is prioritized in the project then an investigation need to be made if the Giraff robot can support such development If this is the case in Work package 4 a dedicated activity can be dedicated to further investigate the above mentioned possibilities in order to i assess the technical issues related in using such devices ii implement a prototype service that can be provided to secondary users in a real test site and iii evaluate the associated engagement and the usefulness perceived by the users The latter aspect can be considered also in Work package 6 activities In this regard in 27 28 authors discuss tele presence as a multi dimensional concept constituted by several dimensions and we find as essential 4 of them in order to assess a tele presence tool like the Giraff robot e Spatial Presence the spatial perception of a remote environment as the actual environment in which the user feels his her presence e Social Presence the illusion of non mediation against the awareness of the user of communicating through a tool during the tele presence experience e Engagement the cognitive involvement degree of the user during the tele p
62. rookshire J Jay T Jenkins O C Geyer C 2011 Comparing Headsup Hands free Operation of Ground Robots to Teleoperation In proceedings of Robotics Science and Systems 2011 27 Lombard M Ditton T 2004 A literature based presence measurement instrument The Temple Presence Inventory The seventh annual international workshop on presence PRESENCE 2004 28 M Lombard and T Weinstein Measuring Presence The Temple Presence Inventory In Proc of Intl Wksp On Presence 2009 29 R De Benedictis and A Cesta New Reasoning for Timeline Based Planning An Introduction to J TRE and its Features ICAART 2012 Proceedings of the 4th Int Conf on Agents and Artificial Intelligence Volume 1 pp 144 153 2012 30 P Baronti P Pillai V Chook S Chessa A Gotta and Y F Hu Wireless Sensor Networks a Survey on the State of the Art and the 802 15 4 and ZigBee Standards In Computer Communications 30 7 1655 1695 2007 31 Fides Valero A Freddi M Furfari F Tazari M The PERSONA framework for supporting context awareness in open distributed systems In Lecture Notes in Computer Science vol 5355 Springer 2008 pp 91 108 32 OSGi Service Platform Release 4 Version 4 1 May 2007 33 Universal Plug and Play UPnP Device Architecture Reference Specification Version 1 0 Microsoft Corporation June 2000 Version 0 6 Final 27 05 2012 Page 43 of 46 GiraffPlus Appendix B Equipment specification of Inte
63. sensor alerts when pressure is sensed The reported state is pressure sensed on and pressure not sensed off This combined with a PIR can create more complicated reporting like bed sensor turns off room PIR turns on bathroom PIR turns on delay of 60 seconds bathroom PIR turns on room PIR turns on bed sensor turns on for a bathroom visit at night Only the change of state is reported in the apartment it is up to the server or the reviewer to interpret the data The radio used is the Universal Sensor so battery is not an issue Because they are pressure activated the bed sensor is expected to last 12 months of regular use and the chair is expected to last 12 months e Door usage Universal Sensor is a universal receiver that can be used to perform several tasks As described above it is used as the controller for radio communications between less advanced sensors and the social alarm The Universal sensor can also be used with other passive sensors to monitor door in cases where the door is normally open as well as normally closed For example it can monitor a refrigerator where the door is typically closed or an internal door like a bedroom door where it is typically open The Universal sensor uses 869MHz with the Tunstall proprietary protocol The battery life is 2 years Version 0 6 Final 27 05 2012 Page 10 of 46 GiraffPlus D1 2 Technological Component Specifications ADLife How Does it Work Atapre programmed tim
64. th a compatible ZigBee Network Interface e Javad e OSGi compliant framework e Operating System supporting the RXTX library this library enables the Java interaction with serial port These requirements can be easily satisfied by any desktop PC or laptop with a compatible ZigBee dongle plugged but in a smart environment where a lot of devices are deployed as edge node and where the collection of the data and the interaction with the system must be as transparent as possible to the end user the presence of a small powerful and low power gateway become Version 0 6 Final 27 05 2012 Page 27 of 46 GiraffPlus D1 2 Technological Component Specifications crucial In this scenario two example configurations are detailed that reflect this non functional requirement a Plug Computer with a compatible ZigBee dongle plugged and a M2M Machine to Machine device with a built in ZigBee SOC GuruPlug Server Standard CC2531 e Marvell Kirkwood 6281 1 2GHz e 512MB 16bit DDR2 RAM 800MHz e 512MB NAND Flash e Wi Fi 802 11 b g e Bluetooth e 1 Gigabit Ethernet Port e 2 USB 2 0 ports e U SNAP I O e Texas Instruments CC2531 USB Dongle e 2 6 32 Linux Kernel Indicative costs 100 50 80 for the dongle http www globalscaletechnologies com Kontron M2M Smart Services Developer Kit e Intel Atom processor E640T 1 GHz Intel Platform Controller Hub EG20T e 1GBDDR2 e Internal Data Storage capacity 4 GB via internal MicroSD card e Wi
65. the Treatment of Balance Problems in an Elderly Patient with Stroke A Case Report Riki Brown HS Arie Burstin International Journal of Rehabilitation Research 2009 32 109 10 20 Enhanced Feedback in Balance Rehabilitation using the Nintendo Wii Balance Board Kennedy M W JPS Crowell C R Villano M Striegel A D Kuitse J editor 2011 IEEE 13th International Conference on e Health Networking Applications and Services 2011 21 The effects of Nintendo Wii fit training on gait speed balance function mobility and depression in one persons with Parkinson s disease Zettergren K Antunes M Lavallee C Medical and Health Science Journal 2011 9 18 24 22 Is the Nintendo Wii Fit really acceptable to older people A discrete choice experiment Laver K Ratcliffe J George S Burgess L Crotty M BMC geriatrics 2011 11 64 Version 0 6 Final 27 05 2012 Page 42 of 46 GiraffPlus D1 2 Technological Component Specifications 23 Stroke Therapy through Motion Based Games A Case Study Alankus G RP Kelleher C Engsberg J ACM Transactions on Accessible Computing 2011 4 1 3 1 3 35 24 http www tunstall co uk Products and services Telecare solutions Individual homes Telecare sensors Accessed March 19 2012 25 Duran L Fernandez Carmona M Urdiales C Peula J M Sandoval F 2009 Conventional Joystick vs Wiimote for Holonomic Wheelchair Control Lecture Notes in Computer Science Volume 5517 pp 1153 1160 26 M Marge Powers A B
66. tifies of the user which is about to use the device Its function is to authenticate the user which will be evaluated and inform him that the measurement was entered correctly in the system Version 0 6 Final 27 05 2012 Page 13 of 46 GiraffPlus D1 2 Technological Component Specifications It has four buttons which allows the use of the system by up to four different users Each patient person has its own color coded button After each assessment data is sent to the gateway via Bluetooth The data is then encrypted transmitted to a server and stored in a database The server which receives the data keeps it available for consultation via web page by the care giver responsible for monitoring and evaluating the user All the data sent and stored in the server is encrypted with secure and reliable encryption codes A web Portal is used by the healthcare givers to remotely monitor their patients It shows to the doctor all his patients measurements via graphs tables and using a calendar This remote monitoring can be also made by the person himself or close family The software is a web application that can be accessed at any place where there is an Internet connection There are different permission levels for the users taking in consideration if the data is seen by system administrators doctors or simply the user itself Both can coexist and see the data This means that the patient can monitor himself see the data set alarms and also can be follo
67. tion Weight scale can be useful to monitor the weight of people with heart failure 1 a 3 Monitoring blood pressure Blood pressure monitor Blood pressure monitor wrist measurements available from Omron clinically evaluated 1 a 4 Monitoring blood glucose levels Glucose meter Continuous monitoring of available from Medtronic glucose level system Continuous monitoring of glucose could be useful if a person has difficulties in regulating his her glucose level by intermittent measurements 1 a 5 Monitoring Pulse oximeter WristOx2 Model Can also detect oxygen saturation 3150 Wrist worn vital signs levels Pulse Oximeter available from Nonin 1 c 1 1 2 1 c 3 1 c 12 1 c 4 1 c 9 FAST Passive InfraRed motion IDEEA analyses movements of Detecting the position detector various body parts Monitoring the Door usage Fitbit system movement measures physical Detecting the absence activity calculates of movement the energy Detecting decline in consumption and mobility presents the sleeping Version 0 6 Final 27 05 2012 Page 20 of 46 GiraffPlus D1 2 Technological Component Specifications Temporal monitoring of the position Monitoring the time spent in different home places pattern GeneActiv measures daily physical activity body position and sleeping pattern ActivePal from PAL technologies includes inclinometer and tri ax
68. use of such kind of device still requires the presence of a computer on the remote user side and performing some gestures can be tracked only when the user holds the remote controller In addition the user has to stand in front of the computer moving his her arms but maintaining a frontal position with respect to the computer Microsoft Kinect The main advantage in using the Microsoft Kinect is that the user is not requested to hold any device Then the above cited barriers disappear and the control from the user may result as more natural In fact even though a set of suitable gestures still has to be defined the user may use his her body in order to control the robot Nevertheless again the user has to stand in front of the computer moving his her arms maintaining a frontal position with respect to the computer So the physical relation between the user and his her computer still is there Smartphones with accelerometers Nowadays people are used to have smartphones and use them in multiple ways Then such devices result as the use of well known tools for a wide number of potential users Moreover holding the smartphone with the both hands and moving it in several directions can constitute a sort of virtual window that provides an access to the remote environment In addition smartphones are endowed with videoconference capabilities and thus they allow having all the functionalities required to perform a call through the Giraff robot in a p
69. wed by his doctor The alarms are simple maximum and minimum thresholds for measurement controls The system sends alarms in risky situations and deviations from patterns are notified to healthcare provider Alarms in addition to being displayed in the Web portal can be sent by SMS or email to the healthcare provider Alarm settings which may include various levels are defined by the caregiver for each user individually Remote control W it has four buttons allowing the system to be used up to four users Figure 2 Overview of the system provided by Intellicare 2 2 2 1 Communication and data storage The remote communications used in the Look4MyHealth system are known technologies very well integrated in daily life The Gateway can use GPRS 3G and Ethernet to send the data to the server GPRS and 3G are achieved by using a SIM card in the Gateway simulating mobile phone communication This adds a cost to the solution but it is very well accepted by the elderly and Version 0 6 Final 27 05 2012 Page 14 of 46 GiraffPlus D1 2 Technological Component Specifications remote community where many families do not have Internet at home If there is an Internet provider already the Ethernet solution is a simpler and less expensive choice It works by connecting an Ethernet wire to the gateway or simply by configuring the Wi Fi option in the gateway The wireless communication used between sensors and gateway in the look4MyHealth kit is a
70. wide numbers of work presented the assessment and exploitation of such tools 25 26 sharing the objective of minimizing the cognitive load required by the user during the tele presence experience In fact lowering such burden enhance the quality of the interaction Then a set of suitable devices for implementing alternative tangible interfaces has been identified Namely the Nintendo Wii remote controller the Microsoft Kinect and smartphones equipped with accelerometers Potentially such devices allow to implement tangible interfaces that may allow the user to control the robot performing some gestures instead of using a mouse and a keyboards and then having a more natural and immersive interaction N gt N 8 ra Guwanona ni r z z z z z ri 4 N amp Figure 11 Interaction with the Giraff platform Each device introduces both positive and negative aspects that can be quickly stated as follows Version 0 6 Final 27 05 2012 Page 36 of 46 GiraffPlus D1 2 Technological Component Specifications Wii Remote Controller The use of this controller allows the user to perform simple arm gestures in order to control the robot Basically given a mapping between gestures and robot movements a client software is needed in order to track and detect the gestures and then to translate the gestures in robot movements A suitable set of gestures is to be identified in order to implement a natural control The

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