From Lab to Ward - RMF
Implementation in Healthcare &Beyond
Progress update, challenges we faced, how we overcome them, andplans for the future

Presenters: Keai Jiang, Razil

Who are we?

Research &Development

Demonstration ofTechnology Viability

Proof the Conceptof Operations

Pilot todemonstrate valueStandalone
deployment torealize value

Find out more at www.chart.com.sg

Scale to realize fullvalue on larger
scale

Continuation from ROSCON 2019..
ROSCON 2019https://vimeo.com/378682748

Demo Platform 1 - Smart Ward
ROSCON 2019 Presentation

2020

Demo Platform 3 - Smart Nation
Webinar 2.0
https://www.cgh.com.sg/Chart/Pages/sharp/romi-h.aspx

2022

2021

2019
Demo Platform 2 - Smart Hospital
Webinar 1.0

Live Robotic Trials @ Covid Facilities
Live Robotic Trials @ Hospital Wards
Robotic Pilot Trial @ Smart Commercial
BuildingRobot Trials @ Covid Treatment Facility●●●

100,000 sq ft facility, multi-fleet
deployment in less than one week
Enabling care team and logistics
workflows for 700+ beds
Delivery, Disinfection,
Telepresence, Cleaning bots
interoperable and unified underRMF for Healthcare (RoMi-H)

Video source:
Mr Ong Ye Kung (Minister for Health of Singapore)

Top: Bird’s eye view of Expo Hall 9 | Bottom Left: Magnus collecting bags of dirty linen | Bottom Middle: Healthguard misting liquid ozone solution | Bottom right: Temi navigating autonomously to patient’s bedside for a video call4

Smart Urban Solution - Robot Pilot Trial @ Commercial Building
Demonstrated the capability of RMF
on multi-robot traffic scheduling,traffic deconfliction, door & lift
access in a commercial building

Collaborated with Capitaland toorganize a multiple robot pilot trial atThe Galen (Singapore) on 1stOctober 2022

Lift Adapter:
Door Adapter:

https://github.com/sharp-rmf/kone-ros-api
https://github.com/sharp-rmf/door_adapter_dormakaba

Without RMF
Robotics Trial @ HospitalWith RMF

Robotics Trial @ Covid Treatment Facility

Telepresence Robot giving way to Cleaning Robot doing cleaningroundsRMF Adapters:

https://github.com/open-rmf/temi_fleet_adapter_python
https://github.com/open-rmf/fleet_adapter_ecobot
AGV x AMR deadlock & near collision

Telepresence Robot x AMR deadlock at choke pointDeployment Assumptions vs Reality & Workarounds (1/2)
ASSUMPTIONS

1. Robots are fully-compliant

REALITY

Many robot vendors do not have RMF
adapters or readily available APIs to allowfor integration.

●●Work with limited selection of robots
Work closely with vendors to build
suitable adapters/APIs

WORKAROUND

2. Digitised Infrastructure

REALITY

Hospitals, are filled with manual doors withno chance of even smart-ifying it withexternal sensors/controllers.

●

Added logic flows to allow for humanassisted processes where robots stop
to make audible help requests for door
opening before moving on

WORKAROUND

https://osrf.github.io/ros2multirobotbook/rmf-web.html

3. RMF Web as an all-in-one
robot command & control UI
REALITY

RWD not yet able to create complex tasks,and scheduling. On the ground users need
UI that are more simplified and task
focused.

●Separate UI for users and RWD fortechnical support users

WORKAROUNDSeparate UI for users
RMF Web Dashboard for Support TeamInformation packed, more control

Nurse Dashboard for Users
Task-driven focus, more concise content

https://osrf.github.io/ros2multirobotbook/rmf-web.html

Deployment Assumptions vs Actual & Workarounds (2/2)
ASSUMPTIONS

4. Planned path for robots
are unobstructed

5. Complete network
coverage

ACTUAL
Narrow corridors and dynamic environments
causing obstructions in path●●

Plan for multiple paths in nav graphPlace physical robot lanes (stickers onthe ground)

WORKAROUND

6. Smart Lift Systems withsingle lift implementations

ACTUAL●●

Dead zone in 4G signals affecting robots
Limited 4G access (in lift cabin)●●●

Better 4G mobile router

WORKAROUND●ACTUAL

Work with a bank of lifts
Lack of dynamic path planning(RMF) in multiple elevators setting

Fixed RMF Nav path in multiple liftsetting

WORKAROUND

Challenges on RMF Lift Implementation● Weak robot’s 4G signal inside elevator cabin● Lack of dynamic path planning (RMF) in multiple elevators setting(Shortest/fastest path NOT factoring in lift travelling time)

Moving Forward● RMF Web Dashboard○ Be able to deploy more customize dashboards to suit the end-user
needs○ Integration with custom tasks (Task V2) to allow for more complex
task creations● RMF Traffic Planner○ Scene understanding module (external lidar)● RMF Lift
○ RMF dynamic path planning in multiple lifts setting○ Human-robot lift sharing■ Scene understanding module (camera module)
AND MANY MANY MORE…

Work with us to better healthcare-Contribution of RMF adapters/libraries for Robots, Sensors, Building InfraHealthcare solutions/products
Scene Understanding solutions
Smart Infrastructure solutions

Email us at chart@cgh.com.sg