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The system does have the ability to be expanded to use more autonomy modes, as shown in

Casey, Chanler, et al. [2005]. However, adding more autonomy was not the focus of this

research, so it will not be addressed further.

4.4 General Interface Design

The interface was designed to address many of the issues that became evident in the previous

studies mentioned in the related work section. This includes measures to prevent inadvertently

driving with the camera off center and providing a map to indicate where the robot has traveled.

It also keeps the distance information close to the main video in an easy to read manor so that

the user is more apt to see it and make use of it. We also provide access to a rear camera and

provide automatic direction reversal. The interface is described in detail in section 4.2, 4.4 and

Chapter 5.

The robot interface consists of many independent panels on the interface. Some of these panels

are more important than others. They are described below with the more important panels

being described first.

In Western cultures, people read from left to right, top to bottom. Therefore, the most

important items on an interface should be located on the top left of the interface and the least

important items should be on the bottom right. This scheme was followed for the placement of

many of the original positions of the panels. Extenuating circumstances, such as panel size,

cropped up in later versions that caused us to break away from this principle slightly.

The main video panel is the hub of the interface. It is what all other items revolve around. As

Yanco and Drury [2004] state, users rely heavily on the main video screen and very rarely notice

other important information presented on the interface. Therefore, all important information

should be present on, or around the main video screen, so that the operator has a better chance

of noticing it. The main video screen should be as large as possible, so users can get the full

visual information provided by the cameras. In our first instances of the interface, the video

screen was on the left side of the screen and migrated to the center towards the end of the

interface evolution.

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Miller Robotic Interface II Bedienungsanleitung Seite 31