agricultural robot sprayer: evaluation of user interfaces in field experiments
TRANSCRIPT
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Agricultural Robot Sprayer and Evaluation of User Interfaces in Field
Experiments
George AdamidesSenior Agricultural Research OfficerAgricultural Research Institute
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Presentation overview
Technical characteristics of the Agricultural Robot Sprayer
User Interfaces for HRI Design & implementation
Field Experiment design & implementation
Findings
Conclusion
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Summit XL by Robotnik
Technical characteristics of the Agricultural Robot Sprayer
http://www.robotnik.es/en/products/mobile-robots/summit-xl
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Summit XL technical characteristics
• The SUMMIT XL is a medium-sized high mobility all-terrain robot with extreme performance.
• The Summit XL has skid-steering kinematics based on 4 high power motor wheels
– Dimensions 693x626x417 mm– Weight 30 Kg– Load capacity 20 Kg– Speed 3 m/s– Traction system 4 wheels– Batteries 8x3.2V LiFePO4 (~5 hours autonomy)
• 45 minutes for full charge– Temperature range 0oC +50oC – Max climbing angle 45o
– Controller ROS embedded PC with Linux Real Time– Communications WiFi 802.11n– Connectivity Internal: USB, RS232, GPIO y RJ45– External: USB and power supply 12 VDC
Technical characteristics of the Agricultural Robot Sprayer
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Main parts of Summit XL robot
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Building the Robot Sprayer
Technical characteristics of the Agricultural Robot Sprayer
September 2012
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The Sprayer• Serena electric sprayer
Weight (with full tank) 13.6 kgMeasurements: 315x145x400Water flow rate with a fan nozzle 26 liters/hBattery life 11.30 hFull cycle charging 10hCapacity 10 liters
Technical characteristics of the Agricultural Robot Sprayer
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Sprayer installation• Modbus IO• Sprayer case• ROS module programming
<?xml version="1.0"?> <launch> <!-- start modbus_io node --> <param name="modbus_io_node/ip_address" value="192.168.2.185" /> <param name="digital_outputs" value="8"/> <param name="digital_inputs" value="8"/> <param name="analog_outputs" value="2"/> <param name="analog_inputs" value="2"/> <node pkg="modbus_io" type="modbus_io_node" name="modbus_io_node" output="scr een"/> </launch>
ssh [email protected] summit> ping 192.168.0.185 3. Launch the modbus_io module roslaunch modbus_io test_io.launch 4. Test the digital outputs rosservice call /modbus_io/write_digital_output 0 false rosservice call /modbus_io/write_digital_output 0 true rosservice call /modbus_io/write_digital_output 1 false rosservice call /modbus_io/write_digital_output 1 true ... Outputs 5,6,7 and 8 are RELAYS
5. Once it is working, modify the summit_xl_complete launch file in order to launch the IO module every time you start the robot and roscd summit_xl_complete edit the launch/summit_xl_complete.launch file and add the following line: <!-- start modbus_io node --> <include file="$(find modbus_io)/launch/test_io.launch"/>
Sprayer case and installation by AgroWise
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Building the Robot Sprayer – modified version
December 2012
Technical characteristics of the Agricultural Robot Sprayer
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Initial trial-out findings
• Issues with the camera – Viewing angle– Drops on dome cover
• Issues with PC screen– Lighting/shading/reflection
• Issues with wireless connection
– Distance
• Issues with Bluetooth connection
– PS3 (distance)
Technical characteristics of the Agricultural Robot Sprayer
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Improving the Agrirobot
• Hardware – Installation of two USB cameras to improve
Peripheral vision and End-effector vision– Bigger wifi antenna– Moved higher the spraying nozzle
• Software – Installation and configuration of the
mjpeg_server ROS module and the Apache webserver
– Installation and programming the pr2_keyboard_teleop ROS module for the Summit XL navigation and the sprayer on/off state
Technical characteristics of the Agricultural Robot Sprayer
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Peripheral Visual aid
Technical characteristics of the Agricultural Robot Sprayer
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End-effector visual aid
Technical characteristics of the Agricultural Robot Sprayer
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WiFi Antenna
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Building the Robot Sprayer – current version
Technical characteristics of the Agricultural Robot Sprayer
May 2013
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Technical issues and troubleshooting
Short-movie
Technical characteristics of the Agricultural Robot Sprayer
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Presentation overview
Technical characteristics of the Agricultural Robot Sprayer
User Interfaces for HRI - Design and Implementation
Field Experiments Design & Implementation
Findings
Conclusion
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Reality Based Interaction (RBI) styles [1]
New interaction styles that draw strength by building on users’ pre-existing knowledge of the everyday, non-digital world to a much greater extent than before.Examples of RBI: VR, AR, TUI, ubiquitous and pervasive computing, handheld or mobile interaction…
[1] Jacob, Robert JK, et al. "Reality-based interaction: a framework for post-WIMP interfaces." Proceedings of the SIGCHI conference on Human factors in computing systems. ACM, 2008.
User Interfaces for HRI – Design and Implementation
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User Interface for Robot Teleoperation – Development Phases
User Interfaces for HRI – Design and Implementation
Spraying
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Designing for HRI Awareness
HRI Awareness [2]
Given one human and one robot working on a task together, HRI awareness is the understanding that the human has of the location, activities, status, and surroundings of the robot; and the knowledge that the robot has of the human’s commands necessary to direct its activities and the constraints under which it must operate.
LASSO technique [3]
• Location Awareness• Activity Awareness• Status Awareness• Surroundings
Awareness• Overall Mission
Awareness[3] Jill L. Drury, Holly A. Yanco & Keyes, B 2007, 'LASSOing HRI: analyzing situation awareness in map-centric and video-centric interfaces', Proceedings of the ACM/IEEE international conference on Human-robot interaction.
[2] Scholtz, J.; Young, J.; Drury, J.L.; Yanco, H.A., "Evaluation of human-robot interaction awareness in search and rescue," Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, vol.3, no., pp.2327,2332 Vol.3, 26 April-1 May 2004
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Robot teleoperation through Human-Robot user interfaces
Mental model
User Interfaces for HRI – Design and Implementation
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Phase 1. Using ROS command line
~> roslaunch usb_cam low_res.launch
User Interfaces for HRI – Design and Implementation
~> export ROS_MASTER_URI=http://V3:11311~> rostopic list~> rosrun image_view image_view image:=/logitech_usb_webcam/image_raw
Robot PC Remote PCssh summit@V3
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• Using ROS command line to display Peripheral and End-Effector cameras
• Web interface of Axis Ethernet camera
ROS environment with three cameras
User Interfaces for HRI – Design and Implementation
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• Installed the mjpeg_server module• Installed the Apache web server
The mjpeg_server is a streaming server that subscribes to requested image topics in ROS and publishes those topics as MJPEG streams via HTTP
Preparing for phase 2
User Interfaces for HRI – Design and Implementation
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Phase 2. First attempt for Web UI in HTML
User Interfaces for HRI – Design and Implementation
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Improved version of the Web UIin PHP
UI Design and Implementation by Istognosis
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UI for drivingMain camera & Peripheral camera
UI for spraying (rejected)Main camera & spraying camera
UI for spraying Main camera & ssupport cameras
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Phase 4. Using a patriot wireless tracker & digital glasses
User Interface Design and Implementation by Istognosis
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Presentation overview
Technical characteristics of the Agricultural Robot Sprayer
User Interfaces for HRI – Design & Implementation
Field Experiments Design & implementation
Findings
Conclusion
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Field experiments Design & Implementation
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Setting up the stage
Field experiments Design & Implementation
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Preparing the robot
Field experiments Design & Implementation
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Path and obstacles
Field experiments Design & Implementation
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Grape clusters (targets)
Field experiments Design & Implementation
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Experiment design & implementation
1 PC Screen + PS3 + Main Camera Only
2 PC Screen + PS3 + Main & Support Cameras
3 PC Screen + Keyboard + Main Camera Only
4 PC Screen + Keyboard +Main & Support Camera
5 AR Glasses + PS3 + Main Camera Only
6 AR Glasses + PS3 + Main & Support Cameras
7 AR Glasses + Keyboard + Main Camera Only
8 AR Glasses + Keyboard + Main & Support Cameras
Field experiments Design & Implementation
Tasks were randomized and were conducted in two day visits. Four tasks were carried out on day 1 and the remaining tasks on day 2 (not consecutive, period between experiments varied 2 to 10 days)
25 participants:AgronomistsAgricultural TechniciansAgricultural Laborers
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Experiment procedures• Consent form• Pre-Questionnaire
– Demographics, Immersion Tendency Questionnaire, General Self-Efficacy Scale, Santa Barbara Sense of Direction Scale, CEW Fluency Scale
• Briefing and getting familiar with the UIs• Post-Questionnaire after each run
– SUS, Presence, NASA TLX– Metrics (collisions, path divergence, targets sprayed,
targets missed, percent completed, duration)
• Experiment duration ~3 hours per participant to complete 8 tasks
Field experiments Design & Implementation
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The Agrirobot in the field
Photo Album
Field experiments Design & Implementation
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Spraying – extended nozzle antenna
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The Agrirobot UI findings
Screenshots
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FindingsMain camera VS Main Camera and Support Cameras
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Identifying obstacles
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Identifying obstacles
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Peripheral visionIdentifying obstacles
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Shading Issues (left wheel)
Spraying
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Stopped Spraying
Shading Issues (left wheel)
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Shading issuesIdentifying obstacles
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Shading Issues (wheels)
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Identifying red grape clusters
Identifying green grape clusters
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The Agrirobot VS obstacles in the field
Image album
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Keep going…
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Presentation overview
Technical characteristics of the Agricultural Robot Sprayer
User Interfaces for HRI – Design & Implementation
Field Experiments Design & Implementation
Findings
Conclusion
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Preliminary results
NASA Task Load Index per UI
Findings
User Interfaceswith PS3 controller
User Interfacesusing keyboard controller
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Preliminary results
Effectiveness: Number of grape clusters sprayed per UI
Findings
User Interfaceswith main andSupport (3) cameras
User Interfaceswith main (1) camera
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Preliminary findingsMean number of collisions per UI
UI # Cameras N Minimum Maximum Mean Std. Deviation
UI1 - 1 Camera
25 0 3 ,76 ,779
UI2 - 3 Cameras
25 0 4 ,60 ,913
UI3 - 1 Camera
25 0 7 1,36 1,777
UI4 - 3 Cameras
25 0 2 ,56 ,861
UI5 - 1 Camera
25 0 5 1,28 1,242
UI6 - 3 Cameras
25 0 4 ,84 ,987
UI7 - 1 Camera
25 0 4 ,80 1,118
UI8 - 3 Cameras
25 0 3 ,28 ,678
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Presentation overview
Technical characteristics of the Agricultural Robot Sprayer
User Interface Design
Field Experiment design & implementation
Findings
Conclusion
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In Summary – Problems faced and overcome
• Transformation of a “off-the-shelf” robot into a robotic sprayer
• Pilot trials revealed issues with WiFi, Bluetooth, camera view points
• A lot of –smaller or bigger- practical, “non-research” problems, turned into valuable experience for the future
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In Summary - what we did• Designed and implemented several
user interfaces• Used WIMP and RBI interaction styles• Field experiments
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Conclusions• Yes, it is feasible! (Agri Robot tele-operation )• The user interface design does make a
difference• There are many small, practical issues to
resolve– Agricultural task are demanding and take place in a
difficult environment– Many issues to overcome
• PS3 Bluetooth, WiFi, monitor shading/light, web cameras• Robot wheels, sprayer hose• ROS module programming
• Promising findings
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Future work• Incorporation of sensor information in the
UI to include ultrasound sensor information, battery-life (under development)
• Robot improvements – Servos for extending sprayer antenna and
USB/Ethernet cameras control/rotation – Sprayer antenna with multiple nozzles
• Learnability issues need further study• Long hours? • Cost-benefit analysis
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Spraying short movie
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Thank you for your attention!
Discussion / Coffee time