Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 11)

the operator accidentally driving the robot out of the arena into the crowd and bumping into a

wall trying to get back into the arena. The turned camera also resulted in substantial operator

confusion.” There are many cases of the operator driving with the camera off center in all of

these studies.

Also described is the case of a fire chief test driving one of the systems. He was overly

dependent on the video stream, which is common among users. The interface did not provide a

good method of displaying distance information and the fire chief ended up driving through a

Plexiglas panel. Although the ranging data can see an obstacle like this, it can be much harder

for a human to detect in a video stream. Both studies show that poor SA led to most of the

critical events that occurred.

My research was designed to fill the need for good situation awareness in remote robots. This

thesis documents the lessons from the evolution of our HRI design for improved SA in remote

robot operations. We started with a prototype based on a list of guidelines recommended by

Yanco et al. [2004] and Scholtz et al. [2004]. The guidelines state that a USAR interface should

include:

• A map of where the robot has been.

• Fused sensor information to lower the cognitive load on user.

• Support multiple robots in a single display (if it’s a multi-robot system).

• Minimal use of multiple windows.

• More spatial information about the robot in the environment.

• Help in deciding which level of autonomy is most useful.

• A frame of reference to determine position of the robot relative to its environment.

• Indicators of robot health/state, including which camera is being used, the position(s) of

camera(s), traction information and pitch/roll indicators.

• The ability of the robot to self inspect its body for damage or entangled obstacles.

We implemented a complete working version (version 1.0), which was tested via a user study.

Based on the results of that study, the interface was redesigned and retested (version 2.0). As a

result of the version 2.0 tests, we designed and tested version 3.0.

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Miller Robotic Interface II Manual de usuario Pagina 11