Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 40)

INL robot. The biggest advantage over the INL system, however, came from the added rear

camera.

There was another difference between the studies that were performed. Some of the subjects

who were tested on the INL system were rescue experts whose experience with computers and

robots varied; these participants were tested after the competition runs ended. During the

competition, the INL robot was controlled by its developer. Our subjects were computer

science students, two males and one female who, presumably, have had much more exposure to

computer interfaces. They did not, however, have any prior knowledge of our system.

Table 1: Situation Awareness and Performance Results

Subject Hits Victims Found

Area

Covered

Returned

to victim

1 2 100% 100% Yes

2 4 83% 88% Yes

3 17 33% 66% Yes

During the study, we found that the three users operated the system quite differently. We did

note, however, that two of the three subjects tended to stay with two modes that they were

comfortable with. For instance, the first subject primarily switched between teleop and shared

mode, while the second subject mainly switched between safe and escape mode. The third

subject mostly stayed in teleop mode, but did enter safe mode occasionally. During the training

session the subjects were encouraged to try all of the modes, but during the actual run, they were

reluctant to stray from their working combination.

We also noticed that because escape mode was designed to move forward, if it can, all of our

subjects started to use escape mode to traverse into tight areas that they could not get into with

safe mode and were too tight to maneuver safely in teleop mode. Also, two subjects drove

around the arena using mainly escape mode, even though this is what shared mode was designed

to do. We noted many times that when the user entered escape mode while in Automatic

Direction Reversal (ADR) mode, the robot moved in the opposite direction than what the user

expected. Recall from section 4.4, ADR allows the operator to easily switch their main video

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Miller Robotic Interface II Manual de usuario Pagina 40