dc.contributor.advisor |
Dr. Bruce MacDonald |
en |
dc.contributor.author |
Collett, Toby H. J. |
en |
dc.date.accessioned |
2007-08-27T01:58:30Z |
en |
dc.date.available |
2007-08-27T01:58:30Z |
en |
dc.date.issued |
2007 |
en |
dc.identifier.citation |
Thesis (PhD--Electrical and Electronic Engineering)--University of Auckland, 2007. |
en |
dc.identifier.uri |
http://hdl.handle.net/2292/1510 |
en |
dc.description.abstract |
Developer interactions with robots during the testing and
debugging phases of robot development are more complex than and distinct from general software
application development. One of the primary differences is the need to understand the robot's view
of the environment and the inconsistencies between this and the actual environment. Augmented
reality (AR) provides an ideal way to achieve this, allowing robot program data to be displayed in
context with the real world. This allows for easy comparison by the developer, highlighting the
cause for any bugs in the robot behaviour. An AR debugging space is created in this work that
allows the developer to have this enhanced understanding of the robot's world-view, thus improving
developer efficiency.
Over the past decade robots have begun to move out of industrial assembly lines and
into environments that must be shared with human users. Many of the tasks that we wish robots to
perform in these environments require close interaction and collaboration with human
users. The move away from the constrained environment of a production line means that the tasks
required of robots are more varied, their operating environment is far more complex and
unpredictable, and safety can no longer be achieved through isolation of the robot.
The result of these influences has been to change robot programming from a simple task of
instructing the robot to perform a sequence of steps to an open ended challenge of specifying
dynamic interactions that
robot developers are still coming to terms with. Robot development is
more than just design and code entry and a broader approach to improving robot development is
needed. One of the founding principles of this thesis is that robot development should be
approached as a human-robot interaction issue, this particularly applies to the testing and
debugging phases of the development.
The nature of the robot platform, the tasks the robot is required to perform and the
environments that robots work within are significantly different from those of the desktop
application. Hence robot developers need a tailored tool chain that focuses on this unique
combination of issues. Current robot programming research is dominated by robot APIs and frameworks,
leaving support tools to be developed in an ad hoc manner by developers as features are
required. This leads to disjointed tools that have minimal feature sets; tools that generally have
poor portability when applied to other robot developments. This work examines the needs of the
developer in terms of a general purpose robot visualisation tool.
One of the fundamental requirements of a general purpose robot visualisation tool is that a set of
stock visualisations must be available for the developer. A prerequisite to providing these is to
have a set of standard interfaces to provide the visualisations for. The open source
robot framework Player/Stage was used throughout this work to provide standardised access to robot
hardware. As part of this research the author has contributed heavily to the Player/Stage project,
particularly as one of the key developers of the 2.0 release of Player. This new release simplifies
Player development and increases the ease of maintenance of Player drivers and the
efficiency of the server core.
To evaluate the benefits of AR visualisation an intelligent debugging space was
developed, which runs as a permanent installation in a robotic development lab providing an enhanced
view of the robot's behaviour to the developer. The space is capable of automatically detecting the
presence of robots and displaying visualisations of the standard interfaces of the robot, such as
its sensors and effectors. The debugging space also allows the developer to create custom
renderings, leveraging the developer's ability to determine the most salient items of their code and
display these.
A set of representative case studies was carried out using the debugging space for testing and
debugging. These studies showed that AR provides an opportunity to understand
the type of errors that are encountered during debugging. Debugging is essentially a process
of elimination and by understanding the type of error developers can quickly eliminate large sets of
potential bug sources, focusing on the sections of code that are causing the bug and
therefore substantially reducing debugging time.
The implemented system also shows that AR provides an important stepping stone
between simulation environments and the real world.
This thesis contributes the novel approach of applying AR to developer interactions with robots.
The use of AR has been shown to have significant benefits for the robot developer, enhancing their
understanding of the robot's world-view and hence reducing debugging time. As part of the work a
flexible AR visualisation tool was developed with close integration to the Player/Stage project.
This tool creates an intelligent debugging space where developers can exploit the benefits of the
AR visualisation with minimal overhead. |
en |
dc.description.sponsorship |
New Zealand Tertiary Education
Commission through the Top Achiever Doctoral scholarship |
en |
dc.language.iso |
en |
en |
dc.publisher |
ResearchSpace@Auckland |
en |
dc.relation.ispartof |
PhD Thesis - University of Auckland |
en |
dc.relation.isreferencedby |
UoA1734270 |
en |
dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. |
en |
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
en |
dc.subject |
Robotics |
en |
dc.subject |
Augmented Reality |
en |
dc.title |
Augmented reality visualisation for mobile robot developers |
en |
dc.type |
Thesis |
en |
thesis.degree.discipline |
Electrical and Computer Engineering |
en |
thesis.degree.grantor |
The University of Auckland |
en |
thesis.degree.level |
Doctoral |
en |
thesis.degree.name |
PhD |
en |
dc.rights.holder |
Copyright: The author |
en |
pubs.local.anzsrc |
0906 - Electrical and Electronic Engineering |
en |
pubs.org-id |
Faculty of Engineering |
en |
dc.identifier.wikidata |
Q112869989 |
|