1 / 30

April 2003 Atacama Expedition

April 2003 Atacama Expedition. HCI Field Research Report. Angela Wagner Kristina McBlain. Project Description. Introduction. Human-Computer Interaction (HCI) Team Kristina McBlain MHCI (2003) Human Computer Interaction Institute School of Computer Science Carnegie Mellon University

edna
Download Presentation

April 2003 Atacama Expedition

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. April 2003 Atacama Expedition HCI Field Research Report Angela Wagner Kristina McBlain

  2. Project Description Introduction • Human-Computer Interaction (HCI) Team • Kristina McBlain MHCI (2003)Human Computer Interaction Institute School of Computer Science Carnegie Mellon University • Angela Wagner MHCI StudentHuman Computer Interaction Institute School of Computer Science Carnegie Mellon University HCI Field Report: April 2003 Atacama Expedition Slide: 2 of 30

  3. Project Description Introduction • Research Goal • Understand the complete system for human monitoring of the robot during autonomous navigation and make recommendations for system improvements. • Research Foci • Operator Interface (OI) Graphical User Interface (GUI) • OI GUI usage patterns • Robot monitoring system including electronic and “Human to Human” communication • Field process usability • Research Sites • Pittsburgh, PA, USA • Atacama Desert, Chile (April 13 - April 17) HCI Field Report: April 2003 Atacama Expedition Slide: 3 of 30

  4. Data Collection Pittsburgh • Use of Existing Operator Interface • Interviewed Operator Interface GUI developer • Interviewed OI GUI users from Arctic expedition (2001) • Observed use of OI GUI • Documented current OI GUI • Complete System Structure • Studied interaction of system processes HCI Field Report: April 2003 Atacama Expedition Slide: 4 of 30

  5. Data Collection: Operator Interface Pittsburgh HCI Field Report: April 2003 Atacama Expedition Slide: 5 of 30

  6. Data Collection Atacama • Autonomous Navigation Observation • Observe experienced team members monitoring operator interface during autonomous navigation • Observe team members observing traversing robot • Observe code integration process • Video tape interface usage during autonomous navigation as available (8 hours) • Use “think aloud” technique during observations • Identify communication pathways • Identify additional tasks occurring in parallel HCI Field Report: April 2003 Atacama Expedition Slide: 6 of 30

  7. Environment During Observation Atacama • Hyperion’s Team’s Navigation Goals • Code integration and debugging • Autonomous navigation • Limit contact between OPS tent and robot observers • Field Team Deployment Pattern • OPS tent: 1 operator interface monitor and field communication contact, 1 mission planner developer, 1 health monitor developer • Robot: 2-3 robot observers, 1 field communication contact HCI Field Report: April 2003 Atacama Expedition Slide: 7 of 30

  8. Environment During Observation Atacama Operations Tent In Field with Robot HCI Field Report: April 2003 Atacama Expedition Slide: 8 of 30

  9. Environment During Observation Atacama • Portable HCI Lab • Video camera recording ops tent communication and operator interface GUI • Note taking: laptop and notebooks • Food tent conference center • 4-Runner workstation • Digital camera HCI Field Report: April 2003 Atacama Expedition Slide: 9 of 30

  10. Data Analysis Post Data Collection • Video Coding • View tapes and record significant events, providing traceable support for recommendations • Event Types Coded • Communication: electronic and verbal • Tool use: operator interface and others • Operator Interface: breakdowns and redundancies • Communication Modeling • Tracked electronic communication between system processes and operator interface during autonomous navigation • Tracked verbal communication within ops tent and between ops tent and field reps during autonomous navigation HCI Field Report: April 2003 Atacama Expedition Slide: 10 of 30

  11. Autonomous Navigation: Electronic Communication State Estimator Mission Executive Navigator Vehicle Controller Mission Planner Robot Stereo Mapper Health Monitor OI GUI Data Analysis Micro-raptor CVS HCI Field Report: April 2003 Atacama Expedition Slide: 11 of 30

  12. Autonomous Navigation: Electronic / Human Comm. State Estimator Mission Executive Navigator Vehicle Controller Mission Planner Robot Stereo Mapper Health Monitor OI GUI Data Analysis OI Operator (Engineering) Mission Planner(Science) Micro-raptor CVS HCI Field Report: April 2003 Atacama Expedition Slide: 12 of 30

  13. Autonomous Navigation: All Communication State Estimator Mission Executive Navigator Vehicle Controller Mission Planner Robot Stereo Mapper Health Monitor OI GUI Data Analysis Dennis Cam Experiment Set up and Data Collection Data Collection Configuration Lead Robot Situation Observers (1-3) Code Integration Coordinator Hardware Troubleshooting Assistant Ops Tent Comm. Lead Robot Hardware Troubleshooting Lead OI Operator (Engineering) Robot Observer Communication Lead Camera Data Collection Lead 2-wayRadio Micro-raptor Expert Process arbiter Legend = expected human role = not expected human role HM Code Monitor = not expected device role Mission Planner(Science) = human-human interaction Health Monitor Debug & Develop MP Code Monitor = human-software interaction = human-hardware interaction Mission Planner Debug & Develop Micro-raptor CVS HCI Field Report: April 2003 Atacama Expedition Slide: 13 of 30

  14. Assumptions: Long Term Goals Motivation • Transparent Robot • Robot operations become transparent and science data collection becomes focus • Robot system developers are not routinely involved in experiments • Non-Specialist Operator Interface Monitor • Operator Interface monitors are not developers of the system or specialists in robot’s system • Operator Interface monitors have technical experience and have received some training in robot’s system HCI Field Report: April 2003 Atacama Expedition Slide: 14 of 30

  15. Assumptions: Near Term Goals Motivation • Standardized Testing Procedures • Rely on electronic communication (primarily OI) to monitor robot and troubleshoot • Create redundancies in specialist knowledge of software and hardware • Code Maintenance During Field Trials • Create shared knowledge base of code structure and function • Customize information tracking tools to facilitate troubleshooting and development HCI Field Report: April 2003 Atacama Expedition Slide: 15 of 30

  16. Foci Recommendations • OI GUI • Organization • Consolidate tools • Update data displayed • Functional breakdowns • Field Process Usability • Verify field process accommodates anticipated usage HCI Field Report: April 2003 Atacama Expedition Slide: 16 of 30

  17. OI GUI: Organization Recommendations • Expected • Observed Second GUI with camera data (stereo) HCI Field Report: April 2003 Atacama Expedition Slide: 17 of 30

  18. OI GUI: Organization: Decision Points Recommendations • Decision Point 1: User Profile/s • High level • More granular • Do these profiles / roles change full project timeframe? • Decision Point 2: Information needed by each User Profile at each timeframe in project • Decision Point 3: User Location (Remote or co-located (with other users and with robot)) • Decision Point 4: GUI environment configuration (1 monitor or multiple, OS, GUI dev decision/resulting advantages and constraints) HCI Field Report: April 2003 Atacama Expedition Slide: 18 of 30

  19. OI GUI: Organization: Near Term Recommendations • Robot Monitoring with Concurrent Development • Plan for development needs • Define roles • Define “expected” tasks • Plan to rely on electronic communication and orient interface to autonomous navigation • Improve existing tool usability and function • Consolidate tools • Allocate screen space for non- OI tools • Update data displayed • Address identified functional breakdowns • Deprecate use of interface components that may not be feasible with longer-term remote bandwidth limitations • Second computer / monitor HCI Field Report: April 2003 Atacama Expedition Slide: 19 of 30

  20. OI GUI: Near Term: Consolidate Tools Recommendations • Integrate Driving Tool and Kinematics Tool • Combine all visual representations of rover state • Transform driving commands into collapsible component of new integrated tool • Display current roll and pitch limits in addition to current roll and pitch • Consider creating easy way to access average rover speed in addition to commanded (target) rover speed for use in mission planning. • Consider eliminating or hiding infrequently used data. HCI Field Report: April 2003 Atacama Expedition Slide: 20 of 30

  21. OI GUI: Near Term: Consolidate Tools Recommendations • Allocate Screen Space for Non-Operator Interface Tools • Other tools (Micro-Raptor, telemetry manager log) are being used on a different desktop display on the same screen that the operator interface is being displayed, causing the operator interface monitor to miss key troubleshooting information • Include another physical screen for viewing these tools • Prioritize GUI windows to allow these tools coexist on one screen with the operator interface HCI Field Report: April 2003 Atacama Expedition Slide: 21 of 30

  22. OI GUI: Near Term: Consolidate Tools Recommendations • Create Stereo Camera Image Tool • Users monitoring the operator interface rely heavily on the stereo camera image in “Chris’ Tool” • Under tighter communication constraints, stereo camera image displays may not be possible • Terrain Sensor already displays stereo map and stereo disparity, remove redundancy with “Chris’ Tool” • Include a panel to only display stereo camera image to allow the removal of stereo camera image data without loosing stereo map and stereo disparity • Goal of one OI GUI for each expedition. HCI Field Report: April 2003 Atacama Expedition Slide: 22 of 30

  23. OI GUI: Near Term: Update Data Displayed Recommendations • Incorporate Mission Planner Data • Include Mission Planner state in Operator Interface including Planning, Executing Plan, and Out of Contact • Include Mission Planner data in Local Map Tool • Display time last plan was uploaded • Display current waypoint and total number of waypoints • Display time last waypoint was reached • Remove Unused Information • Remove Sun Yaw in Local Map Tool Heading Indicator • Remove “Laser Goodness Map” in Terrain Sensor Tool • Remove unnecessary Health Monitor faults HCI Field Report: April 2003 Atacama Expedition Slide: 23 of 30

  24. OI GUI: Near Term: Update Data Displayed Recommendations • Redesign Health Monitor Interface • Logically organize the faults to facilitate error handling • Adapt the look and feel of the faults to facilitate trigger detection and clarify enabled vs. disabled faults • Allow customizable view to decrease screen clutter and data redundancy and minimize cognitive load of operator interface monitor • Change placement of and access to “Change Fault Constraint” • Remove faults connected to processes which are no longer used in the system HCI Field Report: April 2003 Atacama Expedition Slide: 24 of 30

  25. OI GUI: Near Term: Update Data Displayed Recommendations • Redesign Health Monitor Interface • Provide time stamped message indicating the most recent data refresh and current status (Is the Health Monitor “alive” and in sync with OI) • Create log of triggered and un-triggered faults with time stamp to enable review of missed triggers • Provide access to telemetry log data relating to triggered fault condition • Consider audio alert for e-stop if usage pattern will involve moving between screens in a manner that may hide the visual cue. HCI Field Report: April 2003 Atacama Expedition Slide: 25 of 30

  26. OI GUI: Near Term: Functional Breakdowns Recommendations • Improve E-stop Button Function • E-stop release on single click • Provide Operating Mode Status • Include error message when Operating Mode change is not possible • Include status message when Operating Mode is changed by a process • Enhance E-stop Information • Display e-stop sender and time stamp in main OI tool HCI Field Report: April 2003 Atacama Expedition Slide: 26 of 30

  27. OI GUI: Near Term: Organization Recommendations Health Monitor E-Stop: source Access log for e-stop E-stop history modes Select item drop-down Select item drop-down Main robot monitoring section: kinematics, stereo cam, local map Window 1: displayed information Window 2: displayed information Mission Planner Drive Tool Left Stereo Image Comment Log HCI Field Report: April 2003 Atacama Expedition Slide: 27 of 30

  28. OI GUI: Organization: Longer Term Recommendations • Science and OI interface integration • Increase sophistication of data visualization • Make “the windshield” a reality • Non-developer OI use HCI Field Report: April 2003 Atacama Expedition Slide: 28 of 30

  29. Field Process Usability: Verification Recommendations • Manage Software Interdependencies • Document interaction between processes • Implement process for reverting to most recent, stable version of code quickly • Manage Inter-Process Communication • Create an IPC message tracking system to reduce debugging time and facilitate code management • Create process to verify needed research data is being captured • Manage Process Starting and Stopping • Provide system checks for process boot sequence and enhance efficiency of re-boot HCI Field Report: April 2003 Atacama Expedition Slide: 29 of 30

  30. Questions Questions ? ? ? HCI Field Report: April 2003 Atacama Expedition Slide: 30 of 30

More Related