Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 52)

previous version. With the 2D view, rotating the panel clockwise or counter-clockwise was

programmatically difficult. However, with the 3D panel which uses JOGL, an OpenGL

implementation for Java, creating the rotation effect was trivial. If a user pans the camera left,

the ring will rotate right. This rotation causes the distance boxes to line up with the objects the

user is currently seeing in the video window. It also doubles as a pan indicator to let the user

know if the robot’s camera is panned left or right.

This version of the interface also included new mapping software. PMap from USC is a SLAM

based mapping suite that is easier to manage than the previous suite was. It has slightly more

features than the previous suite had, such as displaying the robot's path through the

environment [Howard, 2004]. One feature that resulted from it was a panel that we termed

“zoom mode.” This feature, which can be seen in figure 18, was made chiefly as a toy, for us,

the developers, to fool around with, while testing out some of the new mapping functionality. It

is in essence a view of the map at a zoomed in level. It takes the raw laser data in front of the

robot and draws a line, connecting the sensor readings together. There is also a smaller rectangle

on the bottom of this widget that represents the robot. As long as the sensor’s lines do not

touch or cross the robot rectangle, then robot is not in contact with anything. This sensor view

gives a highly accurate, highly visual and extremely easy way to tell if the robot is close to an

object or not. The lines make it easier to visualize the environment than what the colored boxes

provide. This visualization leads to less mental translations and less cognitive load. The only

problem that we had with this panel was that it was placed in the map display panel, making

them mutually exclusive.

The video screen was moved to the center of the screen, rather then being on the left side. This

shift was mainly due to the fact that the new distance panel was larger and with the rotation

feature, was being cut off by the edge of the screen. Placing it in the center allowed for the full

ring to be displayed at all times. The map was moved to the right side of the video and we

added the CO

sensor panel to this version of the interface. The CO

panel was added as a sign-

of-life detector for the study we performed on this interface at NIST.

5.2.2 Usability Study and Results

We wanted to see differences in preferences and performance with the UML interface and the

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Miller Robotic Interface II Manual de usuario Pagina 52