ARGUS: Assisting personal guidance system for people with visual impairment

Newsletter N. 4 July, 2014

Editorial

After the small scale tests performed by all the partners in their countries, and completing the development of the different components of the ARGUS system, the last phase of the project has focused on performing the final intensive tests with end users of the integrated prototype. The tests validated the concepts and improve several technical details, contributing to the final integration and refinement of a functional prototype of the ARGUS system.

This issue also describes the participation of the project members in some important conferences where they presented the preliminary results to end users and organisations representing them.

Summary

Integrated prototype tests o Tests in San Sebastián o Tests in Madrid o Tests in Soest

Positioning Unit

Main navigation features

Dissemination activities o Workshop in Madrid o SightCity o Real Corp

Next steps

The project at a glance

Acronym: ARGUS

Name: Assisting personal guidance system for people with visual impairment

Co-funded by EU under FP7-ICT

Objective: ICT-2011.5.5

(ICT for smart and personalised inclusion)

Contract No. FP7-28841

Start: October-2011, End: March-2014

(Extended until July-2014)

Project type: Collaboration Project

Project status: Finished

Project website: http://www.projectargus.eu

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Integrated prototype tests

Objectives of the tests

At this stage of the validation, the final version of all the developed modules (User Website, Mobile App, Binaural guiding sounds, Geographical Information Systems and Service Platform) as well as a new guiding algorithm were tested.

The main objective of the validation process was to ensure that the main functionality of the ARGUS system is met and that it is ready for its transition into the final marketable product.

The tests were designed considering the Key Performance Indicators defined at the beginning of the project, and ensuring the safety for the test subjects.

User recruitment

The main part of the test process is the validation of the usability of the system, involving a representative sample of end users with different characteristics (age, gender, type and level of visual Impairment and degree of expertise using technology aids).

Execution of the tests

After some training sessions, all users performed the tests in predefined and secured urban and suburban scenarios, having expert test assistants accompanying the users to ensure the safety of the users and obtain performance data during the execution of the tests.

After completing the tests, the users were asked to answer a questionnaire, to provide feedback on the system and make recommendations for future improvements.

The ARGUS partners carried out tests in different countries and towns: Vicomtech in San Sebastián (Spain), OK-Systems in Madrid (Spain) and Siemens in Soest (Germany). Despite all tests were developed in different locations, they used a common protocol and the same equipment. The following pages describe in more details the tests conducted by each partner.

Tests in San Sebastian (Spain)

After the integration phase and the corresponding technical performance tests, the prototype of the ARGUS system was tested in San Sebastian during the first week of June. 9 users performed the tests; 67% of them were totally blind and the others were partially sighted. 67% were male, 67% were adults (ranging from 30 to 60 and the rest were senior users, with more than 60 years old. User recruitment was coordinated by the ONCE staff in San Sebastián.

For the urban routes 2 scenarios were selected, one with no path reference (about 960 m long) and the other one with a railing reference available along the path (about 765 m long).

The suburban scenario in San Sebastian was a marked path with no buildings near and no cars driving near. It was 500 meters long, including a 180 turn and took the users about 20 minutes.

All the tests have been accomplished with ARGUS integrated over Android 4.2 supporting all the features needed for ARGUS functionalities. The recorded signals were compared with that captured by the SPECTRA PRECISION PROMARK 220 GNSS designed for general survey applications, which allows determination of point positions with centimetre accuracy (RTK system).

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After a training session, where users were instructed about 3D sounds and the way to navigate with ARGUS, they were able to start the navigation along the predefined route.

In some cases the multipath effect of nearby buildings can be observed both with the ARGUS system and with the SPECTRA PRECISSION receiver. Nevertheless, the users were able to accomplish the navigation task and to successfully reach the destination.

If the route was performed a little bit away from the edge of the buildings, the multipath effect was much more reduced becoming indiscernible.

The results in the second urban scenario were encouraging, as shown in the following figure:

Similarly, the results in the suburban scenario were very encouraging, all the users were able to navigate without any problems and to reach the destination.

After the trials, a short questionnaire and user interviews were conducted immediately to query the user about the ARGUS system.

The result was satisfactory in general. Users stated that they would use the ARGUS system for their daily life. An important aspect is that blind people often find difficulties when trying to go straight forward, so they commented that indications of deviation would be helpful for them. Another frequent comment is that it is necessary to have the two hands free for using the cane, or holding the dog leash, etc. They also remarked that it is important for them to indicate the end of the track and that they would appreciate variations of sound frequency when having to turn. They also need to distinguish between slight deviations and tight turns - higher variations could be included in the ARGUS mobile application.

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Tests in Madrid (Spain)

During middle June OK-Systems performed the tests of the ARGUS prototype with end users in the outskirts of the Scientific Park of the University Carlos III in Leganés (Madrid).

Despite the heat of the summer weather, users were able to successfully perform the tests following two types of paths previously defined: urban and suburban.

The urban path followed sidewalks, street pedestrian crossings, with the typical obstacles (trees, lampposts, etc.) and references. The suburban path went through an environment with less urban furniture and obstacles, but without guiding references. It was intended to try all possible situations when using the ARGUS system.

The tests were performed by 9 users, with ages between 30 and 67 years, and gender distribution close to 50%. 55% were totally blind and 45% had partial vision.

All users reached their destination, saying that this was easy. After completing the tests, they gave the researchers useful requests and suggestions.

The final tests of the ARGUS system required special precision of the reference equipment, so GPS systems with centimetre accuracy were used (RTK system) to analyse the real path followed by users. In the following image, the suggested track is shown in blue, the path computed by the ARGUS system in green. The red line shows the path recorded by the high precision GPS as reference.

The 790 meters walked by the users in the streets of the urban route allowed evaluation of the response of the system in an environment where the GPS signal was compromised, and where the user had also to be able to process additional acoustic signals coming from surrounding urban elements. The results were very satisfactory.

The 870 meters of the path along a suburban field allowed measuring the effect of the fatigue of the users when they had been guided for more than 45 minutes. During all these walks, all users kept talking (by their own decision) with the researchers, and most of them remarked that it was really easy and comfortable to do so.

One of the tests objectives was to evaluate the effect of stress or fatigue caused by the acoustic stimuli generated by the ARGUS system. The results were positive, in that the cognitive workload of the 3D acoustic signals much lower than with verbal instructions.

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During all the phases of the ARGUS project several earphones designed to allow users perceiving surrounding sounds from their environment were tested. In this last phase wireless open-ear bone conduction earphones were used, being more comfortable for the users,.

Bone-conduction technology allows the sound vibrations produced by an actuator close to the ear to reach the small bones of the inner ear, generating response in the same frequencies than natural sounds perceived through the auditory canal. The efficiency of this type of earphone is compromised at frequencies below 100Hz, producing some vibrations. This range of frequencies has been supressed in the ARGUS system, because a low sound (below 100Hz-200Hz) is not very useful when locating a sound in a space.

Tests in Soest (Germany)

Based on the statements of the users at the SightCity 2014 event in Frankfurt in terms of their expected individual application fields of the ARGUS solution and following the User Centered Design approach of the project, the accessibility experts from Siemens decided to define a test course that maps a real life situation for the target group, including all standard obstacles like e.g. smaller building sites, parked cars, bike riders and more. This situation is most common when blind and visually impaired persons cope with their way from their preferred bus station to their homes.

To ensure the highest safety level and comfort for the involved test users as well as to provide the most valuable outcomes for the project consortium, the test course needed the following conditions:

• An excellent GPS signal quality enabling to evaluate different GPS configurations including the default internal module of the mobile phone as well as different external Bluetooth GPS devices and at least the ARGUS Positioning Unit.

• A kind of closed test course which allows the users to perform several trial runs in sequence as well as to get gradually more familiar with 3D sound based navigation. In particular this aspect was important for the accessibility experts to analyse the individual learning curve of the involved users.

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• Highest user comfort in terms of personal safety and individual assistance. To provide the highest safety level for the users the course was equipped with warning triangles and safeguarded against high traffic volume. The police department of Soest was informed and would be able to react in case of any problems. Five accessibility experts assisted the users providing immediate help.

• An appropriate level of obstacles which simulated a real life situation on the defined test course, including several dynamically changing obstacles like parked cars, vans, bike riders and some smaller building sites. To ensure an error-free handling during the trial runs, all obstacles on the course were safeguarded by the accessibility experts to avoid any kind of accident. All residents of the defined test area were also informed in detail and many of them took the chance to watch the trial runs of the users.

Siemens recruited 10 people for the tests in Soest and most of them are members of the different associations for blind and visually impaired users like Pro Retina Germany, BSV Westfalen and DVBS Germany. Most of the recruited persons came from the Berufskolleg LWL in Soest, a school for blind and visually impaired pupils which provides special and user-oriented on-the-job training. The test users were different in terms of their individual mobility capabilities, age, education levels, kind of visual disability and personal life experience.

All involved test persons went through an intensive individual user training to be able to cope with the hardware and software components of the ARGUS platform.

Different headset and GPS device configurations were explained in detail and each user was able to use his preferred device setup to provide the best level of personal user experience during the trial runs. Siemens decided to provide the following headset devices for the tests:

• Aftershokz Bluetooth headset (bone-conducted, open-ear headset).

• A wired Audiobone device (also a bone-conducted open-ear headset) to avoid a quick battery discharge.

• Wired Apple in-ear EarPods (closed). • A standard wired in-ear Sennheiser

headset (closed headset).

The above mentioned headsets were used together with a Google Nexus 5 mobile phone which was configured to work with all of them. Most of the blind users decided to perform the trial runs with the bone-conducted and therefore open headsets to reduce their individual risk levels. Only two of the more experienced blind users chose their own in-ear headsets for the trial runs but were still able to deal with the ambient noise with an appropriate volume level setting of their headset.

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The team from Siemens decided to provide the users with several GPS setups for the trial runs. This strategy allowed the experts to investigate how the different GPS signal quality levels of the corresponding GPS devices influenced the user experience during the test runs. The following GPS devices were provided:

• The external ARGUS Positioning Unit (accuracy better than 3 meters, connected via Wifi)

• The external high-precise Alberding A07 GPS device which was developed by the Guide4Blind project consortium (accuracy better than 1 meter, connected via Bluetooth)

• The internal GPS module of the Google Nexus 5 (accuracy better than 5 meters).

The mobile platform of ARGUS also supports other external Bluetooth based GPS devices like the GlobalSat BT GPS or the HOLUX GPSlim 236 but these devices were not tested in Soest due to the restricted time scales of the prototype tests.

The users performed 24 successful trial runs. 16 of these trial runs were made by 5 blind persons of the test group, the remaining 8 trial runs were performed by the other 5 visually impaired users.

There were only two identifiable situations where two blind users needed special assistance to successfully reach their targeted destination. Investigating the reasons, the accessibility experts discovered that both situations were caused by an improperly mobile phone handling which led to incorrect heading data. Nevertheless, both users got a corresponding hint on-the-go and were then able to solve the situation on their own. The exclamation "Very cool" from a student

after having successfully accomplished her first trial run was the best indication for the satisfaction level of all involved parties.

As a summary, it can be said that all users were really satisfied because all of them were able to reach their target destination, in most cases on their own and without any assistance. In particular the blind users thought the ARGUS solution would be a valuable benefit which would enable them to find their way home on their own.

Moreover, all involved users treated the pre-defined test course as a real life situation that presented a normal navigation task, including all common road traffic obstacles they have to cope with every day on their way home.

The most important outcome of the trial runs was the fact, that all involved blind users nominated the ARGUS solution as an excellent additional mobility aid which surely could not replace their white canes or guide dogs, but would however significantly improve their navigation task by providing a reliable and comfortable guiding aid for rural, suburban and urban environments.

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Test results

The data obtained during the tests are still being evaluated so the results described here are just preliminary.

Pre and post-journey activities:

The ARGUS Web User Interface is fully accessible, compatible with different screen-reader solutions for blind and partially sighted users and with different platforms (mobile or desktop).

All users said that the content of the WebUI was very accessible and that all tasks could be managed in an easy and comfortable way. The website structure offered a good overview and the words used were easy to understand.

Despite some problems with the database while creating new itineraries, users were able to detect that there was a problem and following the explained fail-safe strategy they were able to re-start their trial run and finish it successfully.

Navigation activities:

The mobile application was fully accessible for blind and partially sighted users, who were able to control the user interface by using the following different methods: gesture control on the touchscreen, external braille-device and external keyboard, combined with the screen-reader Talkback in Android. Partially sighted users were also able to use the Zoom functionality.

The positioning results show the potential for enhancement of the accuracy which was determined by the number of satellites (increased with GLONASS), especially in urban areas.

The analysis of the tracks followed by the users, shows that average deviation distance for suburban tracks is quite low, due to the good GNSS coverage of these areas. In urban scenarios the data is good enough for successful urban navigation. Additionally, the standard deviation analysis in both scenarios shows good users’ perception and reaction to the sound cues.

The main conclusions are that:

• All users completed the tracks, passing close to the marked track points in both urban and suburban scenarios.

• The track and guidance interpretation was more user dependent than on the system operation.

• The system implements a solution based on track distance guiding the user to the active segment continuously.

• In most of the cases spatial sound perception was clearly perceived and followed by the users.

From the users’ perspective, the prototype worked excellently and all involved blind users nominated the ARGUS solution as an excellent additional mobility aid which surely could not replace their white canes or guide dogs, but would however significantly improve their navigation task by providing a reliable and comfortable guiding aid for rural, suburban and urban environments.

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Positioning Unit

The ARGUS Positioning Unit (PU) consists of a rugged plastic casing which contains all components and sensors that are necessary for navigation and communication. The PU box is opaque, with dimensions of 15 cm in length, 5 cm in width, and 8 cm in height. As for hardware user interfaces, the PU is equipped with a charging connector, a SMA antenna connector, a power LED, an On-button and an Off-button. For attaching the PU to the user’s body, the front side of the device is equipped with two clips. Using these clips, the PU is attached to the belt at the back side of the user.

The subsequent hardware devices are integrated within the PU:

GNSS receiver: The GPS/GLONASS/Galileo receiver is connected to the GNSS antenna and provides the primary position information.

IMU: The Inertial Measurement Unit consists of accelerometers, gyroscopes and magnetometers. These autonomous sensors provide additional observations for position calculation. Typically, inertial sensors are used in order to enhance the availability of the position. Those measurements can bridge short GNSS observation gaps.

Wireless interface board: Communication between the PU and the Smartphone is ensured via a Wi-Fi connection.

CPU: The Central Processing Unit of the PU computes the user’s position by integrating the measurement data of all sensors. The CPU contains all relevant software modules.

Power supply: The PU is powered by a high-performance Lithium Polymer (LiPo) battery.

It is important to wear the PU properly in order to allow the navigation system to determine the user’s attitude (including the heading direction). The GNSS antenna should be mounted at an elevated point at the user’s body. This could be e.g., at the top of a cap (preferred) or near the user’s shoulder. These locations are recommended in order to avoid GNSS signal shadowing effects.

After switching on the PU, the connection to the Smartphone is established automatically through Wi-Fi. Afterwards, the alignment phase of the PU is conducted. During this phase, the user should remain stationary without moving or turning in order to initialise the PU measurements. Usually, it will take about 1 minute from switching the PU on until the first position is provided. After the alignment phase is completed, the user position is displayed within the Mobile Device Application on the Smartphone.

In this second version of the PU, modifications concerning the PU software have been undertaken in order to improve the positioning accuracy. A number of both static and dynamic tests have been carried out to analyse the performance of the final version of the integrated PU prototype. It has been shown that the overall positioning accuracy was increased. The combined GPS/GLONASS multi-GNSS approach brings a tremendously increased number of available satellites.

Dynamic tests in sub-urban and urban environments proved that the positioning accuracy is sufficient for pedestrian navigation in the majority of scenarios. During the tests, the sensor fusion algorithm of GNSS and IMU measurements allowed navigation along the side of the road or along a pavement.

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Main navigation features

The Navigation Module has been implemented as part of the backend of the ARGUS smartphone application. Based on the current position of the user and the route to accomplish, the module computes a sequence of points that the user has to follow. Their position depends on the distance to the axis of the route. In this way, if the user is outside the safety corridor (GEOCorridor©), the algorithm will guide the user in the normal direction to the route axis.

Next, the points are delivered to the Acoustic Module so that they are used for the generation of the binaural sound sequence that the user will follow.

Some advanced navigation features have been developed during this final version of the algorithm:

1. Point of Interest notification Whenever the user goes through a route point classified as a Point of Interest (POI), a bell rings to alert about it and the POI description is played.

2. Where am I? The system can provide the user with the street name and number at any moment during the route.

3. Distance to the destination The navigation algorithm calculates the estimated time to the destination. For this calculation, it is assumed that the pedestrian walks at 3 km/h.

4. Alternative route to destination In case of unexpected obstacles during the route, the user can request the system to provide him/her with an alternative route to destination. The route will be then automatically computed and downloaded to the smartphone so that he/she can reach destination safely.

5. Haptic interfaces – Vibration Vibration signals have been included, so that the user is alerted whenever unexpected events occur, such as user deviation from the route, faults in the user terminal or loss of positioning accuracy.

Additionally, in order to both ensure the safety and simplify the interaction with the user, three risk levels are defined. These three risk levels are represented by means of three different colours (green, yellow and red), following the colour paradigm of traffic lights.

When the green level is activated, the system operation is correct and the positioning quality is good. Navigation within the GEOCorridor© is ensured.

When positioning quality is fair, the yellow level is activated. Then the safety corridor is disabled, and the user is warned to navigate carefully. Guiding indications will follow the direction of the current active segment (street). In this case, the interface overlays a yellow filter, so that the user can perceive this risk level intuitively.

When the red level is detected, the navigation with the ARGUS system is no longer possible. The mobile application interface overlays a red filter and the user is informed about the error that is taking place.

Finally, a simulation mode has been also implemented. The simulation mode provides all the main navigation features in order to train the user before going into the streets.

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Dissemination activities

Workshop in Madrid

On April the 3rd, at the Technology Center of the Carlos III University in Leganés (Madrid, Spain), the Royal Board on Disability (through CESyA, the Spanish centre for subtitling and audio description), OK-Systems and Geko Navsat organized a meeting between companies, public administrations, research centres, end users and organizations involved in the development or application of technologies providing support to the mobility of people with visual impairment.

The event called “Ayudas a la movilidad para la discapacidad visual” focused on bringing together different perspectives regarding technological evolution in the area of visual impairment.

The most relevant were the presentations about ARGUS by Vicomtech and OK-Systems describing the principles on which this novel system solves the challenges of guidance for visually impaired. Practical demonstrations were offered in the surroundings of the technology park, allowing end users (blind or with partial vision) to test the prototype. With just the most basic training and no assistance, they were able to follow a path predefined in a large parking lot just guided by the acoustic signals of ARGUS.

Besides ARGUS, the project ATAD, developed by CESyA and researchers at the Carlos III University, was also presented, offering solutions for detection of obstacles by applying Artificial Vision technologies.

The president of the Vodafone Foundation described their activities supporting accessibility, defending smartphones as an important tool for autonomy and social integration.

The afternoon session included a round table with participation of ONCE, CIDAT, PREDIF and CENTAC talking about how users perceive support tools. There was very active participation from end users, and also from developers of solutions (such as ViaLibre’s “PasBlue” and PREDIF’s “TUR4all”).

75 assistants and 18 representatives of different organizations had the chance to be informed about the latest developments in applications for people with visual impairment, and to exchange opinions about them. As a member of ONCE said, “technology must be useful, affordable, easy to learn, usable and customisable” because there is much diversity among visually impaired people.

The goal to offer a meeting for end users and the organisations developing accessibility tools was successfully attained and the encounters were fruitful for all, making users aware of the tools that will solve their problems and improve their integration in society, and also facilitating the contacts between researchers, developers and the organisations that help bring these technologies to the end users.

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SightCity 2014

Using 3D-sound effects to accomplish a turn-by-turn navigation task is a new approach for blind and visually impaired people as well as for most of the manufacturers who offer a wide product range of specific aids for this target group.

Presenting ARGUS at SightCity 2014 in Germany was the best way to introduce it in a practical approach to the widest range of potential end users and describe the ARGUS solution to the market and to establish fruitful connections between the project partners and manufacturers of assistive technology solutions.

SightCity in Frankfurt am Main is Europe’s largest exhibition for aids for the blind and visually impaired. Between 14th and 16th of May 2014, 130 manufacturers from all over the world presented their products in the field of specialized aids to more than 4000 visitors.

The ARGUS consortium was represented by a team of accessibility experts from Siemens. At the booth, all associated hardware and software components of the ARGUS 3D-sound navigation solution were introduced and practically demonstrated in an illustrative and accessible manner fitting the special needs of all interested visitors. In particular the comfortable handling of the Android based Talkback screen-reader solution in cooperation with the user-friendly ARGUS navigation app as well as appropriate headset configurations like the Bluetooth Aftershokz bone-conducted headsets were demonstrated and explained in detail. Many

visitors took a first look at the accessible ARGUS WebUI which complements the mobile app with easy to use home-based route planning.

To allow visitors to stay in touch with the project, Siemens prepared an accessible Giveaway CD containing project information, newsletters, demonstration videos and the ARGUS training app for Android. This app enables all interested users to get a first impression and to understand 3D sound based navigation on their own.

Most of the visitors were members of Europe’s different associations for blind and visual impaired people. Therefore, many of them act as a kind of information proxy with respect to their locally organised associations. This aspect will significantly improve the level of awareness of the ARGUS project outcomes in each European country.

A remarkable fact was that all booth visitors rated the ARGUS navigation solution as a real benefit for their daily life, in particular in rural and suburban environments where most standard navigation solutions do not fit their needs in terms of reliability. Most of the potential end users want to use the upcoming ARGUS solution to make their way between the bus station and their home. Some visitors planned to use the ARGUS app to improve their knowledge of their home and work environment by using the already uploaded itineraries of other ARGUS users. This aspect emphasises the social component of the ARGUS user platform which was realised and accepted by visually impaired users.

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Real Corp 2014

The REAL CORP 2014 conference was held during 3 days, from 21st to 23rd of May, at the Austrian Economic Chambers in Vienna (Austria).

REAL CORP conferences are held annually since 1996, where experts from around the world from the fields of urban planning, transport planning, information and communication technologies, architecture, social and environmental sciences, real estate, GIS, surveying and remote sensing and more meet to discuss the latest tasks and topics in urban planning, regional development and information society at this international and interdisciplinary conference.

During this year's conference, named as "Plan it smart - Clever solutions for smart cities" about 180 experts took part in lectures, presentations, round table discussions, workshops and small exhibitions. The ARGUS project was presented on 22nd of May, in the slot about Mobility in Smart Cities. It was a great opportunity to present the project as a whole, and explain the technical details of how the different spatial layers and preferences are handled by the Multilayer Information Management System and the Route Calculation module. Also, the importance of good pedestrian-oriented cartography was stressed among several professionals on GIS areas. The feedback from the audience, who were mainly technical, was very positive. They were concerned about the tests with the users and were pleased to know more details of the different testing phases carried out during the course of the project. Apart from that, some of them appreciated the ARGUS project offered an interesting practical case of a real solution in the conference.

Participation in other events

ION GNSS 2013: 16-Sep-2013, Nashville (TN, USA)

AAATE 2013 (Association for the Advancement of Assistive Technology in Europe): 19-Sep-2013, Vilamoura (Portugal)

ICT 2013: 6-Nov-2013, Vilnius (Lithuania)

ICCHP 2014 "14th International Conference on Computers Helping People with special needs", 09-jul-2014, Saint-Denis (France)

ICCGIS 2014 15-Jun-2014, Riviera (Bulgaria)

Internet

The public Website of the ARGUS project provides updated news: www.projectargus.eu

ARGUS also has channels in Social Media:

facebook.com/ProjectArgus

twitter.com/ProjectArgus

linkedin.com/groups/Project-Argus-4467131

youtube.com/user/ArgusFP7

vimeo.com/argusfp7

Audio versions of the previous issues of the ARGUS newsletter were published in the ARGUS podcast channel and embedded in the project’s Website.

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Next steps in the project

After the completion of the FP7 project, ARGUS will continue based on the strategy defined in the exploitation plan. The ARGUS consortium partners will complete the development of the system and prepare for its commercialisation.

Dissemination activities will continue, presenting the results of the tests at conferences, publishing technical articles and sending press notes to general media.

As an example, ARGUS will be presented at the 5th Congress of CENTAC (Spanish National Centre for Accessibility Technologies) in Malaga (Spain) on October 15th and 16th.

Contact information

Oihana Otaegui VICOMTECH-IK4 (www.vicomtech.es) Mikeletegi Pasealekua 57 Parque Tecnológico E-20009 Donostia - San Sebastián, SPAIN Tel: [+34] 943 30 92 30 contact@projectargus.eu http://www.projectargus.eu

Consortium partners

Collaborators