User interfaces for direct and remote HRI for a swarm of robots assisting fire-fighters

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User interfaces for direct and remote HRI for a swarm of robots assisting fire-fighters

  1. 1. User interfaces for direct and remote HRI for a swarm of robots assisting fire-fighters Affligem, October 19, 2009 Elvina Motard Space Applications Services (Belgium) Jeremi Gancet Space Applications Services (Belgium) Amir M. Naghsh Sheffield Hallam University (UK) Chris R. Roast Sheffield Hallam University (UK)
  2. 2. Outline <ul><ul><li>Introduction and background– the EU FP6 Guardians project </li></ul></ul><ul><ul><li>Fire-fighting context, setting and operations </li></ul></ul><ul><ul><li>The Guardians baseline setup </li></ul></ul><ul><ul><li>Direct Human Swarm Interactions (HSI) </li></ul></ul><ul><ul><li>Remote Human Swarm Interactions </li></ul></ul><ul><ul><li>Conclusion and future work </li></ul></ul>
  3. 3. 1. Introduction and background – the EU FP6 Guardians project <ul><li>Guardians: EU-FP6 project, 2006-2010 (38 months) </li></ul><ul><li>=> Group of unmanned assistant robots deployed in aggregative navigation supported by scent detection </li></ul><ul><li>=> Swarm robotics </li></ul><ul><li>=> Human-Robot Interactions / Human-Swarm Interactions </li></ul><ul><li>=> Application domain: search & rescue, support to fire-fighting </li></ul><ul><li>=> Main scenario: large warehouse fire </li></ul>
  4. 4. 2. Fire-fighting context, setting and operations => Smoke – means heavy breathing apparatus, little to no vision, guidelines => Noise – means limited audio communication, establish protocols => Heat – physical stress => Touch – limited dexterity => 20 minutes maximum, risks to lives – mental stress
  5. 5. 2. Fire-fighting context, setting and operations => Fire event: little information available a priori... => 1 st task: to assess the incident and the primary risks => Fire-fighters safety: high(est) priority! =>Organized into teams, then groups of 2 – 3 fire-fighters Incident Commander Operations Commander Sector Commander Fire-fighter Fire-fighter Fire-fighter Safety Officer ECO Zone 3 Zone 2 Zone 1 Sector 3 Sector 2 Sector 1
  6. 6. 3. The Guardians baseline setup Incident Commander Operations Commander Fire-fighter Fire-fighter Fire-fighter Safety Officer ECO Zone 3 Zone 2 Zone 1 Sector 3 Sector 2 Sector 1 R R R R Coordinator Operator(s) Sensor Data Specialist(s) Sector Commander Guardians’ Base Station
  7. 7. 4. Direct Human Swarm Interactions Incident Commander Operations Commander Fire-fighter Fire-fighter Fire-fighter Safety Officer ECO Zone 3 Zone 2 Zone 1 Sector 3 Sector 2 Sector 1 R R R Sector Commander R Coordinator Direct Human-Swarm Interactions Operator(s) Sensor Data Specialist(s) Guardians’ Base Station
  8. 8. 4. Direct Human Swarm Interactions <ul><li>Purpose: supporting local fire-fighters operations </li></ul>=> Guidance / navigation (e.g. toward exit in case of increasing risk) => Informing fire-fighters about current ambient conditions in the vicinity (e.g. heat level, chemicals) => Small distance forward scouting
  9. 9. 4. Direct Human Swarm Interactions <ul><li>Light Array Visor: Baseline setup </li></ul>
  10. 10. 4. Direct Human Swarm Interactions <ul><li>Light Array Visor (LAV): version 1 </li></ul><ul><li>=> Phidgets toolkit </li></ul><ul><li>=> Iterative development process: </li></ul><ul><ul><li>Implementing the prototype </li></ul></ul><ul><ul><li>Followed by exploration sessions with Fire-fighters </li></ul></ul><ul><li>=> Analogical visual information </li></ul>
  11. 11. <ul><li>Light Array Visor (LAV): version 2 </li></ul>4. Direct Human Swarm Interactions => Real operational fire-fighting helmet => Experimenting with a group of two fire-fighters => Logical commands encoding and display => Integration of internal measurement unit (IMU) => More stress (reporting, counting light flashes and memorising the mental map)
  12. 12. 5. Remote Human Swarm Interactions Incident Commander Operations Commander Fire-fighter Fire-fighter Fire-fighter Safety Officer ECO Zone 3 Zone 2 Zone 1 Sector 3 Sector 2 Sector 1 R R R Sector Commander R Coordinator Operator(s) Sensor Data Specialist(s) Guardians’ Base Station Remote Human-Swarm Interactions
  13. 13. 5. Remote Human Swarm Interactions <ul><li>Purpose: remotely supervising robots and fire-fighters operations </li></ul><ul><li>=> Integrated data for the global supervision of the situation </li></ul><ul><li>=> Provides means to control the robots of the swarm: </li></ul><ul><ul><li>High level commands / policy level control of groups of robots in the swarm </li></ul></ul><ul><ul><li>Individual robot control, in case of specific need </li></ul></ul><ul><li>=> Interface with decision makers in the fire-fighters hierarchy, thus allows to take informed decision </li></ul>
  14. 14. 5. Remote Human Swarm Interactions <ul><li>Base station baseline setup </li></ul>
  15. 15. 5. Remote Human Swarm Interactions <ul><li>Remote interaction: main user interface </li></ul><ul><li>Main visualization zone </li></ul><ul><li>Viewport navigation </li></ul><ul><li>Commands formulation area </li></ul><ul><li>Overall map view </li></ul><ul><li>Mission log </li></ul>
  16. 16. 5. Remote Human Swarm Interactions Fire-fighter and robots 3D representation Robots sensors + video - joint visualization (ecological display paradigm) High level command generation wizard
  17. 17. 6. Conclusion and future work <ul><li>Direct HSI </li></ul><ul><li>- LAV2 more expressive for fire-fighters, although more stressful </li></ul><ul><li>- Further experiments planned with a number of swarm support scenarios </li></ul>Remote HSI - Operator role usability evaluation so far => further work to focus on Sensor Data Specialist and Coordinator roles - Multi-user, joint operations to be experimented and evaluated Interfaces design for fire-fighters support - Complex but valuable approach to integrate user inputs into the design and development process - Incremental usability evaluation process (formative feedback)
  18. 18. Thanks! http://www.guardians-project.eu/

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