perceptor robotics project perception for offroad robotics: operator control station (ocs) ocs team:...
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PerceptOR Robotics ProjectPerception for Offroad Robotics:
Operator Control Station (OCS)
OCS Team:
Cheryl PlatzMichael Kelleher
Evan LeonardCooper Blake
Sri Remala
May 8, 2002HCI Undergraduate Project Course
Final Presentation
Background Design Prototype User Tests Conclusions
Background
Background Design Prototype User Tests Conclusions
What is PerceptOR? Autonomous robot intended for off-road
exploration and information retrieval
Steer & shiftActuators
StereoCameras
Electrical Box(Both Sides)
Batteries
AluminumFrame
Throttle & Brake Actuators (Other Side)
Inverter
GPS & Ethernet Antennas
LadarUnits
PTU
Steel Frame
Unconventional Process :
• A project with a very small user base
• Used common sense, contextual inquiry, and outside research.
• User testing is crucial
Background Design Prototype User Tests Conclusions
Our Goals
Present information about the world and the robot
Allow immediate intervention
Minimize bandwidth and cognitive load
Background Design Prototype User Tests Conclusions
Old Interface
Current system is based on raw data
Background Design Prototype User Tests Conclusions
Initial Design
Background Design Prototype User Tests Conclusions
Focus• In the field
• Learning the simulator
• Trouble discovery
• AG Project/Autonomous Tractor
• Hyperion Project
(Autonomous Sun Synchronous Robot)
Contextual Inquiry Process
Subject
Primary Robot operator
System engineers
Project Researcher
Additional feedback from military field tests in Virginia (late February)
Domain research in the areas of automobile,ship, and airplane navigation systems as well as other autonomous robotic systems
Background Design Prototype User Tests Conclusions
Tasks
1. Monitoring – 90% of the time
2. Analysis – to get more information
3. Intervention – avoid if at all possible
Background Design Prototype User Tests Conclusions
How do we organize data?
Vehicle state vs. Navigation State (CI- 2)
Saliency of information • Artificial horizon• Importance of images, 2D Map (CI 1,5)
Background Design Prototype User Tests Conclusions
First Monitoring Wireframe
Internal/Nav State Screens
Feedback
• Global Stop/Start
• More attention to intervention
• Potential Moding Issues
Background Design Prototype User Tests Conclusions
Full Screen 1st Round Monitoring
Prototype Presentation
Background Design Prototype User Tests Conclusions
User Tests
Background Design Prototype User Tests Conclusions
User Test Title Slide
User Tests2 Rounds CMU students from technical majors and Richard
• 1st round Paper PrototypeLittle Training Clarify system: organization & labeling5 Scenarios
• 2nd round Director/Flash SimulationAdditional TrainingExpert Use and Flow & Interaction issues2 Scenarios
Background Design Prototype User Tests Conclusions
Trio of 1st Test Wireframes
• Labeling
– Main buttons not perceived as buttons at all
“I want to click on [vehicle state] as a button but I’m not sure it will do anything.”
– Drive Blind - “should I drive blind?” (SDR-1) “I guess it shuts off communications” (EL-2)
Round 1 Findings
Background Design Prototype User Tests Conclusions
Round 1 Findings: Labeling
• Moding & Information Loss
– Wanted direct control from first screen
– Wanted information back from the Monitoring screen
– Users got lost between screens.
“I’m unaware what view this is”
Round 1 Findings
Background Design Prototype User Tests Conclusions
Round 1 Findings: Moding
Round 2 Full Screen Monitoring
Round 2 Findings
Stop/Start Feedback
Resolution adjustment on images
Click & Drag was awkward (Mission Map)
History: Image replay, 2D map coloring- “I’ve gone all this way, but I’ve got nothing to show for it.” (EAL-3)
More training needed on how the robot works (e.g. Tilt Gauge)
Background Design Prototype User Tests Conclusions
Looking Ahead:Conclusions and
Design Ideas
Background Design Prototype User Tests Conclusions
Conclusions Title Slide
Future Ideas
• Sound Effects– Constant “heartbeat” and pitch shifting effects based on robot status
• History View• Clarify Difference between what the Robot thinks
it perceives and the real world• Map Editing Details (e.g. waypoint reordering)
Background Design Prototype User Tests Conclusions
Conclusions
We can remove the tedium from robot monitoring.Our user test subjects enjoyed themselves!
For the most part, our system provides the tools needed to solve complex robot problems.
User’s can diagnose problems quickly
Some training with the robot will be needed, but that is beyond the scope of the OCS project.
Background Design Prototype User Tests Conclusions
Questions?
Background Design Prototype User Tests Conclusions
2D Map Moding
Drive Blind
Mission Map
Internal State
Nav State