DR 3 2 Layered SA for tactical decision making
This Bachelor Thesis took place as part of the Bachelor Computer Science at Delft University of Technology. This report describes a project issued by the Long Term Human Robot Teaming for Robot Assisted Disaster Response (TRADR) consortium. During this project, the team worked on creating a user interface for use in human robot teams during urban search and rescue missions and situation assessment. New innovations for use in search and rescue operations are being created to keep rescue workers safe during these operations. It also allows them to work more efficient, possibly saving more lives. One of these innovations is the use of robots to assess the situation at disaster areas. To work efficiently in robot human teams, a clear overview of the data gathered should be available to the rescue workers. This project is aimed at creating a graphical user interface to give the rescue workers this overview. The TRADR Display System (TDS) is a user interface created using Python, RQT and QT. It consists of an overhead map of the disaster location using the virtual globe application Marble. This overhead map shows gathered and shared information in an efficient manner using a Point Of Interests (POIs) pinned on the map. Beside the overview map the user interface consists of several tools and informational toolbars to allow further elaboration on the shown points of interest. The development of the TDS was done in three phases. The first phase is defined as the research phase in which the system was designed and research has been done to make sure the provided solution is the best solution. Here it has been found that the user interface should be not distracting which is solved by the option to hide information and giving non invasive messages. The second phase is defined as the development phase, where the program was created using the insights gathered from the research phase. The application is build up as set of plugins for modularity. The application, which is a plugin itself, has been built in a model view presenter architectural pattern. It has been made easy to add a new plugin for new developers in the project. The last phase is the concluding phase, in which the product created in the development phase was tested and documentation was created. All must have requirements have been implemented. The code was tested by EU FP7 TRADR (ICT 60963) 17 Layered SA de Greeff et al. Software Improvement Group (SIG) a company which performs dynamic code analysis. The result is that the code is above average maintainable (a four out of five stars on SIG's star system) but there are not enough tests present. The result is a modular graphical user interface for use in urban search and rescue missions, which allows rescue workers to keep a clear overview, allowing them to work more efficiently in robot human teams. Relation to WP Documents the development of the prototype of the new TDS, thus directly contributes to T3.2. Availability Unrestricted. Available for download at http:/resolver. tudelft.nl/uuid:10e1cc51 7af5 416b 9c3d 99f43b61b3ce. 2.2 N. Pahlke, B. Rohlf and R. Maul (2015) "Ongoing TDS development" Bibliography Norbert Pahlke, Benedikt Rohlf, Robert Maul. "Ongoing TDS development" Technical report, Institute of Fire Service and Rescue Technology (FDDo) City of Dortmund, Fire Department. Abstract This report describes the ongoing development of the TRADR Display System (TDS) in the second half of Year 2.This report describes the ongoing development of the TRADR Display System (TDS) in the second half of Year 2. Relation to WP Describes ongoing development of the prototype of the new TDS, thus directly contributes to T3.2. Availability Restricted. Not included in the public version of this deliverable. 2.3 Dorrestijn (2015) "Situation Awareness in Human Robot Teams in Urban Search and Rescue: a Systematic Review" Bibliography Serena M. Dorrestijn. "Situation Awareness in HumanRobot Teams in Urban Search and Rescue: a Systematic Review." Unpublished report, research project, University Twente, February 2015. Abstract We performed out a descriptive systematic literature review with respect to Situation Awareness (SA) in Urban Search and Rescue (USAR) missions with Human Robot Interaction (HRI) Articles were selected based upon several predetermined criteria, which yielded 36 articles. Next, to enable us to order and sort the articles, a coding scheme was developed. The coding scheme contained the following categories: year ofWe performed out a descriptive systematic literature review with respect to Situation Awareness (SA) in Urban Search and Rescue (USAR) missions with Human Robot Interaction (HRI) Articles were selected based upon several predetermined criteria, which yielded 36 articles. Next, to enable us to order and sort the articles, a coding scheme was developed. The coding scheme contained the following categories: year of EU FP7 TRADR (ICT 60963) 18 Layered SA de Greeff et al. publication, publication type, experiment type, SA type, SA measurement type and whether the article contained USAR and HRI. The results describe the distribution of the sample on the coding categories, which enabled us to review what aspects might require more research in order to gain a more complete overview of the concept of SA in USAR with HRI. The distribution of the results show that the field of USAR/HRI contains a small amount of theoretical research, many observational and field studies, performance and communication as possible measurement methods for SA and operator SA as the most researched SA type. The conclusion shows that more research is useful particularly within the area of measurement methods of SA, technical improvements to enhance SA, operators awareness of SA and finally team/shared SA. More research in these areas can help to further implement and understand the concept and effects of SA in USAR with HR and overcome current difficulties. Relation to WP This document provides a theoretical exploration of Situation Awareness, and is as such directly relevant for this workpackage. Availability Restricted. Not included in the public version of this deliverable. 2.4 Dorrestijn (2015) "Situation Awareness in Human Robot Teams: Application of Distributed Situation Awareness Theory in the Field of Urban Search and Rescue" Bibliography Serena M. Dorrestijn. "Situation Awareness in HumanRobot Teams: Application of Distributed Situation Awareness Theory in the Field of Urban Search and Rescue." Master's thesis, University Twente, August 2015. Abstract Firefighters who operate in the field of Urban Search and Rescue (USAR) encounter pressing circumstances, often operate with a minimal amount of information and can have difficulties with gaining and maintaining Situation Awareness (SA) Technological advancements have made it possible to implement robots into an USAR team. The rescue robots can aid humans when the environment is too unstable for humans to enter or can help build an overview of the situation. It is important that all agents have insight into the status of the system and have access to information that is needed in order to operate well. Gaining and maintaining good SA is therefore of importance in USAR missions. According to Endsley (1988, p.97) SA can be defined as the perception of the elements in the environment within a volume of time and space, the comprehension of their meaning and the projection of their status in the near future. This definition is formed using the 3 level model as describedFirefighters who operate in the field of Urban Search and Rescue (USAR) encounter pressing circumstances, often operate with a minimal amount of information and can have difficulties with gaining and maintaining Situation Awareness (SA) Technological advancements have made it possible to implement robots into an USAR team. The rescue robots can aid humans when the environment is too unstable for humans to enter or can help build an overview of the situation. It is important that all agents have insight into the status of the system and have access to information that is needed in order to operate well. Gaining and maintaining good SA is therefore of importance in USAR missions. According to Endsley (1988, p.97) SA can be defined as the perception of the elements in the environment within a volume of time and space, the comprehension of their meaning and the projection of their status in the near future. This definition is formed using the 3 level model as described EU FP7 TRADR (ICT 60963) 19 Layered SA de Greeff et al. by Endsley (1995) A large body of research uses Endsleys model of SA in their research De Visser, Parasuraman, Freedy, Freedy Weltman, 2007; Drury, Keyes Yanco, 2007; Larochelle Kruijff, 2012; and more) However, with an increase in technical systems, several researchers (Gorman et al, 2006; Patrick et al, 2006; Salmon et al. 2008; Stanton, 2010) argue that the Endsley 1995 model focuses too much on the internal thinking of the human agent, and does not accommodate for possible SA that the system or technical agents can hold. This finding led to a new paradigm within SA research, denoted by the term distributed SA (Stanton et al. 2006) For more information on both paradigms of SA and their applicability into the field of USAR with human robot teaming please consult section 2, Background. Based upon our literature review of SA research we have opted to adopt Distributed Situation Awareness (DSA) theory for further use in this study. The goal of this thesis is to gain insight into how implementing DSA theory can support SA in USAR missions with human robot teaming. In order to implement DSA theory we have followed the methodology as described by Stanton et al. (2006) and have made adaptations in order for the results to fit our research goals and meet project demands. We have opted to use an existing ontology, field observations and Critical Decision Method (CDM) interviews