Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 57)

comments (two for the sonar ring display blocks not being definitive and one for the FLIR

camera).

Our analysis suggests that there are a few categories of great importance to operators: video,

labeling of maps, ability to change perspective between 3D and 2D maps, additional sensors and

autonomy. In fact, in their suggested ideal interface, operators focused on these categories.

The occlusion of video by other sets of information may have influenced the operator’s ability to

adequately search the environment, as it was more difficult for the operator to see the entire

visual scene. Another possibility is that the navigational requirement of the task took sufficient

effort from the participant that it negatively impacted the operator’s ability to search the

environment. Even though there were various levels of autonomy available to facilitate the

navigation of the robot, participants often expressed confusion about where the robot had been

and what they had seen previously. To improve the usefulness of robot systems in search and

detection tasks in general, it will be important to reduce the operator’s responsibility to perform

both the navigation and search aspects of the task.

5.3 Version 3.0

We saw in the previous experiment that although the colored boxes on the distance panel

performed better than the previous colored bar approach, they weren’t far superior. The main

problem with them was that, while trying to keep it simple, we had only two important colors to

display: yellow and red. This turned out to be too simple. When in a tight area, which is often

the case in a USAR environment, the robot may not have 0.5 meters on either side of it, which

was the case during the experiment. If a distance box was red, the user knew that an obstacle

was close, but didn’t know how close. When talking about this kind of space, 0.5 meters is large.

We could have fine-tuned it so that it only turned red at 0.1 meters, or even 0.05 meters, but the

basic problem is still there. The colored boxes are not definitive and that uncertainty causes the

user to not trust the system.

The major thing that we took away from the previous user study was that the zoom mode

feature is a great tool to have. The users commented on how much they liked that feature. It

solves the uncertainty problem mentioned above as well. Using the lines provides a concrete

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Miller Robotic Interface II Manual de usuario Pagina 57