00:00:04.540
okay so before that works I just want to
00:00:07.700
apologize first so I might look a little
00:00:09.469
bit higher it's not because I party
00:00:11.690
through the whole night that's actually
00:00:12.859
because our flight of the wife six hours
00:00:14.539
ago and we were actually one day too
00:00:16.369
late so if I say something what doesn't
00:00:19.070
make when we tend to during the talk I
00:00:20.539
encourage you to ask questions because
00:00:22.100
it might actually be that doesn't make
00:00:23.630
sense okay we set out of the way and hi
00:00:26.840
one I'm Daniel and from the genes I'm
00:00:29.180
researching on that's the communication
00:00:30.890
automation my private time I'm working a
00:00:33.649
little bit on my team and I would like
00:00:36.409
to share a little bit about small hobby
00:00:38.359
project I have worked on a couple of
00:00:40.269
months of a couple of last month or so
00:00:44.859
when I just came here actually someone
00:00:47.600
asked me was this title if I'm going to
00:00:49.879
make fun of you beyond words or so
00:00:52.030
obviously that's not going to happen and
00:00:54.049
would be a little bit low taste and we
00:00:57.350
are really going to literally talk about
00:00:58.870
wheelchairs and how to put movie on it
00:01:00.979
and then essentially two things you
00:01:03.289
could keep in mind for the talk and I
00:01:05.720
hope in the end for the confusion if you
00:01:08.480
do not agree with me you now confront
00:01:11.630
him with some questions so the first
00:01:13.310
thing is of course why should I actually
00:01:14.750
talk about will be on wheelchair and the
00:01:18.020
second question you should keep in mind
00:01:19.460
of why should you actually care about
00:01:21.050
this topic
00:01:22.010
so as you see at the moment I can
00:01:25.190
actually work but obviously for all of
00:01:27.410
us only temporarily
00:01:29.720
so am I was not supportive some time ago
00:01:32.720
we actually rolled my ankle so I landed
00:01:37.250
up in a wheelchair for quite some while
00:01:39.620
and it was quite painful but the pain
00:01:43.100
went away it was the painting and the
00:01:46.010
doctors gave us a wheelchair and so okay
00:01:48.770
that should work so well and my wife
00:01:52.220
didn't think so because she actually
00:01:53.600
told me back all the way from the
00:01:55.520
hospital back to home and and I could
00:01:59.330
easily convince at that point to
00:02:00.800
actually stand go shopping to get
00:02:02.420
actually a better wheelchair so an
00:02:03.920
electrical one and which I bought is
00:02:07.430
just actually the lowest type can have
00:02:10.099
on an emergency switches are very
00:02:12.049
primitive they have two wheels two
00:02:13.579
motors have a big battery and a
00:02:15.049
controller
00:02:16.200
and after using it for while I was
00:02:18.030
thinking and what be cool actually to
00:02:21.030
exchange this controller was something I
00:02:22.950
have totally control of so that thing
00:02:25.230
cannot be software updated there can be
00:02:26.970
no viruses on it so it's needed me
00:02:29.910
clicking a lot of features so we can
00:02:32.099
improve on that some the first start and
00:02:35.340
we had of course to look on what we want
00:02:37.440
to do we want to control motors so
00:02:39.000
before I actually cut a part or
00:02:41.310
wheelchair I was actually making some
00:02:44.160
tests because it actually possible so
00:02:47.069
the left side is actually a DC motor
00:02:49.049
usually used for the session theme and
00:02:50.910
it actually works and then fairly easy
00:02:53.580
way so you're switching polarity from
00:02:56.040
the directions and the rest is just
00:02:57.900
power sadly I didn't have something like
00:03:00.810
that at home except for the nutria so I
00:03:02.880
played with smaller steppin steppin
00:03:05.670
water as essentially a motor where you
00:03:08.010
have called you control individually in
00:03:10.200
the direction is controlled by choosing
00:03:14.220
which coil to activate so so I made a
00:03:19.049
small little demo so I used for that
00:03:21.090
obviously I'm Ruben and I had some small
00:03:25.139
microcontroller so you cannot see motor
00:03:27.480
was mentioning small systems and to
00:03:29.880
mention something like 2 gigabyte or 512
00:03:31.980
megabytes what as a matter of fact these
00:03:34.290
devices here server something like
00:03:36.060
hundred ninety two kilobytes of RAM so I
00:03:39.030
would never work on that so MB is the
00:03:43.109
only choice to go for him and actually
00:03:45.900
implemented quite some years ago and I
00:03:48.120
are before and moving and portal also to
00:03:50.970
microcontrollers so if you're interested
00:03:52.769
about a bus actually another talk two
00:03:55.260
years ago every week I get about this
00:03:56.880
topic and so it's likely possible it's
00:04:00.120
not too difficult in the end and so I
00:04:01.889
was playing around it's very comfortable
00:04:03.959
to use be here which is actually not
00:04:06.780
normal for embedded systems so I think
00:04:08.819
many of you might do web development and
00:04:11.250
you use IRB probably all the time in
00:04:13.319
embedded system that's quite common that
00:04:15.930
you actually have the huge cross
00:04:17.459
compiling
00:04:18.539
cycle so it takes quite long to iterate
00:04:21.289
ok so I feel confident enough that I'd
00:04:25.169
say okay let's cut my wheelchair apart
00:04:27.210
and obviously a remember
00:04:28.990
I could still not what so I really had
00:04:31.060
to make that work at at this point so
00:04:34.530
the data structure I changed a little
00:04:36.759
bit so I've dropped away the whole
00:04:38.759
controller actually track in the
00:04:40.599
beginning to automate the controller but
00:04:41.919
that didn't work out so I bought a new
00:04:44.020
controller and I used on stm32 which is
00:04:47.020
a very small ARM processor so it's not
00:04:49.000
an ARM processor using your iPhone
00:04:50.949
something like an ARM Cortex and three
00:04:53.590
which is very small very cheap and very
00:04:56.139
low and power consumption I put a movie
00:04:58.900
on that one the stepping algorithm is
00:05:01.509
very similar to what I had already
00:05:03.400
implemented on the stepper and it
00:05:06.550
actually happened that it was very easy
00:05:08.740
to get started and in the end actually
00:05:10.840
you will notice that this was actually
00:05:12.280
the most easiest part of all to make at
00:05:15.910
one so obviously this is not only done
00:05:18.400
by abhi obviously I do not want to
00:05:20.229
control the wheelchair IRB so the next
00:05:23.620
thing was to dig up a proper
00:05:25.570
architecture for the wheelchair so I had
00:05:27.190
the drive system in the bottom edit of
00:05:30.039
course the second motor the second motor
00:05:31.449
controller I then decided to use a
00:05:34.449
Raspberry Pi but I also played around
00:05:37.180
with some other micro controllers and
00:05:38.830
the higher arm class and put MRI on that
00:05:41.349
one actually because it's actually
00:05:42.940
powerful enough and then I had on top of
00:05:46.509
sketch one and user interface which
00:05:48.280
actually could be used by different
00:05:50.800
devices because I didn't want to 2d
00:05:52.509
tensions on one device so it was just an
00:05:54.370
example when I'm sitting on my couch and
00:05:56.199
I'm trying to give active me and my wife
00:05:58.090
can just get out her mobile phone and
00:05:59.860
driving back home for example at the use
00:06:02.830
case so to go a little more detail for
00:06:05.289
architecture and so I have to motor
00:06:07.000
control on the very bottom I wrote a
00:06:09.520
destroyer system some kind of program
00:06:12.610
and gets maybe because of my background
00:06:14.889
in signaling system so I was a little
00:06:16.930
bit afraid what happens I have a bucket
00:06:18.969
endlessly blender which I'll just
00:06:20.380
accelerate so I honestly I over
00:06:24.099
engineered in the beginning a little bit
00:06:25.180
because I wanted to actually have an
00:06:27.310
automatic braking system if I do not get
00:06:29.380
any controls anymore you know implement
00:06:31.570
a co-driver which then talks to
00:06:33.070
something cause there to net it's
00:06:34.810
actually a very interesting so I'm not
00:06:36.460
programs of just the C program you run
00:06:39.010
on embedded devices or Linux systems
00:06:42.150
which actually met serial communication
00:06:44.310
- UDP or TCP arm sockets and that you
00:06:49.590
actually module eyes very nicely away
00:06:52.170
and the whole advice system so I could
00:06:55.320
actually start hacking in the beginning
00:06:57.450
just on my notebook in the end after the
00:06:59.520
code worked I actually dumped it on to
00:07:02.100
the west where I can then use Sinatra
00:07:05.000
because I actually is not really good at
00:07:07.590
web development service you swore to me
00:07:09.720
I wrote a small little website to
00:07:12.270
generate into the user interface and
00:07:14.100
then I actually converted by observer
00:07:17.190
script and with that overall and I could
00:07:20.250
now actually go out and divide around
00:07:22.910
that actually worked pretty well because
00:07:26.930
actually after similar days after I
00:07:29.820
finished it I was already sealed so I
00:07:31.800
could walk again so at that point then
00:07:35.420
actually the top would already be over
00:07:37.560
because after I didn't need to reach
00:07:40.290
anymore just ended up in a corner but as
00:07:42.330
a matter of fact this thing came and I
00:07:45.290
broke something again but it's a little
00:07:48.720
bit more flexible this time actually I
00:07:50.190
broke my tooth so which is a fairly more
00:07:55.890
painful than actually the ankle so
00:07:58.580
luckily again the doctors gave me some
00:08:01.710
nails and painkillers and with the
00:08:03.780
painkillers and action I had to - Wong
00:08:07.050
know have my own future that's not a
00:08:08.580
problem at all gonna have anything to
00:08:10.560
worry but as a matter of fact now I
00:08:13.980
actually depend on this thing it turns
00:08:16.470
out if you actually have a lot of
00:08:17.460
problems with something you just make
00:08:19.410
for fun and then something actually
00:08:21.000
depend on it so I could not just walk
00:08:23.490
away after my Ruby program crashed so
00:08:26.550
there were several issues I just
00:08:28.560
mentioned forum so for example usually a
00:08:31.800
touch interface to control actuators of
00:08:33.960
a pretty stupid idea and it's fairly
00:08:36.390
unsophisticated of control then the
00:08:44.010
wireless interface actually infer
00:08:46.080
it's in stable sometimes sometimes the
00:08:49.020
bill just started to drive and
00:08:50.280
architecture not stop
00:08:52.320
another thing what I didn't consider
00:08:54.089
actually that the way I control the DC
00:08:57.209
motors actually worked and giving us no
00:08:59.910
constant power and that actually depends
00:09:02.639
if the grant of speed or not steep is
00:09:04.980
not falling down so that which actually
00:09:07.320
doesn't have a constant speed some issue
00:09:09.600
and the thing I want to go more into
00:09:11.220
detail is actually the question how far
00:09:13.649
can actually survive so maybe some of
00:09:15.509
you have heared about us you were saying
00:09:18.149
like electrical cars and the concept of
00:09:20.339
range anxiety so if you ever come and
00:09:23.310
you're actually afraid can actually the
00:09:25.709
battery lasts until the hormone until
00:09:27.449
the next power source actually has the
00:09:28.829
same with a wheelchair so how to look at
00:09:33.360
that one well I was thinking researchers
00:09:36.569
have a better indicator sort nothing to
00:09:38.850
do for me so where's a bit early
00:09:40.529
indicator of my wheelchair well it is
00:09:44.160
there and you have a problem here as you
00:09:46.800
might now remember I actually made some
00:09:51.620
decisions to actually remove that stuff
00:09:54.000
so at that point I could of course
00:09:56.100
admitted that well maybe it was pretty
00:09:58.410
smart idea and the guys who designed it
00:09:59.850
which I had actually always thought
00:10:01.529
about all those things and I could just
00:10:02.880
reconnected but let's not admit a
00:10:05.910
mistake let's just build my own battery
00:10:08.399
indicator so all of that works of
00:10:12.000
everything as simple don't go into
00:10:13.889
electrical details iam there's just one
00:10:16.709
problem the better we have 24 volt and
00:10:18.720
you can actually indicate a load of a
00:10:21.240
better way by looking at the watch and
00:10:23.339
the water to swap if it gets some load
00:10:26.190
on it the problem is with angle B and
00:10:28.829
the ARM processor I'm using I can only
00:10:30.839
indicate vo to 3.3 volts so what you are
00:10:34.079
usually doing then is to implement
00:10:35.399
something called the voltage table item
00:10:36.959
the very simple circuit which
00:10:38.970
essentially just Maps the 0.3 board on
00:10:42.079
0.2
00:10:43.380
2.8 maybe depends on the roster you use
00:10:45.899
to the 24 Ward you have a curve and
00:10:50.100
curve will be lynnium if all components
00:10:52.380
are proper but how the curve looks is
00:10:54.689
actually probably someone who knows we
00:10:58.050
deep into electrical engineering could
00:11:00.660
actually mathematically calculated
00:11:02.670
easily
00:11:03.610
I'm not that kind of guy so I
00:11:04.839
experimentally actually an otherwise
00:11:07.000
that so what I used years again of
00:11:09.760
course would be and again it's very
00:11:12.279
beneficial to have an IRB running on the
00:11:14.350
microcontroller because you can just run
00:11:17.860
your averaging I'll go button you can
00:11:20.050
switch it together with a programmable
00:11:21.519
power supply you can set a voltage then
00:11:24.040
measure then get the approximate value
00:11:27.670
put it into a list and then actually
00:11:30.339
develop a formula for that from them
00:11:32.649
it's straight forward so you now device
00:11:37.510
the way to get actually the absolute
00:11:39.790
voltage LED end just very very simple
00:11:42.100
would be an effort to actually get the
00:11:46.450
relations between 0.3 to 0.25 in the end
00:11:51.160
again to check if that actually works
00:11:54.519
I used again the Amaya beam so I use
00:11:57.670
this programmable whole supply it
00:11:59.200
doesn't matter the better we would be
00:12:01.390
the same and I can change the voltage
00:12:05.290
and I can indicate it and of course I
00:12:09.190
usually we ended up in a pure movie I
00:12:11.199
can also use all kinds of Ruby code
00:12:13.959
which has a lot by M movie so that I can
00:12:19.300
also check down when we clean system
00:12:21.600
ok so with that one problem left then
00:12:27.790
there is a lot of other issues I had but
00:12:30.010
just to mention some for the touch
00:12:31.959
interface I went to a game pad it seems
00:12:34.779
to be a little bit more optimized for a
00:12:37.930
redundant scene I actually used an edge
00:12:40.120
e modem so you can actually use two LTE
00:12:42.910
modems and you made a peer-to-peer
00:12:45.010
connection you actually short circuiting
00:12:47.290
the routing so you actually only go over
00:12:49.540
the base station the EPC
00:12:51.100
of the provide networking the latency is
00:12:52.899
quite low so they actually work quite
00:12:54.579
well and for the steepness actually
00:12:56.620
worked on an automated which actually
00:12:58.390
counts how much do we is actually
00:13:00.310
turning it is that I can estimate the
00:13:02.890
speed and was that I actually became not
00:13:05.320
only comfortable of transporting myself
00:13:06.850
actually to with the wheelchair but um
00:13:12.740
oh it doesn't flame the process okay and
00:13:18.970
yeah as long as you say just now you see
00:13:21.800
this turbulence was some so I could not
00:13:26.779
only control to myself I could also
00:13:28.250
transport other things like here for
00:13:29.630
example my iPad or some coke or I could
00:13:31.910
change my son now all usual things you
00:13:36.560
would do now with no resolution okay
00:13:40.550
and at that point again actually again
00:13:44.270
when I reach that state my my food
00:13:47.330
wasn't give you yield again so
00:13:48.920
especially I didn't leave it at that
00:13:51.230
point anymore and now I could put it
00:13:53.330
again into the corner and let dust
00:13:56.420
settle on it but I would expect because
00:14:00.050
I didn't became smarter what's on the
00:14:02.000
index for would probably come soon so I
00:14:04.250
should I should prepare for that so I
00:14:06.260
was wondering there but what is an
00:14:08.360
external but what should I look on it
00:14:10.060
one thing I notice is actually
00:14:13.750
navigation so as a matter of fact if you
00:14:18.910
do the navigation for cars for our bikes
00:14:22.790
or for pedestrians necessarily this is
00:14:26.240
not the optimal way to use it enough for
00:14:27.920
wheelchair obviously not anywhere you
00:14:29.510
can you walk you can use a wheelchair
00:14:30.800
not everywhere you can do the bike you
00:14:32.300
can use a wheelchair you need specific
00:14:33.920
navigations for bleachers it's obvious
00:14:37.630
for that I actually use something called
00:14:40.880
urban statement which is also a will be
00:14:42.560
application probably a lot of people are
00:14:44.209
scared of you it's actually the target
00:14:45.920
of building an open database of the
00:14:48.020
whole world
00:14:48.709
and great thing about is actually that
00:14:52.220
you everybody can contribute to it and
00:14:54.649
you can define your own text so I can
00:14:56.660
say what a services I mean not so the
00:14:59.660
guys who actually maintain that do not
00:15:01.700
give me any regulations but I can use so
00:15:04.190
there's already one project from Germany
00:15:05.990
which is using that quite interesting
00:15:07.399
which is called wheel map so your map as
00:15:09.470
a project where now people are
00:15:11.899
encouraged to map the accessibility of
00:15:14.990
locations so for example if I look along
00:15:18.079
here this would be quite pet X ability
00:15:21.199
because nobody mobility will get up to
00:15:23.699
and there was a crowdsource and they
00:15:26.369
actually taking it in their own
00:15:27.540
application and push it back to
00:15:28.799
OpenStreetMaps on the other side versus
00:15:31.350
information no you can actually do
00:15:33.119
interesting things so there's a service
00:15:34.589
called open route service and they're
00:15:36.600
actually using information from
00:15:38.040
OpenStreetMap Street now until making
00:15:39.749
have seeped into urban kidnap to
00:15:41.579
actually calculate a path so where I now
00:15:44.100
see my cell phones actually I would like
00:15:47.009
to use the platform I have to actually
00:15:49.980
feed the system so I've experimented
00:15:52.139
with some vibrational modes and camera
00:15:54.059
systems to actually detect its surface
00:15:56.429
I'm driving over and actually feed that
00:15:58.739
back to actually increase the database
00:16:00.720
so at the moment open route service
00:16:02.819
which then looks approximately like that
00:16:05.040
for wheelchair is mainly focused on
00:16:08.189
Germany and a little bit more like a
00:16:09.839
Europe but it's not worldwide so we need
00:16:12.209
to increase it not data and base for
00:16:14.129
that one and as you since you get a
00:16:16.290
route calculated from A to B and on the
00:16:19.559
left side you also have the material of
00:16:21.149
the surface which makes a big difference
00:16:23.040
so obviously with a wheelchair you
00:16:25.049
prefer something like asphalt or
00:16:26.429
concrete and not like these cobblestones
00:16:28.169
which are also quite common in Germany
00:16:31.609
so again gucchi optimized navigation and
00:16:34.319
so one thing I'm working on
00:16:35.399
another thing is vision so if you are
00:16:38.730
like me and you actually never used our
00:16:40.309
c-class and I have a kid you might
00:16:44.459
actually use which a little bit too -
00:16:49.410
angel I would say so even at one point
00:16:52.109
four should bump into something if you
00:16:54.119
are happier then we just bump into a war
00:16:56.009
if you're unlucky I keep bumping to some
00:16:57.660
other people and maybe music in the
00:16:59.339
evening uhm so I have to consider
00:17:01.910
protection Australia obviously so one
00:17:04.860
thing I looked at a mirror system solar
00:17:07.260
systems you maybe know that this Google
00:17:09.179
traffic Center use them from the light
00:17:11.069
emitting device which does your distance
00:17:12.839
measurement from a central point four
00:17:15.149
three nine six to the green so there are
00:17:17.039
a lot of them available as a matter of
00:17:18.899
fact I didn't found a single driver in
00:17:20.459
Ruby and I thought okay that has to
00:17:22.049
change so the interface actually quite
00:17:25.220
simple so they usually provide serial
00:17:28.019
interface you can control the motor and
00:17:31.260
then you actually get read out over
00:17:34.720
soon 60-degree angle about the distances
00:17:37.570
and so after working on that what I
00:17:40.900
cannot do is actually I have two wheel
00:17:43.840
jam and I actually can detect obstacles
00:17:46.690
moving around the wheelchair so that's
00:17:48.909
of course quite beneficial so we all
00:17:53.140
want to bump into something you can just
00:17:54.309
lower the speed the closer you get to an
00:17:56.289
object or you can stop if the object is
00:17:58.330
too close
00:17:59.559
the same thing and it's of course not
00:18:02.320
only for static environments but also
00:18:05.380
for moving environment so obviously if
00:18:08.140
you driving around you also would like
00:18:10.750
to not collide with other objects or if
00:18:12.909
you need to have some kind of vision
00:18:14.640
which is of course the same system just
00:18:17.350
different useless so if you can see it
00:18:20.320
is actually some things you cannot
00:18:21.820
really see live like things which are
00:18:23.559
reflective true but in the real
00:18:25.570
environment it actually works quite well
00:18:26.830
if you just estimate a little bit
00:18:29.799
conservative and better stop than not
00:18:33.460
proceed okay so with that said
00:18:37.530
concerning conclusion here so I have
00:18:40.630
essentially two things to conclude
00:18:42.669
straws about the Ruby ecosystem so I
00:18:46.059
mean Yamamoto has talked about now MRI
00:18:50.650
how it's improving over time and will be
00:18:53.350
and Jeff Rubin so my personal ecosystem
00:18:56.380
looks actually like that so I have to be
00:18:58.900
rich I have implemented different things
00:19:01.090
which has different kind of complexity
00:19:03.100
this one kind of needs the data quantity
00:19:05.650
of a device system of the complexity is
00:19:07.150
very low to be honest it's very simple
00:19:09.340
code and then you go through them and
00:19:14.559
you have a romantic Asian slide will map
00:19:17.230
and OpenStreetMaps which have a huge
00:19:19.480
amount of data because open students
00:19:20.799
want to categorize the whole world so
00:19:23.289
the complexity level is different but as
00:19:25.809
a matter of fact today we can do on all
00:19:29.679
these levels now solve our problems with
00:19:32.169
Ruby we have of course MRI as the
00:19:34.210
baseline which gives us the most correct
00:19:37.360
Ruby but then we have J will be an N
00:19:40.000
movie which is for me the more important
00:19:42.250
one which actually does something to
00:19:46.570
we'll be into new environments so one of
00:19:48.250
my conclusion what we consider maybe for
00:19:52.420
new areas where you didn't use it before
00:19:53.920
I actually do not see that many limits
00:19:56.560
which we cannot be used and the last
00:19:59.230
conclusion is how to improve from here
00:20:01.120
so I personally would be very happy and
00:20:03.820
my host slide and everything would be
00:20:05.440
completely well paid off it's just one
00:20:08.980
of you after you come back home to your
00:20:11.380
home country and would actually just go
00:20:15.250
to rhema.org and they just take one
00:20:18.940
element so just say your nice coffee or
00:20:21.820
so what would a cafe what kind of
00:20:24.550
entrance barrier they have so that that
00:20:26.620
would be already great but as a matter
00:20:28.960
of fact taking the world is actually not
00:20:32.080
solving a real problem is just
00:20:34.150
documenting our problems well you really
00:20:36.220
have to think about us William Houston
00:20:38.680
now the environment for people who are
00:20:41.530
not able actually to navigate so as a
00:20:44.260
matter of fact that's a difficult
00:20:46.060
problem and the reason why certificate
00:20:48.520
problem is because wheelchair users are
00:20:50.320
a minority so I mean I do not want to do
00:20:53.740
finger-pointing but I for myself I can
00:20:55.900
talk for myself I would not have cared
00:20:58.390
about real map on our chests if I would
00:21:01.270
not have signed to a wheelchair so from
00:21:04.420
that I conclude actually to solve this
00:21:06.610
problem it's actually to put everyone on
00:21:10.390
a wheelchair so now you would maybe be a
00:21:13.690
little bit confused or maybe hopefully
00:21:15.760
nobody's offense but if then please wait
00:21:18.430
a moment and let me explain so obviously
00:21:20.500
I'm not suggesting to go around and
00:21:22.990
break everybody's leg or obviously that
00:21:26.920
would not scare it for me
00:21:29.970
what I suggest was what I suggest that
00:21:35.080
we change the concept of a wheelchair so
00:21:37.690
at the moment everybody
00:21:39.130
most people consider the health of so it
00:21:41.920
is uncomfortable to use a wheelchair why
00:21:44.440
can we not think about the wheelchair
00:21:45.790
something which actually improves our
00:21:47.470
lives for example in these days at my
00:21:50.500
own work I'm actually in from time to
00:21:52.120
time use the future to sit at my desk
00:21:53.470
and I'm driving the maybe to the lab or
00:21:56.080
to the fridge with no uhm and I can do
00:21:58.240
that more comfortable because
00:21:59.380
have to move and I can make it faster
00:22:01.690
and I'm actually good on track that I
00:22:03.550
can actually even automate that so in
00:22:04.930
the future I do not even have to think
00:22:06.310
about how to come from A to B so pushing
00:22:09.580
our way forward that actually people who
00:22:11.380
can walk the side to use a real chance
00:22:13.450
that might actually solve the problem we
00:22:16.300
have optimism infrastructure because if
00:22:18.220
everybody needs to use the wheelchair
00:22:20.320
then they will also push for improving
00:22:22.180
that it can be used proper I was upset
00:22:24.790
thank you much so we have any questions
00:22:35.800
for Daniel we have a question very
00:22:43.720
curious person and are you doing
00:22:47.110
motorcycle races or something because
00:22:49.240
how did you break your leg twice it may
00:22:55.150
be a it should probably not admit that
00:22:57.040
but I have these end of things and I
00:22:59.610
some own little community someone
00:23:01.660
shorted xkcd so someone is one on the
00:23:03.790
Internet I do sometimes stupid things
00:23:05.380
like for example hit a walk rather
00:23:07.900
that's not a smart man speaking walls
00:23:09.490
yeah I did I didn't target for the wall
00:23:12.850
button
00:23:13.360
it was just a on the way I'm feeling a
00:23:16.360
little bit in balance of Oracle but I
00:23:17.710
didn't make any good now impressive yeah
00:23:22.650
all right any more questions
00:23:27.600
if
00:23:30.880
so I've got two the first one is your
00:23:35.270
the joystick did you have a second port
00:23:37.490
for PvP as well so other people could
00:23:44.920
you can now two people codes are not
00:23:47.690
controlled at the same time but the
00:23:50.360
interest would be conflicting so the
00:23:52.490
result would not be what you want
00:23:53.960
so that is I apologize that with the
00:23:57.050
facetious question the the second one is
00:23:59.090
in terms of like expense and difficulty
00:24:01.190
how hard was distributed but together
00:24:03.080
overall okay expensive no this is
00:24:05.180
actually one cot soy do not mention it
00:24:06.650
so one thing is actually also the whole
00:24:08.900
will journalist we need some kind of
00:24:10.250
disruption because with the things I
00:24:12.950
have such bought one off I can actually
00:24:14.780
build a wheelchair for half the price
00:24:17.270
what a usual electrical utility stays
00:24:20.230
I'm wondering if it's something like a
00:24:22.550
monopoly thing I actually I do not
00:24:24.560
really understand why they are so
00:24:25.610
expensive but with all these features I
00:24:28.250
have here I still end up cheaper than an
00:24:30.560
electrical wheelchairs which is maybe
00:24:32.780
something like 900 1000 RMB which
00:24:36.590
translate to maybe 100 hundred 20 and
00:24:41.000
140 US dollar something like that
00:24:42.830
roughly yeah yay patents regulatory
00:24:45.830
capture thank you okay anyone else yep
00:24:58.110
you mentioned that Engler OpenStreetMap
00:25:01.330
there's a laudable of material aground
00:25:04.870
and YouTube were you managing to like
00:25:08.309
use some kind of detection to detect
00:25:11.490
like material also I didn't understand
00:25:16.419
the question so yesterday's and so you
00:25:18.549
can define whatever you want in all
00:25:19.840
these good maps is essentially a wiki
00:25:22.510
format but I do not know sent a question
00:25:24.370
oh did you did you actually made it so
00:25:27.280
you can record what the grounder meets
00:25:30.280
you yeah okay an essential question okay
00:25:32.350
yes so I added on the GPS and system
00:25:35.559
tour to track the location and I
00:25:37.140
couldn't mark specific spots as for
00:25:40.330
example creating one example a high
00:25:42.580
vibration a low vibration but that
00:25:45.309
actually is not sufficient so that's
00:25:46.929
reason why I said that
00:25:48.010
I have to combine it with the camera
00:25:49.600
system because web where you can have
00:25:51.070
not only because the surface was
00:25:52.299
horrible but because maybe and there's
00:25:54.940
some other stuff on the ground which may
00:25:57.039
be attentive early so my work on the
00:25:58.929
bugs a key heart problem and so I would
00:26:01.809
like to do that and obviously if in the
00:26:04.510
future everyone would be on a wheelchair
00:26:06.039
and everybody would collect this data
00:26:07.000
that would be obviously do but at the
00:26:08.409
moment it's it's something to play but
00:26:12.130
obviously a definite value if only my
00:26:14.440
own wheelchair is creating this data oh
00:26:16.799
thanks
00:26:21.029
okay any other question Oh
00:26:29.309
hey so you use these game apps to
00:26:32.139
control to control the wheelchair and
00:26:33.460
I'm wondering how did it work in the
00:26:35.259
crowd so the video that you saw it I saw
00:26:37.570
that it wasn't her own video and ask use
00:26:40.480
the other one actually the skewing and
00:26:42.399
you saw on the beyond problem is
00:26:44.259
actually double on the trees on actually
00:26:46.389
the wheelchair and it's not stable for
00:26:49.749
both wheels for both wheels and so on
00:26:52.029
one wheel and how do you call an English
00:26:55.480
Bible that's from its flickering so even
00:26:59.559
if you walk straight it will diverge to
00:27:02.139
one direction so it did that the problem
00:27:04.149
I want to surface the auto meter which
00:27:05.649
actually counts two wheel rotation okay
00:27:08.019
so there was no problem with
00:27:09.159
responsiveness and even like I don't
00:27:11.110
know if you were in the crowd you could
00:27:12.399
actually use you control the nature of
00:27:15.070
your yoga pad without being worried that
00:27:18.009
it will accidentally bump into someone I
00:27:20.169
was annoyed you shouldn't ever be in
00:27:22.059
general reached on a drink anyway
00:27:23.860
because it was welcoming you should
00:27:25.749
probably be worried but I have somehow
00:27:28.149
maybe a deficit on growing both things
00:27:31.059
but I I mean again I'm living in Beijing
00:27:35.409
so I do not divide the two TM n square
00:27:37.990
so because they will shoot me down
00:27:39.159
immediately I will not do I pursue rush
00:27:41.230
or so now okay is certain and of course
00:27:46.539
I do not shake my son I just want to say
00:27:48.610
that so there's nobody reporting it we
00:27:52.740
government-issued date okay I think you
00:27:57.549
can take one more question if there is
00:27:59.679
any no okay
00:28:09.710
so now you've managed to removal somehow
00:28:13.980
remote control your wheelchair when when
00:28:17.130
he loved animals which are coming up
00:28:19.309
pseudonymous wheelchair when will it
00:28:21.419
come up now all tournament so awesome
00:28:25.289
okay good so again that that's on the
00:28:29.159
plan
00:28:29.880
leader system known my HD can create a
00:28:33.840
proper planned system so the system we
00:28:36.450
actually met an Aryan and then can
00:28:38.340
locate myself from the surroundings and
00:28:41.100
then navigate myself inside of that so
00:28:43.200
what we are doing actually it works for
00:28:46.379
playing is from that our floor like that
00:28:50.279
so that I can at least navigate from
00:28:52.230
point to point but it's very often very
00:28:53.789
simple Ottoman so there's nothing to do
00:28:55.500
with this fancy machine learning stuff
00:28:57.659
so now just a simple knob path routing
00:29:04.440
and then following so but that's not
00:29:08.549
coming
00:29:12.059
all right I think that thank you very
00:29:15.059
much Daniel okay
