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1		-In this paper we will explain the design of WAF: Walking Assisting Friend. WAF has been created as a support animal to assist people with dementia.
2		-We decided to create the support animal using Miro-e. WAF will assist people with walking a route. The user may follow WAF on a path predefined by the caretaker of the person with dementia. If the user gets distracted or lost and walks away, WAF will try to grab the users attention by, for example, barking and flashing its LEDs. In the worst case scenario WAF can notify the caretaker where they currently are.
3		-To make the user experience more realistic, like the user is walking a real animal, we would like to explore the possibility of creating a leash/wristband that can connect to the Miro robot through Bluetooth. The wristband could also make use of vibrations the further away the user is from the Miro. This will also make it easier to check if the user is still within the desired radius of the Miro.
	1	+We decided to create a support animal using Miro-e.
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5		-In the Foundation section, we will notify you of the underlying literature supporting the design of WAF. In Specification we will describe the use cases, objectives, functions and claims made about the design. In the Evaluation section, we describe how we did the user tests and we will describe the results of this user test. In Design patterns, the design patterns like the individual and team design pattern are described. In ontology, the ontology of the design is shown as images. Finally, in the conclusion section there is a conclusion and the possible future work that can be done on this product.
	3	+The service animal will assist people with walking a route. The user may follow the Miro, or the Miro could follow the user. If the user gets distracted or lost and walks away from the Miro, the Miro will try to grab the user's attention by, for example, barking and flashing its LEDs.
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	5	+To make the user experience more realistic, like the user is walking a real animal, we would like to explore the possibility of creating a leash/wristband that can connect to the Miro through Bluetooth. The wristband could also make use of vibrations the further away the user is from the Miro. This will also make it easier to check if the user is still within the desired radius of the Miro.
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	7	+For our prototype we will hard-code the walking route.
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	10	+This is a placeholder until a better spot has been found to place this segment:
	11	+Problems encountered with MiRo and solutions to these problems + advice for the next group.
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	13	+Programming difficulties:
	14	+When using Mirocloud, there are two possibilities: the first one is blockly which is block-based programming, one can also convert that code to Python or just program Python.
	15	+Blockly is mainly created to teach children on how to program, when using Blockly some problems can be encountered. One of the problems that we've encountered is that Blockly does not always create runnable code. For example, if one is using arrays/lists, Blockly can accidentally place NaN when trying to access an item from the list.
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	17	+One can also use Python directly. Unfortunately the Python environment is a Sandbox. One can not use external modules (and thus not import things) so only basic Python code can be used.
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	19	+Finally, one can try to install the MDK and use it but this proved to be very difficult. A set-up guide can be found here (todo: Add setup guide?). When it has been installed, it is difficult to use the MDK as accessing the robot and coding it is very difficult.
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	21	+We have noticed that MiroCloud breaks a lot, either on the PC itself or in connecting with the robot. A lot of the time, MiroCloud will give an error when trying to send code to the Robot. It will give an error that cameras can't be accessed. Finally, MiroCloud will give an error on chromium based browsers. Firefox does work.
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	23	+We have tried to get the robot to make sounds but we were only able to send specific Hertz ranges to the robot for a certain amount of time. Unfortunately we were not able to get a sound that could represent a dog.
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	26	+Working with the MiRo robot itself:
	27	+First of all, we noticed that the MiRo is not able to roll around on the floor of the Insyght lab. It is only able to run on smooth floors or tables. When using the MiRo on a table, be careful because the Cliff sensor won't always work.
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	29	+We have noticed that the MiRo robot has a bit of a weak neck. It will drop when rolling around or will move weird when the head is being touched. Thus one needs to be careful when "petting" the MiRo.
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	31	+Wizard of Ozzing: The MiRo robot can be controlled with certain PS4 controllers. We have noticed that PS5 controllers will also work but the head can't be controlled as that one is mapped to the triggers and they need to be held in the middle to keep the head of the MiRo in the middle. Pairing the MiRo with a controller can be used by following the steps on the following page: [[http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Husbandry_MIROapp_Home_page_Remote_settings_dialog]]. On this page, one can also found which controllers can be used. The controls are on the following page: [[http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Husbandry_MIROapp_Controller_manager_Remote_controller]]
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	34	+What can the Miro do:
	35	+* Move ears to the side and the front
	36	+* Blink
	37	+* Wag tail + move tail up a little bit
	38	+* Move neck up down
	39	+* Move its head left and right and up and down
	40	+* Roll on table/non-carpeted floor
	41	+* Make sounds when Hertz is defined
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