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courses:446:2013:446-2013-07:446-2013-07 [2013/03/12 11:22]
ksarnle1@johnshopkins.edu [Reports and presentations]
courses:446:2013:446-2013-07:446-2013-07 [2019/08/07 12:01] (current)
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 ======Gesture Controls for Raven Robot====== ======Gesture Controls for Raven Robot======
-**Last updated: Feb 19, 12:30pm** 
- 
  
 ======Summary====== ======Summary======
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   * **Students:​** Kristine Sarnlertsophon,​ Alan Chancellor   * **Students:​** Kristine Sarnlertsophon,​ Alan Chancellor
   * **Mentor(s):​** Kelleher Guerin, Anton Deguet   * **Mentor(s):​** Kelleher Guerin, Anton Deguet
- 
-(more to come: pictures and biographies?​) 
 ======Background,​ Specific Aims, and Significance====== ======Background,​ Specific Aims, and Significance======
 The Raven Robot is a surgical robot with open-source software, created by the University of Washington in Seattle. It has been sent to research labs across the country as a platform for researchers to experiment with surgical robots. We aim to increase its usability by integrating the CISST libraries and a gesture control input; in doing so, we will create interfaces for: The Raven Robot is a surgical robot with open-source software, created by the University of Washington in Seattle. It has been sent to research labs across the country as a platform for researchers to experiment with surgical robots. We aim to increase its usability by integrating the CISST libraries and a gesture control input; in doing so, we will create interfaces for:
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 ======Deliverables====== ======Deliverables======
    
-  * **Minimum:​** ​(Expected by April 19)+  * **Minimum:​** ​COMPLETE
     - SAW Wrapper for 3Gear + documentation     - SAW Wrapper for 3Gear + documentation
     - CISST to ROS interface + documentation     - CISST to ROS interface + documentation
-    - Simple frames moving in Gazebo ​(demonstration)+    - Simple frames moving in rviz(demonstration)
  
-  * **Expected:​** (Expected by April 26)+  * **Expected:​** (Expected by May 9)
     - 3Gear to CISST interface + documentation     - 3Gear to CISST interface + documentation
     - CISST to ROS interface + documentation     - CISST to ROS interface + documentation
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     - Show control of Raven Simulator using gestures (demonstration)     - Show control of Raven Simulator using gestures (demonstration)
  
-  * **Maximum:​** (Expected by May 3)+  * **Maximum:​** (No longer expected)
     - ROS to Raven robot interface (all libraries + documentation)     - ROS to Raven robot interface (all libraries + documentation)
     - Show control of Raven Robot using gestures (demonstration)     - Show control of Raven Robot using gestures (demonstration)
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 Resolution Plan: Kell finds us a Linux machine to work with\\ Resolution Plan: Kell finds us a Linux machine to work with\\
 Resolve by: February 22\\ Resolve by: February 22\\
-Resolved: ​Nobut working on virtual machine for now.\\+Resolved: ​YES, working on virtual machine for now.\\
 Fallback plan: Work on a virtual machine or on our laptops\\ Fallback plan: Work on a virtual machine or on our laptops\\
  
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 Resolution Plan: Meet with Kell and Anton to review and approve software plan\\ Resolution Plan: Meet with Kell and Anton to review and approve software plan\\
 Resolve by: March 6\\ Resolve by: March 6\\
-Resolved: ​No\\+Resolved: ​YES\\
 Fallback plan: Meet with Prof. Taylor to review software (will likely cause delay)\\ Fallback plan: Meet with Prof. Taylor to review software (will likely cause delay)\\
  
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 **Networking between 3Gear (Windows) machine and ROS/Raven (Linux) Machine**\\ **Networking between 3Gear (Windows) machine and ROS/Raven (Linux) Machine**\\
 Resolution Plan: Ask mentors for help\\ Resolution Plan: Ask mentors for help\\
-Resolve by: March 25\\ +Resolve by: <del>March 25</​del>​ April 10\\ 
-Resolved: ​No\\+Resolved: ​YES\\
 Fallback plan: Learn to network computers?​\\ Fallback plan: Learn to network computers?​\\
  
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 Resolution Plan: These should be available through the Raven community\\ Resolution Plan: These should be available through the Raven community\\
 Resolve by: March 15\\ Resolve by: March 15\\
-Resolved: ​No\\+Resolved: ​YES\\
 Fallback plan: Contact other research groups/​universities for access to their Raven Simulator, or use the Gazebo simulator\\ Fallback plan: Contact other research groups/​universities for access to their Raven Simulator, or use the Gazebo simulator\\
  
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 Resolution Plan: Ask Kell for access\\ Resolution Plan: Ask Kell for access\\
 Resolve by: April 15\\ Resolve by: April 15\\
-Resolved: ​No\\+Resolved: ​YES\\
 Fallback plan: Maximum Deliverable is not achieved.\\ Fallback plan: Maximum Deliverable is not achieved.\\
 +
 +**Build cisstRos**\\
 +Resolution Plan: Ask mentors for help\\
 +Resolve by: April 3\\
 +Resolved: YES\\
 +Fallback plan: None, critical.\\
 +
 +**Install ICE on computers to be used**\\
 +Resolution Plan: Ask Kel (who has admin access to the computer\\
 +Resolve by: April 10\\
 +Resolved: YES\\
 +Fallback plan: None, critical\\
 +
 +**Learn how the Raven is controlled**\\
 +Resolution Plan: Ask Kel to assist\\
 +Resolve by: April 3\\
 +Resolved: NO\\
 +Fallback plan: None, affects maximum and expected deliverables.\\
 ======Milestones and Status ====== ======Milestones and Status ======
   - Milestone name:  Design Specifications   - Milestone name:  Design Specifications
     * Planned Date: March 11     * Planned Date: March 11
     * Expected Date: March 11     * Expected Date: March 11
-    * Status: ​In Progress+    * Status: ​Complete
   - Milestone name:  3Gear to CISST code + documentation   - Milestone name:  3Gear to CISST code + documentation
-    * Planned Date: April 1 +    * Planned Date: April 15 
-    * Expected Date: April 1 +    * Expected Date: April 26 
-    * Status: ​In Progress+    * Status: ​Complete
   - Milestone name:  CISST to ROS code + documentation   - Milestone name:  CISST to ROS code + documentation
     * Planned Date: April 1     * Planned Date: April 1
-    * Expected Date: April 1+    * Expected Date: May 3
     * Status: In Progress     * Status: In Progress
   - Milestone name:  ROS to Raven Simulator code + documentation   - Milestone name:  ROS to Raven Simulator code + documentation
     * Planned Date: April 19     * Planned Date: April 19
-    * Expected Date: April 19 +    * Expected Date: April 26 
-    * Status: ​Planned+    * Status: ​In Progress
   - Milestone name:  3Gear to Raven Simulator Demonstration   - Milestone name:  3Gear to Raven Simulator Demonstration
     * Planned Date: April 26     * Planned Date: April 26
-    * Expected Date: April 26+    * Expected Date: May 6
     * Status: Planned     * Status: Planned
   - Milestone name:  ROS to Raven Robot code + documentation   - Milestone name:  ROS to Raven Robot code + documentation
     * Planned Date: April 29     * Planned Date: April 29
-    * Expected Date: April 29 +    * Expected Date: No longer expected 
-    * Status: ​Planned+    * Status: ​N/A
   - Milestone name:  3Gear to Raven Simulator Demonstration   - Milestone name:  3Gear to Raven Simulator Demonstration
     * Planned Date: May 3     * Planned Date: May 3
-    * Expected Date: May 3+    * Expected Date: May 6
     * Status: Planned     * Status: Planned
 ======Reports and presentations====== ======Reports and presentations======
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     * [[https://​docs.google.com/​document/​d/​1cs2IsDgY6O-X6Fb56LgBkgLY4QU4sed2y4H3x5Ch4LA/​pub|Project plan proposal]] {{:​courses:​446:​2013:​446-2013-07:​projectplanproposaldoc.pdf| PDF}}(updated Feb 26)     * [[https://​docs.google.com/​document/​d/​1cs2IsDgY6O-X6Fb56LgBkgLY4QU4sed2y4H3x5Ch4LA/​pub|Project plan proposal]] {{:​courses:​446:​2013:​446-2013-07:​projectplanproposaldoc.pdf| PDF}}(updated Feb 26)
   * Project Background Reading ​   * Project Background Reading ​
 +    * See Seminar Papers and Project bibliography
 +  * Project Checkpoint
 +    * {{:​courses:​446:​2013:​446-2013-07:​checkpoint_presentation.pdf|Project checkpoint presentation}}
 +    * {{:​courses:​446:​2013:​446-2013-07:​checkpoint_ii_presentation.pdf|Checkpoint II}}
 +  * Paper Seminar Presentations
 +    * {{:​courses:​446:​2013:​446-2013-07:​cis2seminarpaper.pdf|Alan'​s Seminar Report}}
     * {{:​courses:​446:​2013:​446-2013-07:​implementation_and_evaluation_of_a_gesture-based_input_method_in_robotic_surgery.pdf|Gesture-Based Input Method (Original Paper)}} presented by Kristine Sarnlertsophon March 12     * {{:​courses:​446:​2013:​446-2013-07:​implementation_and_evaluation_of_a_gesture-based_input_method_in_robotic_surgery.pdf|Gesture-Based Input Method (Original Paper)}} presented by Kristine Sarnlertsophon March 12
     * {{:​courses:​446:​2013:​446-2013-07:​seminar_paper.pdf|Seminar Paper for Gesture-Based Input Method}}     * {{:​courses:​446:​2013:​446-2013-07:​seminar_paper.pdf|Seminar Paper for Gesture-Based Input Method}}
     * {{:​courses:​446:​2013:​446-2013-07:​seminar_presentation_-_kristine.pdf|Seminar Presentation for Gesture-Based Input Method}}     * {{:​courses:​446:​2013:​446-2013-07:​seminar_presentation_-_kristine.pdf|Seminar Presentation for Gesture-Based Input Method}}
-  * Project Checkpoint 
-    * {{:​courses:​446:​2013:​446-2013-X:​checkpoint_presetation.pdf| Project checkpoint presentation}} 
-  * Paper Seminar Presentations 
-    * here provide links to all seminar presentations 
   * Project Final Presentation   * Project Final Presentation
-    * {{:​courses:​446:​2013:​446-2013-X:final_poster_pdf.pdf|PDF of Poster}}+    * {{:​courses:​446:​2013:​446-2013-07:projectposter.pdf|PDF of Poster}}
   * Project Final Report   * Project Final Report
-    * {{:​courses:​446:​2013:​446-2013-X:final_report.pdf|Final Report}} +    * {{:​courses:​446:​2013:​446-2013-07:finalreport.pdf|Final Report}} 
-    * links to any appendices or other material+    * {{:​courses:​446:​2013:​446-2013-07:​usersmanualandinstallationguide.pdf|User'​s Manual and Installation Guide}}
 ======Project Bibliography======= ======Project Bibliography=======
   * M.J.H. Lum, J. Rosen, T.S. Lendvay, M.N. Sinanan, B. Hannaford, '​Effect of Time Delay on TeleSurgical Performance,'​ IEEE International Conference on Robotics and Automation (ICRA), 2009.   * M.J.H. Lum, J. Rosen, T.S. Lendvay, M.N. Sinanan, B. Hannaford, '​Effect of Time Delay on TeleSurgical Performance,'​ IEEE International Conference on Robotics and Automation (ICRA), 2009.
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   * http://​www.ros.org/​wiki/​   * http://​www.ros.org/​wiki/​
 ======Other Resources and Project Files====== ======Other Resources and Project Files======
-Here give list of other project files (e.g., source ​code) associated with the project If these are online give a link to an appropriate external repository or to uploaded media files under this name space+Source ​code is available under the Robotorium'​s SVN: https://svn.lcsr.jhu.edu/​robotorium/​trunk/​apps/​3gear/​ 
- +A video demo of our system at workhttps://​www.dropbox.com/​s/​1i7au9m3ti63fjh/​20130513_132053.mp4
-NOTEAsk Kell where he wants us to keep repositories+
courses/446/2013/446-2013-07/446-2013-07.1363101734.txt.gz · Last modified: 2019/08/07 12:05 (external edit)




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