Online Investigation of Human-Robot Proxemics
Gerson Uriarte
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08/03/2021
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Presentation outlining the research done through NIMBUS lab. This study included 47 participants who interacted with small unmanned aerial vehicles through an online platform.
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- [00:00:01.620]Hello. My name is Gerson Uriarte.
- [00:00:03.930]I'm a senior computer engineering student at the University of Nebraska Lincoln.
- [00:00:07.920]This summer I've been conducting research through NIMBUS labs.
- [00:00:11.310]I conduct an online investigation of human robot proxemics with the help of my
- [00:00:15.750]advisor, Brittany Duncan, and her graduate student, Siya.
- [00:00:21.720]The motivation for this project is that the introduction of robots into our
- [00:00:25.320]daily lives will cause some degree of discomfort. As a robot designer.
- [00:00:30.090]You want to create something that will not only allow your invention to do its
- [00:00:33.480]intended purpose, but to do it without causing any discomfort to others,
- [00:00:38.550]the field of human-robot proxemics helps explain this comfort.
- [00:00:42.870]The definition of human robot proxemics is the study of how humans distanced
- [00:00:46.700]themselves from robots to explore this field.
- [00:00:51.300]We want to break down the components of a small unmanned aerial vehicle or
- [00:00:55.830]sUAV that contribute to or hinder comfort.
- [00:01:03.280]The objectives of this online study is to provide data that will allow us to
- [00:01:07.810]understand the role of appearance,
- [00:01:10.450]primarily focusing on the structure and modifications to a sUAV and
- [00:01:15.310]also finding a correlation between participant comfort and the degree of safety
- [00:01:20.020]perceived from modifications. Finally,
- [00:01:23.650]the study will be using an online platform to reduce costs and participant
- [00:01:27.670]response times
- [00:01:32.430]the materials used for the study include a DJI flame wheel F three-thirty
- [00:01:37.410]kit. This kit can be seen here on the right,
- [00:01:40.920]and it is the top picture.
- [00:01:43.920]The prop guards that are seen on the flame wheel in the middle picture,
- [00:01:49.290]um, were 3d printed.
- [00:01:52.260]And the picture of the F330 at the bottom shows a cage modification.
- [00:01:56.700]And this cage was built out of carbon fiber rods and aquarium netting.
- [00:02:02.730]This F330 was also flown autonomously using ROS,
- [00:02:07.530]the robot operating system,
- [00:02:09.480]and the position was provided using a vicon system.
- [00:02:16.260]The online study was run on a platform built by Amazon called mechanical Turk.
- [00:02:21.540]The user's actions were recorded throughout the study and were later evaluated.
- [00:02:26.970]The study included 47 participants who got randomly put into two groups that
- [00:02:31.770]experience either an egocentric view or an existential view.
- [00:02:36.120]Both groups viewed the same conditions,
- [00:02:37.740]but the order that they viewed them in was randomized.
- [00:02:41.160]All the videos were recorded using autonomous flight,
- [00:02:43.860]alongside safety code that stopped the drone half a meter away from the
- [00:02:47.640]participant or camera, depending on the group that the participant was in
- [00:02:53.700]participants answered, uh, questionnaires prior to the beginning of the study.
- [00:02:57.510]And then subsequently after every condition.
- [00:03:03.760]This picture here is the view of the exocentric group's video.
- [00:03:08.110]This shows all three conditions.
- [00:03:10.870]This view shows a sUAV approaching a participant and various modifications.
- [00:03:16.510]The modification on the far left is the prop guard modification.
- [00:03:21.070]The middle modification is no modification.
- [00:03:24.190]The right is a case modification. As a side note,
- [00:03:28.330]the participants did not view all modifications approaching the participant at a
- [00:03:32.500]single time.
- [00:03:33.820]Instead they viewed the approach with a single modification in each condition.
- [00:03:41.800]Now for the results of the study, overall,
- [00:03:44.830]the average results showed that the participants distanced themselves farthest
- [00:03:48.820]from the no guard and closest to the cage.
- [00:03:52.690]The results still need to be broken down further.
- [00:03:54.850]Since the study was run very recently,
- [00:03:58.120]these tables at the bottom show the distance for each condition,
- [00:04:02.680]the average results,
- [00:04:03.580]which is the table on the left here show the combination of egocentric data and
- [00:04:07.630]exocentric data.
- [00:04:09.910]The two most interesting thing about the results though,
- [00:04:13.630]show when we see the two groups independently
- [00:04:19.960]and the two groups,
- [00:04:20.710]we can see that the overall distancing of the note modifications versus the
- [00:04:24.490]occasion modification shows higher comfort with the cage.
- [00:04:29.320]The two groups had the same trend, but not the same distancing.
- [00:04:33.190]The exocentric view allowed the different sUAV systems to approach closer
- [00:04:38.050]than the egocentric group.
- [00:04:40.330]This could be due to the appearance of the video and the quality of the camera
- [00:04:44.020]when facing the drone prop guards also had an inconclusive effect on
- [00:04:48.880]distancing, but again,
- [00:04:50.170]this could be due to the difference in appearance between the two views
- [00:04:59.080]To describe future work on the proximity study,
- [00:05:01.480]using an in-person study could allow for more accurate results because the
- [00:05:04.930]online experience differs from participants that are participant due to certain
- [00:05:08.770]factors.
- [00:05:10.210]This could be due to something as simple as the internet connection or the
- [00:05:13.510]screen quality and could even be the headphone quality as sound is
- [00:05:18.310]very important and distancing
- [00:05:22.210]an in-person study could also help understand the difference between prop guards
- [00:05:26.050]versus no modifications due to the ability to see the difference more clearly in
- [00:05:30.370]an in-person setting for the research needs to be done.
- [00:05:34.270]So identify the key components that allow closer distances, for example,
- [00:05:37.900]some questions that were not answered by the study,
- [00:05:39.820]where was the closer distancing proceed from protection from the
- [00:05:44.260]prompts,
- [00:05:45.700]or was it because the edges of the propellers and the sUAV body didn't
- [00:05:50.620]appear as sharp because of the netting?
- [00:05:57.080]Finally,
- [00:05:57.560]I would like to acknowledge those who helped me make my research possible.
- [00:06:01.820]Alisha Bevins was a graduate student who helped me in the setup process of my
- [00:06:05.750]study.
- [00:06:07.550]Ajaywas also another graduate student and Ajay helped me get autonomous flight
- [00:06:12.500]working with the F330 frame wheel.
- [00:06:17.180]And Jacob helped me gather all the hardware that I need to go perform my study.
- [00:06:21.740]I would also like to thank the Nimbus lab for allowing me to work with them this
- [00:06:24.770]summer. Lastly,
- [00:06:28.900]I would like to thank all of you for being interested in my research and for
- [00:06:32.080]taking the time to view my presentation.
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