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2/8/2016
1
Interaction Design primer
Spring 2016
<Reid Simmons>
Illah Nourbakhsh
Design
What is design?
Herb Simon:
activity that seeks to Change Existing Situations Into Preferred Ones
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Hot Topics in Design
Human-Centered Design
Community-Centered Design
Service Design
Interaction Design
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Pentad Activity
• Pick one research question, brainstorm a
specific experiment
• Fill out all 5 Pentad categories
• [5 minutes]
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The Cycle of Engagement
Allocation of Involvement
Face engagement
Acquaintanceship
Engagements among unacquainted
Communication boundaries
Regulation of mutual involvement
Uncontained participation
Situational Proprieties
Tightness and Looseness
Tang, Approaching and Leave-Taking
John Tang, Approaching and Leave-Taking: Negotiating Contact in Computer-Mediated Communication
Openings consist of:
contact initiation: mutually recognizing an attempt to initiate contact
greetings: establishing each person’s identity and that a conversation has started
topic initiation: introducing the first topic
Closings consist of:
topic termination: mutually recognizing that the topic discussion has ended
leave-taking: reaffirming each other’s acquaintance before breaking contact
contact termination: ending the connection that was enabling the conversation
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Tang, Attention Commitment
Grey: attention commitment onset
Engagement Design Activity
• Pick another research question, imagine a
specific experiment
• Fill out every engagement phase with at
least one vignette
• [5 minutes]
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DiSalvo, Buchanan and design
Carl DiSalvo:
The special role of Architecture and robotics�
DiSalvo: formalizing Product
Four dimensions:
Materiality
Expression
Function
Form
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DiSalvo: formalizing Product
Materiality
DiSalvo: formalizing Product
Expression – Tatsuya Matsui
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DiSalvo: formalizing Product
Expression
DiSalvo: formalizing Product
Expression
"Today, we are using technology to further an agenda of destruction
and violence, which is why—more than ever—we need to rethink its
role in our society and make sure that it is only used to better
humanity. By creating Posy, I hope to unleash a weapon of peace—a
reminder that one small robot's step is a giant leap toward a peaceful
and equitable future for all."
—Tatsuya Matsui
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DiSalvo: formalizing Product
Function
DiSalvo: formalizing Product
Form as organization of all other dimensions
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Illah Nourbakhsh | CMU
Robotics Institute | PHRI
An Analytical Cross of InteractionProf. Dick Buchanan, from Burke, Barnlund, etc.
Material (product)
[reductive/geometric]
Topic (product &
designer) [familial]
Interaction (product & user)
[entitative/directional]
Gaia: product &
cosmos [dialectic,
metaphysical]
Cross Activity
• Pick your third research question.
Imagine a robot and experiment.
• Fill out all four cross categories.
• [5 minutes]
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IDEO Create process
Frameworks and Brainstorming
• P. 12 P. 15
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Brainstorming Practice
• Pick your favorite research question.
• Choose a framework, draw your context
(3 minutes)
• Spend 5 minutes brainstorming at least 20
totally different experiments.
Storyboarding / Sketching -Robot250
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Storyboarding Practice
• Pick one of your ideas
• Using the Robot250 Storyboard template
questions, fill out all four columns with
pictures only.
• [5 minutes]
Design Patterns – Kahn et al.
“Light on two sides of every room.”
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Alexander Design Patterns
1 Patterns should be at the ideal level of abstraction
Alexander Design Patterns
2 Patterns as part of a pattern language (compositional modularity)
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Alexander Design Patterns
3 Hierarchical nature of patterns
Alexander Design Patterns
4 Patterns are abstraction representations of human physical,
morphological interaction with the world.
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Alexander Design PatternsHRI versions…
The Initial Introduction: convention, acknowledgment
Didactic Communication: minimal responsiveness option
In Motion Together: physical synchrony
Personal Interests and History: from didactic to substantive relational
Recovering from Mistakes: maintain social affiliation
Reciprocal Turn-Taking: timing, awareness of fairness
Physical Intimacy: “will you give me a hug?”
Claiming Unfair Treatment or Wrongful Harms: “that’s not fair”
Systems Engineering
• Needs Gathering
• Requirements Definition
• Risk Identification
• Risk Retirement
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Warning: The ‘Wicked Problem’*
Problem Identification
Every solution exposes new aspects of the problem.
Satisficing
There is no clear stopping criterion nor right or wrong.
Uniqueness
Each problem is embedded in a distinct physical and social context making its solution totally novel.
*Horst Rittel
PER design: a case study
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Our Robot Design Approach
• Establish explicit, quantitative goals
• Recruit a multi-disciplinary team
• Create parallel feedback cycles
Our Robot Design Approach
• Establish explicit, quantitative goals
– Front-end user research to establish needs
– Clearly defined criteria [+ feed forward ; -
feature creep]
– Caveat: Allow for opportunistic changes to
goals
• Recruit a multi-disciplinary team
• Create parallel feedback cycles
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Our Robot Design Approach
• Establish explicit, quantitative goals
• Recruit a multi-disciplinary team
– Robotic interaction deserves a systems
science approach
– Expertise beyond robotics: HCI, design,
education
• Create parallel feedback cycles
Our Robot Design Approach
• Establish explicit, quantitative goals
• Recruit a multi-disciplinary team
• Create parallel feedback cycles
– Multiple {design; implement; evaluate;
refine} cycles
– Feed forward results across design, EE,
HW and firmware efforts
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MER Landings, January 2004
• Educational goals:
• - Rovers as tools for performing science exploration
• - The role of rover autonomy during science missions
Establish Explicit, Quantitative
Goals
• Design for robustness– 10 hours battery endurance under constant use
– Unmediated usability by novice users
– Constant naïve use without degradation
– In-museum repairability, MTBF > 1 week, MTTR < 1 hour
• Interaction design for museum setting – Less than 3 minutes Time on Task
– Completed immersion in narrative (subject to 3 min. constraint)
– Panoramic image-centered science mission
• Measurable education outcomes:– Role of Autonomy; Role of Rovers in Mission Science
– (Level of comprehension ; comparison of mediated and unmediated exhibits)
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Multidisciplinary Team
• Robotics firmware and software– Carnegie Mellon Robotics
• Interaction design and testing– Carnegie Mellon Robotics
• Embedded electronics– Intel Corporation, Botrics Inc.
• Robot hardware realization– Gogoco LLC
• Screen and exhibit graphic design– LotterShelly LLC
• Educational evaluation– Univ. of Pittsburgh Learning Research & Development Center
Project Timeline (8 months)
• May 2003: PER project kickoff
• June: Establish design goals and parameters
• July: Prototype firmware development
• August: Prototype interaction design & test
• September: Interface, firmware programming
• October: Kickoff museum deployments
• November: Software QA
• December: Rover hardware QA
• Jan 04, 2004: MER Spirit lands, exhibits launch!
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Parallel Design EffortsDesign
Goals
Interaction
Design
Robot H/W FirmwareElectronics
Parallel Design EffortsDesign
Goals
Interaction
Design
Robot H/W FirmwareElectronics
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Personal Exploration Rover
(PER)Deploy PER’s in major national museums
Visitors and outreach engagement
The search for life using organofluorescence
Panoramic image acquisition
Science target selection
Map correspondence, orientation
Plan synthesis
Plan sequencing and monitoring
Autonomous target approach and measurement
Report generation
Parallel Design EffortsDesign
Goals
Interaction
Design
Electronics Robot H/W Firmware
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Electronics Overview
• Intel Stargate
• Cerebellum PIC board
• Sharp 2Y0A2 rangefinder
• Single switching regulator buses
• 30V unified NiMH power pack
Power BoardCerebellum Board
Stayton Board Wireless Card
Batteries
UV
Light
Switch
LED
Webcam
IR Sensor
Motors
Steering
Servos
Pan and Tilt
ServosMotor 16V
Servos 5V
Stayton 5V
Cerebellum &
Parallel Design EffortsDesign
Goals
Interaction
Design
Electronics Robot H/W Firmware
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Hardware and Firmware
• Kinematically correct 4-steer simplified chassis
for flat-floor evaluation
Parallel Design EffortsDesign
Goals
Interaction
Design
Electronics Robot H/W Firmware
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Interaction Design Iterations
• User evaluation using kinematically similar prototype
• Iterative refinement of interface
• 3 minute time on task is hard: key map focus
Interaction Design Iterations
• Exploit mechanical error to demonstrate autonomy
• Compensate for robot/human limitation with human/robot
guidance
• Establish translation between panoramic, orthographic and
physical yard imagery
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Parallel Design EffortsDesign
Goals
Interaction
Design
Electronics Robot H/W Firmware
Mechanical Summary• MER reminiscent look
• Camera-centered morphology
• Directional gaze design
• UV light, IR sensors
• COTS life-limited parts
• Simplified rocker-bogie
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Mechanical Summary
• MER reminiscent look
• Camera-centered morphology
• Directional gaze design
• UV light, IR sensors
• COTS life-limited parts
• Simplified rocker-bogie
Mechanical Summary
• MER reminiscent look
• Camera-centered morphology
• Directional gaze design
• UV light, IR sensors
• COTS life-limited parts
• Simplified rocker-bogie
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Mechanical Summary
• MER reminiscent look
• Camera-centered morphology
• Directional gaze design
• UV light, IR sensors
• COTS life-limited parts
• Simplified rocker-bogie
Parallel Design EffortsDesign
Goals
Interaction
Design
Electronics Robot H/W Firmware
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In-situ Rover Behavior
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National Air & Space Museum
• 15 million visitors per year
• Mars yards built as middle school outreach project
• Topography based on Pathfinder landing site
• Strong collaboration with educational evaluators
National Air & Space Museum
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National Air & Space Museum
San Francisco Exploratorium
• Together with NASM, the Big Two
• Joint exhibit, NASM and Explo, is unprecedented
• Twin PER yards separated by full-scale MER model
• Special January “open house” for us
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San Francisco Exploratorium
San Francisco Exploratorium
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San Francisco Exploratorium
San Francisco Exploratorium
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NASA/Ames Mars Center
Japan World Expo 2005
(Aichi)
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Japan 2005 World Expo
PER Performance Results
• Month 1: 670 rover-hrs; 13 rover-miles; 12,000
approaches
• Full-day power endurance in all locations
• As of 20 April 2004: 50,000+ approaches complete
• Cerebellum, Stargate, camera, ranger perfect record
• Failures: exclusively replaceable servos
• Museum ownership and repair
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PER: Exhibit Use Statistics
• - Bimodal child/parent age distribution
• Average child’s age: 6.75 ; adult: 35.4
• - Girls will actuate the interface significantly
• Child driver penetration: 61% boys; 71% girls
• Adult: 26% male; 14% female
• - All visitors complete a full cycle of interaction
• Mission command proportion: 98%
• Mission failure retry proportion: 98.1%
• Mission length: 2.87 minutes unimodal (sigma 1.05)
• - Interface countdown is effectively triggering turn-taking
• Number of missions: 1.6 (sigma 0.94)
• - Primary use pattern is team-based collaboration
• Mean group size: 3.06 (1.22)
• Gestural and verbal communication frequent
Project Outcome
• 7 operational rover exhibits over 1 year
• > 5000 rover-hrs, > 100 rover-miles
• More than 100,000 interactions to date
• Cerebellum / Stayton failures: 1
• Full-day battery endurance
• Exploratorium validation of local repair
• Interface statistics
– Penetration: 98%
– Mission success: 52%/43%
– Length: 2.87 m (sig 1.05)
– Frequency: 1.6 (sig 0.94)
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