1. ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration This presentation will probably involve audience discussion, which will create action items. Use PowerPoint to keep track of these action items during your presentation In Slide Show, click on the right mouse button Select “Meeting Minder” Select the “Action Items” tab Type in action items as they come up Click OK to dismiss this box This will automatically create an Action Item slide at the end of your presentation with your points entered. Rachel Mulcrone Mills College

2. Goal Improve the INEEL Interface

3. Goal In other words... A usable and strong interface specialized for Urban Search and Rescue of competition caliber folding in unique and novel functions and features that improve the experience for the end user and ultimately, improve performance.

4. Overview Background Competitor Interfaces Interface design Future Directions

5. Background Search and Rescue Human-Robot Interaction Human-Computer Interaction

6. Background: Search and Rescue National Institute of Standards and Technology (NIST) –2003 IJCAI AAAI 1st INEEL 2nd Swarthmore

7. Background: Search and Rescue Some known HRI issues in USAR –Bumping (Over 40% rear hits) –Camera pan awareness –Situation awareness –Pitch and roll

8. Background: HRI Taxonomy Human-robot interaction currently takes many forms. Dangerous tasks, such as urban search and rescue [Casper 2002, Casper and Murphy 2002] and hazardous material clean up [Bruemmer, Marble and Dudenhoffer 2002], require a human operator to be removed from the physical location of the robot. Robots that assist the elderly [Haigh and Yanco 2002] and the handicapped [Mittal et al. 1998] share the same physical space with their users, often transporting them through the world. Others, such as Sony’s Aibo, provide entertainment and companionship for people Yanco and Drury (2002)

9. Background: HCI Evaluation methods –Testing 3-5 Subjects –Nielson

10. HCI Models Mental Models User’s understanding of how a system works. System Models Way the system works from programmers perspective. Design Model The way the designer represents the system to the user. Norman

11. Interface Design Survey of selected USAR competitors UMass Lowell

12. Rochester - IJCAI/AAAI 2003 Map

13. Rochester - IJCAI/AAAI 2003 Surroundings: terrain and obstacles Distracting colors: map relative to video Readability: black on white vs white on black

14. Swarthmore - IJCAI/AAAI 2003

15. Window management Development tools

16. New Orleans - IJCAI/AAAI 2003

17. Window management Small video

18. Mitre - AAAI 2004 (screenshot from Robocup 2003)

19. Mitre - AAAI 2004 Multi-step controls for simple tasks

20. INEEL - IJCAI/AAAI 2003

21. TMI Control User Experience (final runs)

22. % Map and Video %

23. New Orleans Video: 9.11% Map 20.79% Swarthmore Video: 14.57% Map 13.98% Rochester Video: 25.3% Map 45.46% Mitre Video: 8.72% Map 57.43%

24. % Map and Video %

25. INEEL Video: 10.18% Map 8.26%

26. % Map and Video %

27. UMass Lowell Video: 26.96% Map 18.89%

28. %Map and Video Summary% VideoMap MITRE 9%57% ROCH. 25%45% NEW O. 9%21% SWATH. 15%14% INEEL 10%8% UMASS 27%19%

29. Interface Design: UMass Lowell

31. Camera tilt and pan overlay Rear camera Controls Responsive interface

32. Interface Design: UMass Lowell To test: –Camera positioning –Rear front toggle (animation) –Map –Sonars

33. Resources This Presentation and my DMP website: –www.mercury.cs.uml.edu/~rmulcronwww.mercury.cs.uml.edu/~rmulcron Human-Computer Interaction –Jakob Neilson’s Use It site www.useit.com –Donald Norman’s jnd.org www.jnd.org NIST USAR site –http://www.isd.mel.nist.gov/projects/USAR/http://www.isd.mel.nist.gov/projects/USAR/

34. Thank You Holly, Brenden, Bobby, Marbella, Andrew, Mike, and Phil for a great summer.