Updated onderzoek-voorbeeld.md and motion-tracking-system-analysis.md
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Luca Warmenhoven
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@@ -6,4 +6,43 @@ For our project, we want our users to be able to see the movement they're making
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see whether they're executing the fitness task correctly. For a tracking system as such, we'll need to use quite
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some mathematics.
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Our current approach is defining
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Our current approach is defining the required path by a set of vertices; points in 3d space.
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These points define along which path the user has to move their limbs to, depending on what the activity is
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and where they've placed the tracking devices.
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A path can look like the following
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<img height="128" src="../assets/motion-path-example-vertices.png" width="128"/>
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To be able to measure the position of our tracking device, we'll have to use sensors that allow us
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to retrieve useful information that can provide us with either position or velocity. The device will have
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to be calibrated initially, of course, due to position being relative.
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To acquire our measurements, we've chosen for the following configuration for the tracking device:
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- ESP8266 (Wi-Fi only)
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- Accelerometer / Gyroscope combination (BNO085)
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We've chosen for this configuration due to the fact that it delivers all of our needs, with the smallest form factor,
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whilst also delivering quality measurements.
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This sadly does come at the cost that the ESP8266 does not have a dedicated Bluetooth chip, therefore making
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connectivity to our robot a little more complicated.
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The calculations behind the tracking system will be done in the following steps:
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1. Acquire calibration point (zero point)
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2. Convert relative acceleration and rotation to position, relative to the calibration point
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3. Generate a path object that can be compared to the correct one
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4. Calculate the difference of the path at every measurement sample
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At first, to get the calibration point, the user will have to stand still for a moment without moving.
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This can be sensed by the device, which will then be sent to the Pepper robot.
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We've decided to send this data using Wi-Fi using a HTTP WebSocket connection, due to the fact that our
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ESP8266 does not have a Bluetooth chip present, and due to the fact that a WebSocket connection allows us
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for a both fast and secure data transfer.
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Second, to convert our relative acceleration rotation to a useful position, we'll have to first convert the
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acceleration vector `A(x, y, z)` and rotation vector `R(x, y, z)` to an acceleration vector that is
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perpendicular to the normal vector of the earth. This is because the acceleration vector of the device
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is relative to its own axes, and not to the earth's normal vector.
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To convert this, we'll have to multiply the acceleration vector `A(x, y, z)` by the rotation matrix
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@@ -30,13 +30,17 @@ naar wat voor factoren er meespelen in de levens van de ouderen die hieraan kunn
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dat hoewel het persoon omringt kan zijn met mensen, hij/zij nog steeds gevoelens van eenzaamheid kan ervaren. De oorzaak van emotionele eenzaamheid verschilt
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per persoon, en valt niet zo gemakkelijk te verklaren, als te verhelpen. Bij fysieke eenzaamheid is het echter makkelijker om te zien waar het vandaan komt.
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Hierbij kunnen er andere omgevingsfactoren meespelen die ervoor zorgen dat het persoon zich eenzaam voelt,
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denk hierbij aan het verlies van een partner of vrienden, familieproblematiek of acute verandering van levensstijl. ([1. SCP 2018](#bronnen)).
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denk hierbij aan het verlies van een partner of vrienden, familieproblematiek of acute verandering van levensstijl ([1. SCP 2018](#bronnen)).
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Door dit soort veranderingen kan het zijn dat het persoon in een depressie raakt, wat er weer voor kan zorgen dat het persoon zich eenzaam voelt,
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en dat het persoon zich nog meer terugtrekt van de buitenwereld. Dit is een vicieuze cirkel die moeilijk te doorbreken is.
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Daarom is het belangrijk om te kijken of er ook methoden zijn om hierbij te helpen, zowel binnen als buitenhuis.
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Doordat robots de laatste decennia steeds geavanceerder zijn geworden, is het mogelijk om te overwegen deze toe te passen
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in de ouderenzorg om te helpen bij het eenzaamheidsprobleem.
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in de ouderenzorg om te helpen bij het eenzaamheidsprobleem. Robots worden de afgelopen jaren al steeds meer ingezet om ouderen te helpen
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bij bepaalde dagelijkse problemen, zoals het wassen van ouderen in het bad, of het helpen bij eten consumeren ([3. University of Japan, 2017](#bronnen)).
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Door de verbeteringen van technologie over de afgelopen jaren heeft K.I. ook een drastische verbetering ondergaan. Hierdoor valt er te overwegen
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om deze toe te passen om te helpen met het eenzaamheidsprobleem bij ouderen.
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### Op welke manier kunnen we kunstmatige intelligentie inzetten om eenzaamheid onder ouderen te bestrijden?
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