mine rescue<br />ROBOT UI<br />DESIGN TEAM<br />Andrew Lee<br />Nisha Kurani<br />Ward Penney<br />Tim Andrianoff<br />Jus...
NEW ZEALAND<br />mine explosion<br />11/19/2010<br />-2 Escaped<br />-29 Missing<br />
Two Robots Sent In<br />Mine conditions too dangerous for rescuers<br />Both were controlled by lengthy and delicate tethe...
But it was too late<br />Second Explosion on November 24<br />Authorities concluded that <br />no one could have survived<...
Cave Crawler<br />Robotics Institute Sponsor<br />	Red Whittaker<br />Chuck Whittaker<br />	Aaron Morris<br />Uland Wong<b...
Our task:<br />Design the user interface for the robot.<br /><ul><li>Driving Commands
Gas Readings
Map Generation
Still images
Robot Status
Structural Damage
Audio</li></ul>HCI Team<br />Scalable for future sensors...<br />
Our process:<br />Gathering Data<br />Evaluate Design<br /><ul><li>3 CI
1 Interview
1 Mine Visit
1 Mining 101 class
Numerous weekly meetings
3 Think Aloud</li></ul>    with 7 tasks<br /><ul><li>4 cogtool tasks</li></li></ul><li>Focus Setting<br />
Foci<br />Understand how a remote operator tracks, monitors, and directs a semi-autonomous robot to accomplish a task.<br ...
Foci<br />1) Robot ControlUnderstand how a remote operator tracks, monitors, and directs a semi-autonomous robot to accomp...
Contextual Inquiries<br />
Mine Safety and Health Administration (MSHA)Bruceton Research Mine<br /><ul><li>Control of current mine rescue robot
Information about robot sensory data
Interaction between robotics team and command center</li></li></ul><li>Red Zone RoboticsButler, PA<br /><ul><li>Analogous ...
Controlling robot and displaying information</li></li></ul><li>Mine Technology and Training CenterProsperity, PA<br /><ul>...
Learned about rescue from both rescue team and command center perspectives
Mine rescue structure and procedure</li></li></ul><li>Modeling,<br />Consolidation,<br />Visioning<br />
Modeling<br />
Consolidation<br />Problem: Tested on different users on every CI<br />	- Artifact <br />	- Sequence<br />Success: Affinit...
Visioning<br />Problem: limited knowledge of technical limitations<br />-1st session (within team):  get ideas out and get...
The Design<br />
The Interface<br />
Form Factor<br />Tablet With Stylus*<br />	- Fits on desk<br />	- Operable with gloves / mask<br />	-	 Viewable over-the-s...
One Map<br />Breakdowns Solved<br /><ul><li>Role Strain on robot operator*
Different numbering systems are dangerous **</li></ul>Design shared electronic map, displaying robot data automatically<br...
Driving<br />Uncharted Territory<br /><ul><li>Max Duration</li></ul>* [Mine Comp, MSHA]<br />* [Mine Comp]<br />
Robot Status<br />Consolidated Information<br /><ul><li>Battery, Power, Health*
Connection strength for wireless</li></ul>* [RedZone, MSHA]<br />
Gas Readings<br />Gas Placard<br /><ul><li>Automatically placed on map.*
Common annotation for mine rescue map**
Red coloring for explosive gas mix.**</li></ul>* [Mine Comp, MSHA]<br />
Images<br />Critical to a Robot<br /><ul><li>Half of the value received from current robots*
Displayed on map
Directional arrows</li></ul>Technical limitation<br /><ul><li>Time to download an issue over wireless
Solved with two icons displayed to user</li></ul>Undownloaded<br />Downloaded<br />* [MSHA]<br />
Prototyping and Evaluation<br />
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Final pres mine_rescue

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  • Our story begins anew
  • Our story begins anew
  • Our story begins anew
  • Our story begins anew
  • Our story begins anew
  • The only cultural implications we say were related to the mechanics and abilities of the robot, which was out of our hands. So, we decided not to model any of our CI’s with the Cultural Model.NOTE TO PRESENTER: DO NOT waste time reading them the contents of this table. Just talk about why we didn’t do cultural, and why we didn’t model Danny or Bruceton.
  • Our story begins anew
  • One high-level screenshot of our interface. I will now describe some of the main points in detail.
  • We chose a tablet with stylus for several reasons: BO station always there, worker may have gloves / mask, and almost always more than one person viewing it.The manual controller contains functions from our consolidated models.
  • MSHA – Robot Operator asked to perform 3 jobs: Driving, taking notes, relaying notes to command.Mine Comp – Different numbering system between the BO and Command led to a team “blowing up” the mine by moving explosive gas over a glowing battery. A map breakdown led to this.Robot Driver and Command
  • When interviewing and consolidating, we were searching for what information is important when operating a robot.
  • Gas Readings are extremely important to mine rescuers. We wanted to make this as clear, easy and understandable as possible. Automatically placed on map. Placard symbol used at the competition.Red coloring for explosive gas mix.
  • Gas Readings are extremely important to mine rescuers. We wanted to make this as clear, easy and understandable as possible. Automatically placed on map. Placard symbol used at the competition.Red coloring for explosive gas mix.
  • Our story begins anew
  • Our story begins anew
  • Our story begins anew
  • Our story begins anew
  • Final pres mine_rescue

    1. 1. mine rescue<br />ROBOT UI<br />DESIGN TEAM<br />Andrew Lee<br />Nisha Kurani<br />Ward Penney<br />Tim Andrianoff<br />Justine Yang<br />
    2. 2. NEW ZEALAND<br />mine explosion<br />11/19/2010<br />-2 Escaped<br />-29 Missing<br />
    3. 3. Two Robots Sent In<br />Mine conditions too dangerous for rescuers<br />Both were controlled by lengthy and delicate tethers <br />Mine rescue robot<br />
    4. 4. But it was too late<br />Second Explosion on November 24<br />Authorities concluded that <br />no one could have survived<br />
    5. 5. Cave Crawler<br />Robotics Institute Sponsor<br /> Red Whittaker<br />Chuck Whittaker<br /> Aaron Morris<br />Uland Wong<br />“Advanced Reconnaissance Scout”<br />Gas readings, structural map and images<br />Semi-Autonomous<br />Wireless<br />
    6. 6. Our task:<br />Design the user interface for the robot.<br /><ul><li>Driving Commands
    7. 7. Gas Readings
    8. 8. Map Generation
    9. 9. Still images
    10. 10. Robot Status
    11. 11. Structural Damage
    12. 12. Audio</li></ul>HCI Team<br />Scalable for future sensors...<br />
    13. 13. Our process:<br />Gathering Data<br />Evaluate Design<br /><ul><li>3 CI
    14. 14. 1 Interview
    15. 15. 1 Mine Visit
    16. 16. 1 Mining 101 class
    17. 17. Numerous weekly meetings
    18. 18. 3 Think Aloud</li></ul> with 7 tasks<br /><ul><li>4 cogtool tasks</li></li></ul><li>Focus Setting<br />
    19. 19. Foci<br />Understand how a remote operator tracks, monitors, and directs a semi-autonomous robot to accomplish a task.<br />Understand what information a mine rescuer needs from the mine and its priority.<br />Understand the physical and environmental limitations placed on a mine rescuer’s ability to use an electronic device.<br />
    20. 20. Foci<br />1) Robot ControlUnderstand how a remote operator tracks, monitors, and directs a semi-autonomous robot to accomplish a task.<br />2) Sensory Information and Decision MakingUnderstand what information a mine rescuer needs from the mine and its priority.<br />3) EnvironmentUnderstand the physical and environmental limitations placed on a mine rescuer’s ability to use an electronic device.<br />
    21. 21. Contextual Inquiries<br />
    22. 22. Mine Safety and Health Administration (MSHA)Bruceton Research Mine<br /><ul><li>Control of current mine rescue robot
    23. 23. Information about robot sensory data
    24. 24. Interaction between robotics team and command center</li></li></ul><li>Red Zone RoboticsButler, PA<br /><ul><li>Analogous Domain: conducting sewer inspections with remote controlled robots
    25. 25. Controlling robot and displaying information</li></li></ul><li>Mine Technology and Training CenterProsperity, PA<br /><ul><li>Teams compete in staged mine rescue scenarios
    26. 26. Learned about rescue from both rescue team and command center perspectives
    27. 27. Mine rescue structure and procedure</li></li></ul><li>Modeling,<br />Consolidation,<br />Visioning<br />
    28. 28. Modeling<br />
    29. 29. Consolidation<br />Problem: Tested on different users on every CI<br /> - Artifact <br /> - Sequence<br />Success: Affinity Diagramming was effective<br /> - Got all team members on same page<br /> - Enabled team with walk data with client<br />
    30. 30. Visioning<br />Problem: limited knowledge of technical limitations<br />-1st session (within team): get ideas out and get familiar with the process <br />- 2nd session (with client): get their ideas and implications for technical constraint<br />
    31. 31. The Design<br />
    32. 32. The Interface<br />
    33. 33. Form Factor<br />Tablet With Stylus*<br /> - Fits on desk<br /> - Operable with gloves / mask<br /> - Viewable over-the-shoulder<br />Manual Controller**<br /> - Consolidated functionality required to drive<br />*[MSHA, Mine Comp]<br />**[MSHA, Mine Comp, Redzone]<br />
    34. 34. One Map<br />Breakdowns Solved<br /><ul><li>Role Strain on robot operator*
    35. 35. Different numbering systems are dangerous **</li></ul>Design shared electronic map, displaying robot data automatically<br />* [Mine Comp, MSHA]<br />* [Mine Comp]<br />
    36. 36. Driving<br />Uncharted Territory<br /><ul><li>Max Duration</li></ul>* [Mine Comp, MSHA]<br />* [Mine Comp]<br />
    37. 37. Robot Status<br />Consolidated Information<br /><ul><li>Battery, Power, Health*
    38. 38. Connection strength for wireless</li></ul>* [RedZone, MSHA]<br />
    39. 39. Gas Readings<br />Gas Placard<br /><ul><li>Automatically placed on map.*
    40. 40. Common annotation for mine rescue map**
    41. 41. Red coloring for explosive gas mix.**</li></ul>* [Mine Comp, MSHA]<br />
    42. 42. Images<br />Critical to a Robot<br /><ul><li>Half of the value received from current robots*
    43. 43. Displayed on map
    44. 44. Directional arrows</li></ul>Technical limitation<br /><ul><li>Time to download an issue over wireless
    45. 45. Solved with two icons displayed to user</li></ul>Undownloaded<br />Downloaded<br />* [MSHA]<br />
    46. 46. Prototyping and Evaluation<br />
    47. 47. Paper Prototype<br />Overcame a complex and dynamic<br />interface with sliding paper widgets and replaceable screens.<br />Paper artisans Nisha, Justine and Tim<br />Completed Paper Prototype<br />
    48. 48. UARs<br /><ul><li>Dragging Home Base Icon was confusing.
    49. 49. Terminology Changes - What does “Max Duration” mean?
    50. 50. Dragging to control robot was intuitive.</li></li></ul><li>CogTool designs<br /><ul><li>Compare keyboard and mouse interface vs. touchscreen interface
    51. 51. Touchscreen interface with larger layers buttons
    52. 52. Touchscreen interface with with status and driving mission window switched
    53. 53. Touchscreen interface with larger zoom button</li></li></ul><li>CogTool results<br />
    54. 54. CogTool<br /><ul><li>Keyboard and mouse interface is faster than touchscreen interface by 2.5 seconds!
    55. 55. Touchscreen interface with larger layers buttons
    56. 56. Touchscreen interface with with status and driving mission window switched
    57. 57. Touchscreen interface with larger zoom button</li></ul>All other tasks have negligible differences<br />
    58. 58. Next Generation<br />
    59. 59.
    60. 60. Appendix:<br />Q&A<br />
    61. 61. Recent Mine Disasters<br />2006 – Sago, WV<br />2007 – Crandall Canyon, UT<br />2010 – Upper Big Branch, WV<br />2010 – Copiapó, Chile<br />2010 – Graymouth, New Zealand<br />12 killed, <br /> 1 rescued<br />6killed<br />29killed<br /> 33 rescued<br />29 killed<br />
    62. 62. Mine Rescue Team<br /><ul><li>Typically 5-person
    63. 63. Prepared to operate in smoke and gas
    64. 64. Investigate, repair and rescue</li></ul>Timeand Information are Critical<br />
    65. 65. Room and Pillar Mine<br />
    66. 66. Appendix:<br />Consolidated Models<br />
    67. 67. Consolidated Artifact Controller<br />
    68. 68. Consolidated Artifact Viewscreen<br />
    69. 69. Consolidated Flow<br />
    70. 70. Consolidated Physical<br />
    71. 71. Consolidated Sequence<br />
    72. 72. Consolidated Sequence<br />
    73. 73. Consolidated Sequence<br />

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