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 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)

Outline ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

1. Introduction and background – the EU FP6 Guardians project ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

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

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

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

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

4. Direct Human Swarm Interactions ,[object Object],=> 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

4. Direct Human Swarm Interactions ,[object Object]

4. Direct Human Swarm Interactions ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

[object Object],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)

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

5. Remote Human Swarm Interactions ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

5. Remote Human Swarm Interactions ,[object Object]

5. Remote Human Swarm Interactions Fire-fighter and robots 3D representation Robots sensors + video - joint visualization (ecological display paradigm) High level command generation wizard

6. Conclusion and future work ,[object Object],[object Object],[object Object],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)

Thanks! http://www.guardians-project.eu/

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

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)

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. 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. 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. 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

10.

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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.

14.

15.

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.

18. Thanks! http://www.guardians-project.eu/

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

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