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NRI: Small: A Co-Robotic Navigation Aid for the Visually Impaired

Award Number: R01EB018117
ORGANIZATION: NATIONAL INSTITUTE Of BIOMEDICAL IMAGING & BIOENGINEERING
OPDIV: NIH
AWARD CLASS: DISCRETIONARY
AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)
PERIOD OF PERFORMANCE START DATE: 09/01/2013
PERIOD OF PERFORMANCE END DATE: 08/31/2018

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NRI: Small: A Co-Robotic Navigation Aid for the Visually Impaired - DESCRIPTION (provided by applicant): The project's objective is to develop enabling technology for a co-robotic navigation aid, called a Co-Robotic Cane (CRC), for the visually impaired. The CRC is able to collaborate with its user via intuitive Human-Device Interaction (HDl) mechanisms for effective navigation in 3D environments. The CRCs navigational functions include device position estimation, wayfinding, obstacle detection/avoidance, and object recognition. The use of the CRC will improve the visually impaired's independent mobility and thus their quality of life. The proposal's educational plan is to involve graduate, undergraduate and high school students in the project, and use the project's activities to recruit and retain engineering students. The proposal's Intellectual Merit is the development of new computer vision methods that support accurate blind navigation in 3D environments and intuitive HDl interfaces for effective use of device. These methods include: (1) a new robotic pose estimation method that provides accurate device pose by integrating egomotion estimation and visual feature tracking; (2) a pattern recognition method based on the Gaussian Mixture Model that may recognize indoor structures and objects for wayfinding and obstacle manipulation/ avoidance; (3) an innovative mechanism for intuitive conveying of the desired travel direction; and (4) a human intent detection interface for automatic device mode switching. The GPU implementation of the computer vision methods will make real-time execution possible. The proposed blind navigation solution will endow the CRC with advanced navigational functions that are currently unavailable in the existing blind navigation aids. The PI's team has performed proof of concept studies for the computer vision methods and the results are promising. The broader impacts include: (1) the methods' near term applications will impact the large visually impaired community; (2) the methods will improve the autonomy of small robots and portable robotic devices that have a myriad of applications in military surveillance, law enforcement, and search and rescue; and (3) the project will improve the research infrastructure of the Pi's university and train graduate and undergraduate students for their future careers in science and engineering.


Issue Date FY	Funding FY	Legal Entity Name	Legal Entity Address	Legal Entity City	Legal Entity State	Legal Entity Zip Code	Legal Entity COUNTY	Legal Entity COUNTRY	Assistance Listing	Award Code	Budget Year	Action Date	Action Type	Action Amount

Issue Date FY: 2019 ( Subtotal = -$2,552 )
2019	2015	VIRGINIA COMMONWEALTH UNIVERSITY	912 W FRANKLIN ST	RICHMOND	VA	23284	RICHMOND CITY	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	000	4	1/23/2019	CHANGE OF GRANTEE / TRAINING INSTITUTION / AWARDING INSTITUTION	-$2,552
														Subtotal = -$2,552

Issue Date FY: 2018 ( Subtotal = $13,657 )
2018	2016	UNIVERSITY OF ARKANSAS SYSTEM	2801 S UNIVERSITY AVE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	007	3	5/2/2018	SUPPLEMENT FOR EXPANSION	$44,864
2018	2016	UNIVERSITY OF ARKANSAS SYSTEM	2801 S UNIVERSITY AVE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	001	3	2/1/2018	SUPPLEMENT FOR EXPANSION	$0
2018	2016	UNIVERSITY OF ARKANSAS SYSTEM	2801 S UNIVERSITY AVE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	008	3	5/17/2018	SUPPLEMENT FOR EXPANSION	-$44,864
2018	2015	VIRGINIA COMMONWEALTH UNIVERSITY	912 W FRANKLIN ST	RICHMOND	VA	23284	RICHMOND CITY	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	003	4	2/9/2018	CHANGE OF GRANTEE / TRAINING INSTITUTION / AWARDING INSTITUTION	-$106,301
2018	2015	UNIVERSITY OF ARKANSAS SYSTEM	2801 S UNIVERSITY AVE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	006	3	5/2/2018	NON-COMPETING CONTINUATION	-$6,824
2018	2015	UNIVERSITY OF ARKANSAS SYSTEM	2801 S UNIVERSITY AVE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	000	3	2/1/2018	NON-COMPETING CONTINUATION	-$92,644
2018	2015	VIRGINIA COMMONWEALTH UNIVERSITY	912 W FRANKLIN ST	RICHMOND	VA	23284	RICHMOND CITY	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	004	4	2/12/2018	CHANGE OF GRANTEE / TRAINING INSTITUTION / AWARDING INSTITUTION	$106,301
2018	2015	VIRGINIA COMMONWEALTH UNIVERSITY	912 W FRANKLIN ST	RICHMOND	VA	23284	RICHMOND CITY	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	009	4	5/17/2018	CHANGE OF GRANTEE / TRAINING INSTITUTION / AWARDING INSTITUTION	$44,864
2018	2015	VIRGINIA COMMONWEALTH UNIVERSITY	912 W FRANKLIN ST	RICHMOND	VA	23284	RICHMOND CITY	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	002	4	2/1/2018	CHANGE OF GRANTEE / TRAINING INSTITUTION / AWARDING INSTITUTION	$106,301
2018	2014	UNIVERSITY OF ARKANSAS SYSTEM	2801 S UNIVERSITY AVE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	005	2	5/2/2018	NON-COMPETING CONTINUATION	-$38,040
														Subtotal = $13,657

Issue Date FY: 2017 ( Subtotal = $0 )
2017	2015	UNIVERSITY OF ARKANSAS SYSTEM	2801 S UNIVERSITY AVE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	000	3	7/7/2017	NON-COMPETING CONTINUATION	$0
														Subtotal = $0

Issue Date FY: 2016 ( Subtotal = $28,000 )
2016	2016	UNIVERSITY OF ARKANSAS AT LITTLE ROCK	33RD + UNIVERSITY AVENUE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	000	3	9/5/2016	SUPPLEMENT FOR EXPANSION	$28,000
														Subtotal = $28,000

Issue Date FY: 2015 ( Subtotal = $99,468 )
2015	2015	UNIVERSITY OF ARKANSAS AT LITTLE ROCK	33RD + UNIVERSITY AVENUE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	000	3	9/1/2015	NON-COMPETING CONTINUATION	$99,468
														Subtotal = $99,468

Issue Date FY: 2014 ( Subtotal = $103,378 )
2014	2014	UNIVERSITY OF ARKANSAS AT LITTLE ROCK	33RD + UNIVERSITY AVENUE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	000	2	9/3/2014	NON-COMPETING CONTINUATION	$103,378
														Subtotal = $103,378

Issue Date FY: 2013 ( Subtotal = $162,724 )
2013	2013	UNIVERSITY OF ARKANSAS AT LITTLE ROCK	33RD + UNIVERSITY AVENUE	LITTLE ROCK	AR	72204	PULASKI	USA	Discovery and Applied Research for Technological Innovations to Improve Human Health	000	1	7/19/2013	NEW	$162,724
														Subtotal = $162,724

Grand Total All Awards = $404,675

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NRI: Small: A Co-Robotic Navigation Aid for the Visually Impaired

Award Number: R01EB018117

ORGANIZATION: NATIONAL INSTITUTE Of BIOMEDICAL IMAGING & BIOENGINEERING

OPDIV: NIH

AWARD CLASS: DISCRETIONARY

AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)

PERIOD OF PERFORMANCE START DATE: 09/01/2013

PERIOD OF PERFORMANCE END DATE: 08/31/2018

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