atrv-jr. interface human-robot interaction: a straw man approach to interface iteration

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ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration Rachel Mulcrone Mills College

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Page 1: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Rachel Mulcrone

Mills College

Page 2: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Goal

Improve the INEEL Interface

Page 3: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

GoalIn other words . . .

• A usable and strong interface specialized for Urban Search and Rescue of competition caliber folding in unique and novel functions and features that improve the experience for the end user and ultimately, improve performance.

Page 4: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Overview

BackgroundCompetitor InterfacesInterface designFuture Directions

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Background Search and Rescue Human-Robot Interaction Human-Computer Interaction

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Background:Search and RescueNational Institute of Standards and

Technology (NIST)– 2003 IJCAI AAAI

• 1st INEEL• 2nd Swarthmore

Page 7: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Background:Search and RescueSome known HRI issues in USAR

– Bumping (Over 40% rear hits)– Camera pan awareness– Situation awareness– Pitch and roll

Page 8: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Background: HRI

TaxonomyHuman-robot interaction currently takes many forms. Dangerous tasks, such as urban search and rescue [Casper 2002, Casper and Murphy 2002] and hazardous material clean up [Bruemmer, Marble and Dudenhoffer 2002], require a human operator to be removed from the physical location of the robot. Robots that assist the elderly [Haigh and Yanco 2002] and the handicapped [Mittal et al. 1998] share the same physical space with their users, often transporting them through the world. Others, such as Sony’s Aibo, provide entertainment and companionship for people

• Yanco and Drury (2002)

Page 9: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Background: HCI

Evaluation methods– Testing 3-5 Subjects

– Nielson

Page 10: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

HCI ModelsMental Models

• User’s understanding of how a system works.

System Models

• Way the system works from programmers perspective.

Design Model

• The way the designer represents the system to the user.

Norman

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Interface Design

Survey of selected USAR competitors

UMass Lowell

Page 12: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Rochester - IJCAI/AAAI 2003

Map

Page 13: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Rochester - IJCAI/AAAI 2003

Surroundings: terrain and obstacles

Distracting colors: map relative to video

Readability: black on white vs white on black

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Swarthmore - IJCAI/AAAI 2003

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Swarthmore - IJCAI/AAAI 2003

Window managementDevelopment tools

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New Orleans - IJCAI/AAAI 2003

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New Orleans - IJCAI/AAAI 2003

Window managementSmall video

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Mitre - AAAI 2004 (screenshot from Robocup 2003)

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Mitre - AAAI 2004 Multi-step controls for simple tasks

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INEEL - IJCAI/AAAI 2003

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INEEL - IJCAI/AAAI 2003 TMIControlUser Experience (final runs)

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% Map and Video %

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% Map and Video %

New Orleans Video: 9.11%Map 20.79%

Swarthmore Video: 14.57%Map 13.98%

Rochester Video: 25.3%Map 45.46%

Mitre Video: 8.72%Map 57.43%

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% Map and Video %

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% Map and Video %

INEEL Video: 10.18%Map 8.26%

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% Map and Video %

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% Map and Video %

UMass Lowell Video: 26.96%Map 18.89%

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%Map and Video Summary%

Video Map

MITRE 9% 57%ROCH. 25% 45%NEW O. 9% 21%SWATH. 15% 14%INEEL 10% 8%UMASS 27% 19%

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Interface Design: UMass Lowell

QuickTime™ and aTIFF (LZW) decompressor

are needed to see this picture.

Page 30: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Interface Design: UMass Lowell

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Interface Design: UMass LowellCamera tilt and pan overlayRear cameraControlsResponsive interface

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Interface Design: UMass LowellTo test:

– Camera positioning– Rear front toggle (animation)– Map– Sonars

Page 33: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Resources

This Presentation and my DMP website:– www.mercury.cs.uml.edu/~rmulcron

Human-Computer Interaction– Jakob Neilson’s Use It site

• www.useit.com

– Donald Norman’s jnd.org • www.jnd.org

NIST USAR site– http://www.isd.mel.nist.gov/projects/USAR/

Page 34: ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Thank You

Holly, Brenden, Bobby, Marbella, Andrew, Mike, and

Phil for a great summer.