|
Week 0 |
Week 1 |
Week 2 |
Week 3 |
Week 4 |
Week 5 |
Week 6 |
Week
7 |
Week 8 |
Week 9 |
Week 10
Week 0
May 16, 2004
The story of two emails My fly date is two and a half weeks away. I just finished my last final yesterday. I'm doing a tightrope walk. My list of things to do shrinks. A month ago, when I read an email congratulating me for
getting into the Distributed Mentor Project. I was surprised. Interestingly,
I got an email
a few weeks
earlier saying
I had not been accepted. They wrote a nice letter
about how they were impressed with my application.
A week later I got an email and a placement at UMass
Lowell. Holly Yanco, my mentor also emailed me.
She was very on point. The
first thing we needed to do was figure out the dates I'd be working in
her robot lab. She also asked if I needed help finding housing, which
was very appreciated. Holly also asked about Ellen Spertus, a professor at
Mills.
Ellen and Holly both attended MIT.
My cousin graduated from UMass Lowell six months ago and my aunt's
family lives twenty minutes away. I emailed my aunt with the news and she was
kind enough to offer a spare room i
n
her house this summer.
It will
be great to go to a big campus and watch a female professor in
action. I
sometimes take it for granted how few women are in Computer
Science. My mom was a programmer before she retired and
I go to a
school where much of the faculty is female.
As for other things I'll be doing this summer. Here is my list:
spending time with my aunt's family, playing music, writing, and taking a
class.
I've checked out Craigslist
Boston. Craigslist
is a free classifieds
web site and appears in many major cities the world over. You can
find housing, jobs, free
stuff and more. A very good tool if you are
relocating.
Before I leave, I plan on buying an Apple laptop
using San Francisco's
craigslist. Massachusetts, here I come. Are you
ready? Week 1
June 11, 2004 Lost in Lowell
My biggest
work-related project was a game on
pogo.com called Ali Babba Slots.
It's
strange to check
the game and process that over a thousand people are playing
your Slots Video Game at
1:30 in the morning. Now, I am a graduate student
at Mills College. I feel anxious
to
engage in
full time work again. I've been looking forward to this internship and so far
it hasn't let me down.
Everywhere I go, I need directions. I keep a map and several
written
instructions to my immediate left when I drive my
borrowed minivan. But they don't tell me everything I need to know and
there is a great error margin. I was late to the lab on Monday. I
got lost and misread the building name.
I went up and down the stairs
wondering why I only saw evidence of biological and chemical
sciences. Where was Computer Science? I spent twenty minutes in Onley
Hall when Olsen hall sat across the street patiently.
I got to the robot lab finally where
I was greeted by Holly and an
undergraduate student in the DMP program
named Marbella. Holly set
us up with user accounts and showed us our
desks. She talked about
several summer projects and said in a few hours
the lab would have a
meeting.
One by one, six men came into the lab at various
times. Mike,
Phil, Andrew, Bobby, Brenden, and Aaron. The
summer crew is predominantly Masters students
like me. At 12:30 we had a lab meeting where we ate lunch and
discussed
projects. I felt very welcome. Holly asked everyone to show us
their
projects during the rest of this week.
My first week in the lab was fun. My computer ran both
Windows and LINUX, which I was really excited about. I never had
an opportunity to use Linux and already I love it. It looks
like I'll
also be using UNIX quite a bit. I used UNIX to make web sites a while back
and I'm glad it didn't go away.
By talking to everyone, we learned
about the several active projects in
the lab. We participated in lots of robot demonstrations including some coding
to make a robot follow a wall, riding in a speedy wheelchair, reading academic
papers, and watching competition
videos.
Academic robotics can entail entering competitions. In one
such competition, the Grand
Challenge sponsored by the Defense Advanced Research Projects Agency
(DARPA), teams attempt to
navigate 142 miles of on and off-road desert
using a 100% autonomous robot. Meaning no remote control, no joystick,
no wireless web interface--nothing to tell the robot what to do
while it is on the course.
According to
their web site, DARPA's mission statement is to
"maintain the technological superiority of the U.S. military and prevent technological surprise from harming our national security by sponsoring revolutionary, high-payoff research that bridges the gap between fundamental discoveries and their military use."
In other words, by sponsoring events like the Grand Challenge they hope
to raise the bar of robotics and promote institutional research that
would
keep our country on the cutting edge of technology. So while the Grand
Challenge might look like fun and games, the intent is quite serious.
Interesting entries included a
motorcycle, and a
3 million dollar military
Humvee (Carnegie Mellon
University).
As for the Grand Challenge, video clips show the similarity between
ro
bot
competitions and drying paint. Cleanly navigating is something
a human can do easily but currently a robots flail at this task. Here
are a few articles on the Grand Challenge 2004.
"DARPA Bots All Fall Down" - Wired As for the UMass Lowell robo
tics lab, everyone is really happy to be here.
I'm most interested in HRI (Human-Robot Interaction) issues. There is a
project to create a new interface. We may use
this robot to compete in an Urban Search and Rescue competition.
More on all this
later. Because we were given Friday off for Reagan's Funeral, Marbella
and I
went to Boston. We took the
train in to Boston for $3. The train had large windows. We ate at
the red hat then proceeded to walk in Beacon Hill
shopping district,
seeing the Berkelee School of Music, and going into the Cheers.
The parks reminded me a bit of golden gate park meets Savannah, Georgia.
Inclines provided
views of the
city.
Week 2
June 14, 2004 Trust the Robot
One of the big issues in HRI is that users don't trust robots.
Some of the advantages of autonomy modes (when the robot drives itself) is that
sonars can help maneuver and the robot can build
a map.
The task was to drive the robot remotely and search for
little numbered
pieces of construction paper cut into shapes. The robot's height was
adjustable. The user test was hoping to
determine how users might or might not rely on a graphical representation
to estimate robot configuration. Situation awareness
is a
big issue for tele-oporated
robots.
In the runs, the user operates the robot using three joysticks. The interface
consists only of a video feed from a front camera. One controlling movement
(forward back left right), one
for camera position (tilt either up
or down), and one for robot configuration. Different configurations provide
a
mobility as well as an ability to "peek" over something
normally too tall for the robot when it is in a short squat tank configuration.
Controlling
a robot with a joystick is nice.
One of the big issues in Human Robot Interaction
is user awareness. Other psychological and trusting a machine. Yet another
is
the environmental and functional role of the robot.
Human-robot interaction currently takes many forms. Dangerous tasks, such as urban search and rescue [Casper 2002, Casper and Murphy 2002] and hazardous material clean up [Bruemmer, Marble and Dudenhoffer 2002], require a human operator to be removed from the physical location of the robot. Robots that assist the elderly [Haigh and Yanco 2002] and the handicapped [Mittal et al. 1998] share the same physical space with their users, often transporting them through the world. Others, such as Sony’s Aibo, provide entertainment and companionship for people But if we asked the
Robot, the robot would claim inability to communicate relevant information
.
Psychological constructs run deep. I've started discussing the interface
project
with my teammates,
Bobby and
Brenden. We are going
to use
the
ATRV-Jr.
A
company
called
iRobot created the ATRV-jr to sell to
Universities as a research tool.
They no longer
make the robots nor offer any product support so as far as
that goes we are on our own. Interesting. We are going to take the back
end program
from INEEL and build our own interface from the ground up.
The robot itself is a
very heavy red gadget about the size of a child's
car. The batteries make it very heavy and I'm told that if the
robot ran you over, bones would break. It has four cameras, a laser,
and several sonars.
Right now we have a
general interface idea. It doesn't work with the
back end stuff but
hopefully once it does we can start.
Week 3
June 21, 2004
Robots on TV
I've started to make images for the interface. Specifically, the brake,
battery, and speed control. These graphics are placeholders because I'm
not wonderful with
designing graphics. One JPanel is where these live. The
look and feel will really have to wait. For now,
the interface looks like a Lego project. Bright colors and boxes.
The AAAI competition is approaching. In it, robots
compete in an arena to
find and identify human disaster victims. The world trade center utilized
a robot Called to New York City to search for survivors in the World
Trade
Center Private organization called Foster Miller
and CRASAR deployed
robots to locate World Trade Center victims.
I'm very curious about their experience.
Robin
R. Murphy, a professor at University of South Florida has done a lot
of Search and Rescue work as the Director of the Center for Robot Assisted
Search and Rescue (CRASAR). We haven't decided if we will be competing in a conference-sponsored search and
rescue event. I hope we do.
It will be a great test for the interface and back end integration.
I'm amazed how many private
participants government funding there
is in this industry. That's right
kids; I'm saying "Robotics. Get
into robotics." Hey, I'm winking too. A sign of trust.
Now being thrown into this industry, I'm very aware
of robots. In
one television session I saw three robot references. One news story
and two commercials.
First, children compete
in a handyboard competition on a local news show. Handyboar
ds
are
versatile
circuit
boards. Usually,
they are encased in a yellow Lego briquette. In the competition,
kids create a small robot that would climb a ramp then deposit
a ball into a basket. Sending a clear message: involve kids early.
The second and third robot references were painfully similar. 1. A robot may not injure a human being or, through inaction, allow a human being to come to harm.
First, I watched a 7-Up
commercial In the advertisement, a man announces his invention to
deliver 7-Up. His
answer to a swarm of thirsty beach goers: roving 7-Up vending robots.
Actual Vending machines appear equipped with tank style wheels. They
travel
autonomously
and
launch cans
of 7-Up. It is clear that the robots are not exactly in line
with
Isaac Asimov's 1st robot law. A man standing by his car is more of
an unprepared victim rather than a consumer as he hides behind his
surfboard as 7-Up cans pelt it. A further sign of
malfunction presents
itself as one of the 7-Up-bots heads into the ocean and starts sparking.
The second commercial is also selling a soda. A Pepsi commercial
features David Chapelle meeting a woman at her flat. David
drinks
a Pepsi in her luxury apartment and smiles when he sees something
similar a Roomba. The
Roomba is an autonomous vacuum cleaner made by IRobot the
same company that used to make
robots for research and education. It becomes
clear that the robot wants David's Pepsi and he guards it. Not giving
up, the robot persists and inhales his pants. David tells his date "Your
robot ate my pants."
It seems a given that robots malfunction and can
not be fully trusted
to complete tasks without error. I find the perception
and now reality
melding strangely.
Week 4 June 28, 2004
The robot works!
I'm not certain what this says about timing, but a friend is in town working
near Lowell this week. We went for dinner twice.
I was pretty exhausted. I've been
playing guitar and singing once a week
at a cute bar in downtown Lowell. For the first time since being here, I skipped
the Open Mike
at Capos because of work.
This week
was work intensive. Everyone looked beat by the end
.
In the beginning of
the week, the interface was really taking shape.
The video screen takes up about 30% of the screen and is a
classic focal point for users operating a search and rescue robot. The video
feeds work.
Finally, at the week's end we could jump and say "The
robot works!
It really works. Oh my god." I was so excited. We had
everyone in the lab use it and I took notes on some usability issues. It
seems like
there are some persistent usability issue
s that
aren't solved with the interface.
Overall, the interface represents quite an improvement on the original INEEL
interface as far as information layout and presentation. I feel we showed
a lot of restraint in keeping the display as
simple as possible
by
only displaying relevant information. It is clean and usable and I am
happy. Most every user had no difficulty maneuvering the robot. Still to
do is test this guy in a more unpredictable arena.
Week 5
July 5, 2004
Trust the
Robot....Really
I'm doing what I can to
build out interface. There are some things that we are putting together
that and I'm without a doubt inspired by last week. The
thing
I'd
like to
do
is use this new interface and test some different scenarios. I'm very curious
if and how some tweaking might affect user awareness.
Holly and I ha
ve been meeting once a week on Fridays. Her main role
is Assistant
Professor. That role comes with a lot of different responsibilities.
She's very prolific
as a writer. Last week she completed several papers and her list
of publications is
impressive. Her philosophy is good as a lab manager.
I'm seeing that you can't simply be a strong researcher to succeed
and be happy at a University. You have a responsibility to be passionate
about what you are doing certainly, but leading, teaching, and
managing comes with that. Holly's well rounded enough to balance these
well.
One thing I noticed in observing her
leadership style is that it's progress-oriented. At our weekly
meetings we say what we are doing
and if anyone says, "I'm
having a problem with xyz", she
focuses
her
attention on xyz by asking questions and diving in. It's really
great to watch.
This weekend I've been invited to play music on the radio by a
person I met at the
open Mike named Tracey. She hosts a show called Almost Acoustic on UMass Lowell's station.
Too bad I play electric.
Week 6
July 12, 2004
Specialize
HRI is the
study of Human Robot Interaction.
Meaning robots plus interfaces.
Now that the interface mostly works, I feel
like we are plastic surgeons
nipping and tucking points of confusion, hoping to make things as
intuitive as possible. I'm feeling
the tug and pull
of design, engineering,
and ideas from multiple sources. Getting preliminary feedback,
rectifying, beautifyi
ng,
lastly, designing the
tests.
Friday afternoon, the lab went
on a
research
field
trip to see the movie, I Robot starring Will Smith. Interestingly, I, Robot
the movie shares its name with
IRobot the company. The movie was really
wonderful.
What a sharp contrast to current 7-Up and Pepsi versions of robots.
There are so
many expectations with technology. So
many high
hopes.
The
future looks bright. I always
find the dates
heartbreakingly optimistic. An
automated car before 2040? When cars can't cross the desert.
Week 7
July 20, 2004
Robots
around the world
Next week is the San Jose
Conference on Artificial Intelligence. It will be
fun to go to San Jose. Its an hour from where I live so
I will be staying over
an extra couple days to visit my cat and other friends. During my spare time
before the conference, I've been reading papers and watching competition videos
from RoboCup 2003. I had a good chat with Mike another
grad student
about
Robotics, work and grad school. Mike comes from the military and didn't
stop school after he got his bachelor's degree. He is getting his masters
then
his PhD. A UMass trifecta.
A pair of visitors presented work from their lab in Mexico. They've been here for a few weeks and it's great because Marbella, the other DMP student, finally has someone with whom she can freely converse. Her English doesn't really allow for fluent conversation so it's good to see her talking even if I have no idea what she is saying. The presentation reminded
me that my experience in American Universities.
I am lucky because my
research needs are
consistently
beyond met. If anything, I often seem to be
with a surplus of technology. Meanwhile, our visitors told us they run Linux not because they
prefer it as an operating system but because it
is free. Their lab has four computers total and computer time is scarce
and coordinated among the students.
Their project combined the work of several other projects and
made a robotic clutching hand similar to that of a game you might see
at an arcade where you are vying for stuffed animals and key chains.
A graphical representation of th
e
hand appears in the display.
It maps the hand as well as the object in
reach.
Because the time in the
lab is dwindling (I think I miss my Linux machine
already),
I'm
assembling
a list
of
things
I want
to know
how to do. For
example:
Also to do is to finish my work and get photos. I haven't touched my camera but no matter there are many digital options in the lab.
Wednesday, at
Capos, the Lowell bar I've been visiting on Wednesdays
for the open
Mikes, I was approached by an older man while I
was standing in a group of people. He invited me to play a show. I
felt awkward because it stopped the previous conversation and I
alternated between staring blankly and smiling. If
someone
had made a similar request in the professional world, I would
have given him my
contact information, shook his hand, and thanked him for the opportunity.
My lack of professionalism allowed me
to only smile out
of embarrassment, ignoring the possible gig. Conversely,
I feel very
comfortable on stage.
Perhaps the act of talking about being on stage
makes me a neurotic ball of person. I always firmly declare my performing
as hobby and my songwri
ting as what it is: serious. But now that there's
money on the line, where's
my manager?
It's so strange when we decide(?) to be nervous. Something somewhere is making the decision. Week 8
July 26, 2004
Missing a
flight
My mom and I both
overslept and
missed my 8:30am flight. One of us sure but both? I went standby for the next flight out with no luck. The counter attendant didn't have much hope for me--only two America West flights could connect to San Jose and they were both very oversold. She suggested I might buy another flight ($,$,$).
I took
a deep breath, sat down and called around. I called my mom
to see if
she
would be able to pick me up should I have to reschedule, I called my
mentor's cell phone to l
et her know what happened, I called
my friend,
while I was on
the
phone
another
ticket
agent
took my ticket and started typing and got on the phone. She booked me on
another airline and all was well.
I told Holly, my mentor I'd call in and make sure the other
DMP student,
Marbella could get into the hotel OK because I'd reserved the room and
with the theme of dingbat, I forgot to do that. When I was flying my head
ached
and I worried for a good ten minutes. A 12.45 phone call on the Verizon
Air phone confirmed
that Marbella could check in OK without me. My headache
relented
and
I felt better.
I saw familiar faces when we set the arena up. Whitney was the one
who had visited our lab from Florida two months ago. Marbella
missed
her flight
and later
I learned
Whitney did too. Whitney was in our
lab several
weeks
ago
working
on a configurable
robot
feedback
interface.
I was glad I wasn't the only one.
The first day of the conference we spent
time setting up the NIST arenas.
There are three. A yellow, an orange and a red.
Recording entailed three long days of standing with digital cameras mounted
on monopods following
robots. When not taping we spent our time mapping their path in the arena
fo
r
each run.
PRELIMS
FINALS
Recording and watching the interfaces was engaging.
The robots varied so much in physical look
and interface. The operator is behind a curtain trying to
move around and locate fake bodies using a robot. By the last day
I was
feeling exhausted.
There were three interfaces on which I honed in. Mitre, Swathmore, and Keystone. Mitre showed a very strongly as far as mapping software. Absolutely incredible, actually and it really was compelling me into thinking how important mapping software is to support user awareness especially in autonomous modes. A good map is so key to the user.
Holly mentioned Marbella and I would
present our summer research in the
lab on our last day. August 13th. This
is also the first day of the
Olympics. Week 9
August 2, 2004 Getting back
Monday and
Tuesday I was traveling from the West Coast to the East. I
traveled by train, car and plane. I'd
decided when I bought my conference
ticket to add a few extra days so
that I could stay in San Francisco and Oakland
and
visit my very missed friends. It was quite fun to shop and lollygag.
Wednesday,
Thursday, and Friday in the lab were relatively stressful. We have
a lot to do and for some reason the interface is stubbornly refusing
to run. I'm mass-producing graphics, beginning to make my slides
for my
presentation next Friday recopy my notes from the conference, work
on this
web site and write a document for Holly and the lab. My laptop is getting quite a bit of use and I'm thankful for the mobility it provides. Since the conference the interface hasn't compiled. Bobby has started to work on the mapping software. We will test the interface next week if all goes well. Week 10
August 8, 2004
Wrap up and Photos
I worked this past weekend. Friday night, my cousin
and
her husband were visiting from Texas and I was slightly embarrassed as my visiting
cousin
came in the kitchen
first thing in the morning and I was at my
laptop. I was watching old AAAI competition DVDS. I was not embarrassed
enough to stop. It had
to stop until my aunt handed me a plate of breakfast. I would never risk greasing
up my
laptop with food.
Later I stole away to my room to fix polish off some of the images. We went hiking at Walden Pond. We saw the remains of Thoreau's house along with several swimming folks. The East coast is lovely. There are so many links on this page I've added a links
page.
|
