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Agricultural Robot Sprayer and
Evaluation of User Interfaces in Field
Experiments
George Adamides
Senior Agricultural Research Officer
Agricultural Research Institute
Presentation overview
Technical characteristics of the
Agricultural Robot Sprayer
User Interfaces for HRI Design &
implementation
Field Experiment design &
implementation
Findings
Conclusion
Summit XL by Robotnik
Technical characteristics of the Agricultural Robot Sprayer
http://www.robotnik.es/en/products/mobile-robots/summit-xl
Summit XL technical characteristics
• The SUMMIT XL is a medium-sized high mobility all-terrain
robot with extreme performance.
• The Summit XL has skid-steering kinematics based on 4
high power motor wheels
– Dimensions 693x626x417 mm
– Weight 30 Kg
– Load capacity 20 Kg
– Speed 3 m/s
– Traction system 4 wheels
– Batteries 8x3.2V LiFePO4 (~5 hours autonomy)
• 45 minutes for full charge
– Temperature range 0oC +50oC
– Max climbing angle 45o
– Controller ROS embedded PC with Linux Real Time
– Communications WiFi 802.11n
– Connectivity Internal: USB, RS232, GPIO y RJ45
– External: USB and power supply 12 VDC
Technical characteristics of the Agricultural Robot Sprayer
Main parts of Summit XL robot
Building the Robot Sprayer
Technical characteristics of the Agricultural Robot Sprayer
September 2012
The Sprayer
• Serena electric sprayer
Weight (with full tank) 13.6 kg
Measurements: 315x145x400
Water flow rate with a fan nozzle 26 liters/h
Battery life 11.30 h
Full cycle charging 10h
Capacity 10 liters
Technical characteristics of the Agricultural Robot Sprayer
Sprayer installation
• Modbus IO
• Sprayer case
• ROS module programming
<?xml version="1.0"?>
<launch>
<!-- start modbus_io node -->
<param name="modbus_io_node/ip_address" value="192.168.2.185" />
<param name="digital_outputs" value="8"/>
<param name="digital_inputs" value="8"/>
<param name="analog_outputs" value="2"/>
<param name="analog_inputs" value="2"/>
<node pkg="modbus_io" type="modbus_io_node" name="modbus_io_node" output="scr
een"/>
</launch>
ssh summit@192.168.0.200
summit> ping 192.168.0.185
3. Launch the modbus_io module
roslaunch modbus_io test_io.launch
4. Test the digital outputs
rosservice call /modbus_io/write_digital_output 0 false
rosservice call /modbus_io/write_digital_output 0 true
rosservice call /modbus_io/write_digital_output 1 false
rosservice call /modbus_io/write_digital_output 1 true
...
Outputs 5,6,7 and 8 are RELAYS
5. Once it is working, modify the summit_xl_complete launch file in order to launch t
Sprayer case and installation by AgroWise
Building the Robot Sprayer – modified version
December 2012
Technical characteristics of the Agricultural Robot Sprayer
Initial trial-out findings
• Issues with the camera
– Viewing angle
– Drops on dome cover
• Issues with PC screen
– Lighting/shading/reflection
• Issues with wireless
connection
– Distance
• Issues with Bluetooth
connection
– PS3 (distance)
Technical characteristics of the Agricultural Robot Sprayer
Improving the Agrirobot
• Hardware
– Installation of two USB cameras to improve
Peripheral vision and End-effector vision
– Bigger wifi antenna
– Moved higher the spraying nozzle
• Software
– Installation and configuration of the
mjpeg_server ROS module and the Apache
webserver
– Installation and programming the
pr2_keyboard_teleop ROS module for the
Summit XL navigation and the sprayer on/off
state
Technical characteristics of the Agricultural Robot Sprayer
Peripheral Visual aid
Technical characteristics of the Agricultural Robot Sprayer
End-effector visual aid
Technical characteristics of the Agricultural Robot Sprayer
WiFi Antenna
Building the Robot Sprayer – current version
Technical characteristics of the Agricultural Robot Sprayer
May 2013
Technical issues and
troubleshooting
Short-movie
Technical characteristics of the Agricultural Robot Sprayer
Presentation overview
Technical characteristics of the
Agricultural Robot Sprayer
User Interfaces for HRI - Design
and Implementation
Field Experiments Design &
Implementation
Findings
Conclusion
Reality Based Interaction (RBI) styles [1]
New interaction styles that draw strength
by building on users’ pre-existing
knowledge of the everyday, non-digital
world to a much greater extent than
before.
Examples of RBI: VR, AR, TUI, ubiquitous and
pervasive computing, handheld or mobile
interaction…
[1] Jacob, Robert JK, et al. "Reality-based interaction: a framework for post-WIMP
interfaces." Proceedings of the SIGCHI conference on Human factors in computing systems.
ACM, 2008.
User Interfaces for HRI – Design and Implementation
User Interface for Robot Teleoperation –
Development Phases
User Interfaces for HRI – Design and Implementation
Spraying
Designing for HRI Awareness
HRI Awareness [2]
Given one human and one
robot working on a task
together, HRI awareness is
the understanding that the
human has of the location,
activities, status, and
surroundings of the robot;
and the knowledge that
the robot has of the
human’s commands
necessary to direct its
activities and the
constraints under which it
must operate.
LASSO technique [3]
• Location Awareness
• Activity Awareness
• Status Awareness
• Surroundings
Awareness
• Overall Mission
Awareness
[3] Jill L. Drury, Holly A. Yanco & Keyes, B 2007,
'LASSOing HRI: analyzing situation awareness in
map-centric and video-centric interfaces',
Proceedings of the ACM/IEEE international
conference on Human-robot interaction.
[2] Scholtz, J.; Young, J.; Drury, J.L.; Yanco, H.A., "Evaluation of human-robot interaction
awareness in search and rescue," Robotics and Automation, 2004. Proceedings. ICRA '04.
2004 IEEE International Conference on, vol.3, no., pp.2327,2332 Vol.3, 26 April-1 May 2004
Robot teleoperation through
Human-Robot user interfaces
Mental model
User Interfaces for HRI – Design and Implementation
Phase 1. Using ROS command line
~> roslaunch usb_cam low_res.launch
User Interfaces for HRI – Design and Implementation
~> export ROS_MASTER_URI=http://V3:11311
~> rostopic list
~> rosrun image_view image_view image:=/logitech_usb_webcam/image_raw
Robot PC Remote PCssh summit@V3
• Using ROS
command line to
display Peripheral
and End-Effector
cameras
• Web interface of
Axis Ethernet
camera
ROS environment with three
cameras
User Interfaces for HRI – Design and Implementation
• Installed the mjpeg_server module
• Installed the Apache web server
The mjpeg_server is a streaming
server that subscribes to requested
image topics in ROS and publishes
those topics as MJPEG streams via
HTTP
Preparing for phase 2
User Interfaces for HRI – Design and Implementation
Phase 2. First attempt for Web UI in HTML
User Interfaces for HRI – Design and Implementation
Improved version of the Web UI
in PHP
UI Design and Implementation by Istognosis
UI for driving
Main camera & Peripheral
camera
UI for spraying (rejected)
Main camera & spraying
camera
UI for spraying
Main camera & ssupport
cameras
Phase 4. Using a patriot wireless tracker &
digital glasses
User Interface Design and Implementation
by Istognosis
Presentation overview
Technical characteristics of the
Agricultural Robot Sprayer
User Interfaces for HRI – Design &
Implementation
Field Experiments Design &
implementation
Findings
Conclusion
Field experiments Design & Implementation
Setting up the stage
Field experiments Design & Implementation
Preparing the robot
Field experiments Design & Implementation
Path and obstacles
Field experiments Design & Implementation
Grape clusters (targets)
Field experiments Design & Implementation
Experiment design &
implementation
1 PC Screen + PS3 + Main Camera Only
2 PC Screen + PS3 + Main & Support Cameras
3 PC Screen + Keyboard + Main Camera Only
4 PC Screen + Keyboard +Main & Support Camera
5 AR Glasses + PS3 + Main Camera Only
6 AR Glasses + PS3 + Main & Support Cameras
7 AR Glasses + Keyboard + Main Camera Only
8 AR Glasses + Keyboard + Main & Support Cameras
Field experiments Design & Implementation
Tasks were randomized and
were conducted in two day
visits. Four tasks were carried
out on day 1 and the
remaining tasks on day 2 (not
consecutive, period between
experiments varied 2 to 10
days)
25 participants:
Agronomists
Agricultural Technicians
Agricultural Laborers
Experiment procedures
• Consent form
• Pre-Questionnaire
– Demographics, Immersion Tendency Questionnaire,
General Self-Efficacy Scale, Santa Barbara Sense of
Direction Scale, CEW Fluency Scale
• Briefing and getting familiar with the UIs
• Post-Questionnaire after each run
– SUS, Presence, NASA TLX
– Metrics (collisions, path divergence, targets
sprayed, targets missed, percent completed,
duration)
• Experiment duration ~3 hours per participant
to complete 8 tasks
Field experiments Design & Implementation
The Agrirobot in the field
Photo Album
Field experiments Design & Implementation
Spraying – extended nozzle antenna
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
The Agrirobot UI findings
Screenshots
Findings
Main camera VS Main Camera and Support Cameras
Identifying obstacles
Identifying obstacles
Peripheral visionIdentifying obstacles
Shading Issues (left wheel)
Spraying
Stopped Spraying
Shading Issues (left wheel)
Shading issuesIdentifying obstacles
Shading Issues (wheels)
Identifying red grape clusters
Identifying green grape clusters
The Agrirobot VS
obstacles in the field
Image album
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Agrirobot presentation by George Adamides
Keep going…
Presentation overview
Technical characteristics of the
Agricultural Robot Sprayer
User Interfaces for HRI – Design &
Implementation
Field Experiments Design &
Implementation
Findings
Conclusion
Preliminary results
NASA Task Load Index per UI
Findings
User Interfaces
with PS3 controller
User Interfaces
using keyboard
controller
Preliminary results
Effectiveness: Number of grape clusters sprayed per UI
Findings
User Interfaces
with main and
Support (3) cameras
User Interfaces
with main (1) camera
Preliminary findings
Mean number of collisions per UI
UI # Cameras N Minimum Maximum Mean Std.
Deviation
UI1 - 1
Camera
25 0 3 ,76 ,779
UI2 - 3
Cameras
25 0 4 ,60 ,913
UI3 - 1
Camera
25 0 7 1,36 1,777
UI4 - 3
Cameras
25 0 2 ,56 ,861
UI5 - 1
Camera
25 0 5 1,28 1,242
UI6 - 3
Cameras
25 0 4 ,84 ,987
UI7 - 1
Camera
25 0 4 ,80 1,118
UI8 - 3
Cameras
25 0 3 ,28 ,678
Presentation overview
Technical characteristics of the
Agricultural Robot Sprayer
User Interface Design
Field Experiment design &
implementation
Findings
Conclusion
In Summary – Problems faced and
overcome
• Transformation of a “off-the-shelf”
robot into a robotic sprayer
• Pilot trials revealed issues with WiFi,
Bluetooth, camera view points
• A lot of –smaller or bigger- practical,
“non-research” problems, turned into
valuable experience for the future
In Summary - what we did
• Designed and implemented several
user interfaces
• Used WIMP and RBI interaction
styles
• Field experiments
Conclusions
• Yes, it is feasible! (Agri Robot tele-operation )
• The user interface design does make a
difference
• There are many small, practical issues to
resolve
– Agricultural task are demanding and take place in a
difficult environment
– Many issues to overcome
• PS3 Bluetooth, WiFi, monitor shading/light, web
cameras
• Robot wheels, sprayer hose
• ROS module programming
• Promising findings
Future work
• Incorporation of sensor information in the
UI to include ultrasound sensor
information, battery-life (under development)
• Robot improvements
– Servos for extending sprayer antenna and
USB/Ethernet cameras control/rotation
– Sprayer antenna with multiple nozzles
• Learnability issues need further study
• Long hours?
• Cost-benefit analysis
Spraying short movie
Thank you for your
attention!
Discussion / Coffee time

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  • 1. Agricultural Robot Sprayer and Evaluation of User Interfaces in Field Experiments George Adamides Senior Agricultural Research Officer Agricultural Research Institute
  • 2. Presentation overview Technical characteristics of the Agricultural Robot Sprayer User Interfaces for HRI Design & implementation Field Experiment design & implementation Findings Conclusion
  • 3. Summit XL by Robotnik Technical characteristics of the Agricultural Robot Sprayer http://www.robotnik.es/en/products/mobile-robots/summit-xl
  • 4. Summit XL technical characteristics • The SUMMIT XL is a medium-sized high mobility all-terrain robot with extreme performance. • The Summit XL has skid-steering kinematics based on 4 high power motor wheels – Dimensions 693x626x417 mm – Weight 30 Kg – Load capacity 20 Kg – Speed 3 m/s – Traction system 4 wheels – Batteries 8x3.2V LiFePO4 (~5 hours autonomy) • 45 minutes for full charge – Temperature range 0oC +50oC – Max climbing angle 45o – Controller ROS embedded PC with Linux Real Time – Communications WiFi 802.11n – Connectivity Internal: USB, RS232, GPIO y RJ45 – External: USB and power supply 12 VDC Technical characteristics of the Agricultural Robot Sprayer
  • 5. Main parts of Summit XL robot
  • 6. Building the Robot Sprayer Technical characteristics of the Agricultural Robot Sprayer September 2012
  • 7. The Sprayer • Serena electric sprayer Weight (with full tank) 13.6 kg Measurements: 315x145x400 Water flow rate with a fan nozzle 26 liters/h Battery life 11.30 h Full cycle charging 10h Capacity 10 liters Technical characteristics of the Agricultural Robot Sprayer
  • 8. Sprayer installation • Modbus IO • Sprayer case • ROS module programming <?xml version="1.0"?> <launch> <!-- start modbus_io node --> <param name="modbus_io_node/ip_address" value="192.168.2.185" /> <param name="digital_outputs" value="8"/> <param name="digital_inputs" value="8"/> <param name="analog_outputs" value="2"/> <param name="analog_inputs" value="2"/> <node pkg="modbus_io" type="modbus_io_node" name="modbus_io_node" output="scr een"/> </launch> ssh summit@192.168.0.200 summit> ping 192.168.0.185 3. Launch the modbus_io module roslaunch modbus_io test_io.launch 4. Test the digital outputs rosservice call /modbus_io/write_digital_output 0 false rosservice call /modbus_io/write_digital_output 0 true rosservice call /modbus_io/write_digital_output 1 false rosservice call /modbus_io/write_digital_output 1 true ... Outputs 5,6,7 and 8 are RELAYS 5. Once it is working, modify the summit_xl_complete launch file in order to launch t Sprayer case and installation by AgroWise
  • 9. Building the Robot Sprayer – modified version December 2012 Technical characteristics of the Agricultural Robot Sprayer
  • 10. Initial trial-out findings • Issues with the camera – Viewing angle – Drops on dome cover • Issues with PC screen – Lighting/shading/reflection • Issues with wireless connection – Distance • Issues with Bluetooth connection – PS3 (distance) Technical characteristics of the Agricultural Robot Sprayer
  • 11. Improving the Agrirobot • Hardware – Installation of two USB cameras to improve Peripheral vision and End-effector vision – Bigger wifi antenna – Moved higher the spraying nozzle • Software – Installation and configuration of the mjpeg_server ROS module and the Apache webserver – Installation and programming the pr2_keyboard_teleop ROS module for the Summit XL navigation and the sprayer on/off state Technical characteristics of the Agricultural Robot Sprayer
  • 12. Peripheral Visual aid Technical characteristics of the Agricultural Robot Sprayer
  • 13. End-effector visual aid Technical characteristics of the Agricultural Robot Sprayer
  • 15. Building the Robot Sprayer – current version Technical characteristics of the Agricultural Robot Sprayer May 2013
  • 16. Technical issues and troubleshooting Short-movie Technical characteristics of the Agricultural Robot Sprayer
  • 17. Presentation overview Technical characteristics of the Agricultural Robot Sprayer User Interfaces for HRI - Design and Implementation Field Experiments Design & Implementation Findings Conclusion
  • 18. Reality Based Interaction (RBI) styles [1] New interaction styles that draw strength by building on users’ pre-existing knowledge of the everyday, non-digital world to a much greater extent than before. Examples of RBI: VR, AR, TUI, ubiquitous and pervasive computing, handheld or mobile interaction… [1] Jacob, Robert JK, et al. "Reality-based interaction: a framework for post-WIMP interfaces." Proceedings of the SIGCHI conference on Human factors in computing systems. ACM, 2008. User Interfaces for HRI – Design and Implementation
  • 19. User Interface for Robot Teleoperation – Development Phases User Interfaces for HRI – Design and Implementation Spraying
  • 20. Designing for HRI Awareness HRI Awareness [2] Given one human and one robot working on a task together, HRI awareness is the understanding that the human has of the location, activities, status, and surroundings of the robot; and the knowledge that the robot has of the human’s commands necessary to direct its activities and the constraints under which it must operate. LASSO technique [3] • Location Awareness • Activity Awareness • Status Awareness • Surroundings Awareness • Overall Mission Awareness [3] Jill L. Drury, Holly A. Yanco & Keyes, B 2007, 'LASSOing HRI: analyzing situation awareness in map-centric and video-centric interfaces', Proceedings of the ACM/IEEE international conference on Human-robot interaction. [2] Scholtz, J.; Young, J.; Drury, J.L.; Yanco, H.A., "Evaluation of human-robot interaction awareness in search and rescue," Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, vol.3, no., pp.2327,2332 Vol.3, 26 April-1 May 2004
  • 21. Robot teleoperation through Human-Robot user interfaces Mental model User Interfaces for HRI – Design and Implementation
  • 22. Phase 1. Using ROS command line ~> roslaunch usb_cam low_res.launch User Interfaces for HRI – Design and Implementation ~> export ROS_MASTER_URI=http://V3:11311 ~> rostopic list ~> rosrun image_view image_view image:=/logitech_usb_webcam/image_raw Robot PC Remote PCssh summit@V3
  • 23. • Using ROS command line to display Peripheral and End-Effector cameras • Web interface of Axis Ethernet camera ROS environment with three cameras User Interfaces for HRI – Design and Implementation
  • 24. • Installed the mjpeg_server module • Installed the Apache web server The mjpeg_server is a streaming server that subscribes to requested image topics in ROS and publishes those topics as MJPEG streams via HTTP Preparing for phase 2 User Interfaces for HRI – Design and Implementation
  • 25. Phase 2. First attempt for Web UI in HTML User Interfaces for HRI – Design and Implementation
  • 26. Improved version of the Web UI in PHP UI Design and Implementation by Istognosis
  • 27. UI for driving Main camera & Peripheral camera UI for spraying (rejected) Main camera & spraying camera UI for spraying Main camera & ssupport cameras
  • 28. Phase 4. Using a patriot wireless tracker & digital glasses User Interface Design and Implementation by Istognosis
  • 29. Presentation overview Technical characteristics of the Agricultural Robot Sprayer User Interfaces for HRI – Design & Implementation Field Experiments Design & implementation Findings Conclusion
  • 30. Field experiments Design & Implementation
  • 31. Setting up the stage Field experiments Design & Implementation
  • 32. Preparing the robot Field experiments Design & Implementation
  • 33. Path and obstacles Field experiments Design & Implementation
  • 34. Grape clusters (targets) Field experiments Design & Implementation
  • 35. Experiment design & implementation 1 PC Screen + PS3 + Main Camera Only 2 PC Screen + PS3 + Main & Support Cameras 3 PC Screen + Keyboard + Main Camera Only 4 PC Screen + Keyboard +Main & Support Camera 5 AR Glasses + PS3 + Main Camera Only 6 AR Glasses + PS3 + Main & Support Cameras 7 AR Glasses + Keyboard + Main Camera Only 8 AR Glasses + Keyboard + Main & Support Cameras Field experiments Design & Implementation Tasks were randomized and were conducted in two day visits. Four tasks were carried out on day 1 and the remaining tasks on day 2 (not consecutive, period between experiments varied 2 to 10 days) 25 participants: Agronomists Agricultural Technicians Agricultural Laborers
  • 36. Experiment procedures • Consent form • Pre-Questionnaire – Demographics, Immersion Tendency Questionnaire, General Self-Efficacy Scale, Santa Barbara Sense of Direction Scale, CEW Fluency Scale • Briefing and getting familiar with the UIs • Post-Questionnaire after each run – SUS, Presence, NASA TLX – Metrics (collisions, path divergence, targets sprayed, targets missed, percent completed, duration) • Experiment duration ~3 hours per participant to complete 8 tasks Field experiments Design & Implementation
  • 37. The Agrirobot in the field Photo Album Field experiments Design & Implementation
  • 38. Spraying – extended nozzle antenna
  • 49. The Agrirobot UI findings Screenshots
  • 50. Findings Main camera VS Main Camera and Support Cameras
  • 54. Shading Issues (left wheel) Spraying
  • 58. Identifying red grape clusters Identifying green grape clusters
  • 59. The Agrirobot VS obstacles in the field Image album
  • 69. Presentation overview Technical characteristics of the Agricultural Robot Sprayer User Interfaces for HRI – Design & Implementation Field Experiments Design & Implementation Findings Conclusion
  • 70. Preliminary results NASA Task Load Index per UI Findings User Interfaces with PS3 controller User Interfaces using keyboard controller
  • 71. Preliminary results Effectiveness: Number of grape clusters sprayed per UI Findings User Interfaces with main and Support (3) cameras User Interfaces with main (1) camera
  • 72. Preliminary findings Mean number of collisions per UI UI # Cameras N Minimum Maximum Mean Std. Deviation UI1 - 1 Camera 25 0 3 ,76 ,779 UI2 - 3 Cameras 25 0 4 ,60 ,913 UI3 - 1 Camera 25 0 7 1,36 1,777 UI4 - 3 Cameras 25 0 2 ,56 ,861 UI5 - 1 Camera 25 0 5 1,28 1,242 UI6 - 3 Cameras 25 0 4 ,84 ,987 UI7 - 1 Camera 25 0 4 ,80 1,118 UI8 - 3 Cameras 25 0 3 ,28 ,678
  • 73. Presentation overview Technical characteristics of the Agricultural Robot Sprayer User Interface Design Field Experiment design & implementation Findings Conclusion
  • 74. In Summary – Problems faced and overcome • Transformation of a “off-the-shelf” robot into a robotic sprayer • Pilot trials revealed issues with WiFi, Bluetooth, camera view points • A lot of –smaller or bigger- practical, “non-research” problems, turned into valuable experience for the future
  • 75. In Summary - what we did • Designed and implemented several user interfaces • Used WIMP and RBI interaction styles • Field experiments
  • 76. Conclusions • Yes, it is feasible! (Agri Robot tele-operation ) • The user interface design does make a difference • There are many small, practical issues to resolve – Agricultural task are demanding and take place in a difficult environment – Many issues to overcome • PS3 Bluetooth, WiFi, monitor shading/light, web cameras • Robot wheels, sprayer hose • ROS module programming • Promising findings
  • 77. Future work • Incorporation of sensor information in the UI to include ultrasound sensor information, battery-life (under development) • Robot improvements – Servos for extending sprayer antenna and USB/Ethernet cameras control/rotation – Sprayer antenna with multiple nozzles • Learnability issues need further study • Long hours? • Cost-benefit analysis
  • 79. Thank you for your attention! Discussion / Coffee time