Human robot interaction in guardians
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Human Robot Interaction in Guardians. Amir M. NaghshSheffield Hallam University, UK Jeremi Gancet Space Applications Service N.V., Belgium Andry TanotoHeinz Nixdorf Institute, Paderborn, Germany Jacques Penders Sheffield Hallam University, UK

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Human Robot Interaction in Guardians

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Human robot interaction in guardians

Human Robot Interaction in Guardians

Amir M. NaghshSheffield Hallam University, UK

Jeremi Gancet Space Applications Service N.V., Belgium

Andry TanotoHeinz Nixdorf Institute, Paderborn, Germany

Jacques Penders Sheffield Hallam University, UK

Chris R. Roast Sheffield Hallam University, UK

Michel Ilzkovitz Space Applications Service N.V., Belgium

RISE 2008 Worksop, Benicassim

www.guardians-project.eu


Outline

Outline

  • Introduction and context: Guardians environment

  • On-the-field HRI

  • Remote HRI

  • Communication issues

  • HRI metrics

  • Conclusion and future work

www.guardians-project.eu


1 guardians environment fire fighters operations

1. Guardians’ Environment / Fire-fighters operations

Environmental Conditions

No Visibility

Reduced sense of hearing

Restricted sense of touch


1 guardians environment fire fighters operations1

1. Guardians’ Environment / Fire-fighters operations

Fire-Fighters Operations

Fire-fighters safety

Teams of 2 (3,4)

Progress along a wall when it is possible

Frequently debrief the Entry Control Officer (ECO)

Span of control (Overall structure)

ADD DIAGRAM ???


2 hsi requirements

2. HSI Requirements

The swarm notifies the humans of possible hazards (e.g. obstacles, high temperature, chemicals)

The swarm stays within a relatively close range but also maintains its distance to the fire fighters to allow them freedom of action

The swarm indicates unambiguously the direction to the scene of incident or backwards to the exit point.

The interfaces indicating hazards should be most noticeable for the fire fighters.


2 swarm human interactions

2. Swarm  Human Interactions

Visual

Visual presentation using LED / LCD screens

Providing Navigational information / Hazards

Audio

Dialogue based interactions / Speech recognitions

Not recommended


2 swarm human interactions1

2. Swarm  Human Interactions

Tactile

Using sense of touch for presenting information

Hazards – Obstacles / Navigation information

Vibrators


2 human swarm interactions

2. Human  Swarm Interactions

Passive

Autonomous – form a bubble surrounding fire fighters – maintain a min/max distance

Tangible

Big buttons – high level tasks

Movement-based

Gesture recognition

Audio / Visual

Not recommended

VPL Research, 1987 MIT, 2007


3 remote hri the base station

3. Remote HRI: the base station

Base station’s purpose

  • Monitoring and control of the robots and humans on the field

  • Offline and online support to mission planning, coordination, scheduling and execution

  • Data recording and replay with support to debriefing

    Users roles

  • Different types of users, with different roles

    • Guardians’ appliance coordinator

    • Operator(s)

    • Sensor data specialist(s)

    • Stakeholders in the commanding chain

    • Tier information channels (media...)

www.guardians-project.eu


3 remote hri the base station1

3. Remote HRI: the base station

Base station components

Base Station

Users Interfaces to VF robots, HCM, and their sensors

Robots and HCM I/F

MTE and MPSEM

SDP

HMI Clients

Base Station Core

MDRD

www.guardians-project.eu


3 remote hri the base station2

3. Remote HRI: the base station

Base station components

Base Station

Robots and HCM I/F

MTE and MPSEM

SDP

HMI Clients

Base Station Core

MDRD

=> HMI Servers

=> Base station administration / supervision

www.guardians-project.eu


3 remote hri the base station3

3. Remote HRI: the base station

Base station components

=> Mission edition support tools

=> Planning and scheduling

=> Execution monitoring

Base Station

Robots and HCM I/F

MTE and MPSEM

SDP

HMI Clients

Base Station Core

MDRD

www.guardians-project.eu


3 remote hri the base station4

3. Remote HRI: the base station

Base station components

Base Station

Robots and HCM I/F

MTE and MPSEM

SDP

HMI Clients

Base Station Core

MDRD

=> Mission data recording / replay

=> Mission data dispatching

www.guardians-project.eu


3 remote hri the base station5

3. Remote HRI: the base station

Sensor Data Processing

=> Ground based (cpu-consuming) data processing

=> Data fusion and map building

=> Robot localization

Base station components

Base Station

Robots and HCM I/F

MTE and MPSEM

SDP

HMI Clients

Base Station Core

MDRD

www.guardians-project.eu


3 remote hri interfaces

3. Remote HRI: interfaces

Foreseen interfaces & approach to remote HRI:

  • ADD ILLUSTRATIONS HERE ???

www.guardians-project.eu


4 communication issue

4. Communication Issue

Issues:

  • Interferences due to warehouse infrastructures

  • No communication infrastructure is available at the incident

  • Communication protocol

  • Communication bandwidth

Short range Communication

Middle range Communication


4 wireless communication

4. Wireless Communication

Three wireless communication standards:

WLAN (802.11)

High datarate, high power consumption, point to point connection

For high-rate data transfer: video, audio

Bluetooth

Middle datarate, low power consumption, point to multi-point connection

For continuous, middle-rate data transfer: audio, sensors

ZigBee

Low datarate, low power consumption, fast network formation time, high number of nodes

For time-critical low-rate data transfer: critical data (commands, sensor)

Which, When, and Where?


5 validation evaluation

5. Validation & Evaluation

What to measure?

  • Situational awareness

    • To understand the extreme condition of the environment and robots

  • Cognitive/Work load

    • To ensure load below humans’ capability

  • Team performance

    • The outcome of teamwork between robots and humans

      How to measure?

  • Interaction debugger [Kooijmans & Al, 2006]

    • to collect, match, visualize, and analyze

  • SAGAT

    • to measure situational awareness

  • Wizard of Oz

www.guardians-project.eu


6 conclusion and future work

6. Conclusion and future work

  • HSI is a novel research area

  • We presented:

    • issues on human-robot swarm interaction for search and rescue mission

    • System architecture to support human-robot swarm interaction

  • We proposed

    • human-robot swarm interface

    • Metrics for validation and evaluation

  • Future work to provide conceptual design of human-robot swarm interaction

  • Interface prototyping and testing is ongoing with participation of end-users

www.guardians-project.eu


Human robot interaction in guardians

Thank you for your attention!


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