Interface Homem-Máquina Multi Robótica em Unity3D
Autor(a) principal: | |
---|---|
Data de Publicação: | 2020 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.22/17465 |
Resumo: | More than ever the use of autonomous vehicles to accomplish objectives deemed too dangerous or even impossible by human standards is increasing. This demand puts to the test our capabilities for managing teams of multiple robots and creating intuitive interactions with these teams is a must. Creating means to abstract and condense the information that reaches the end user into a single kit of software would improve its manageability considerably. The development of a centralized graphical user interface is proposed to alleviate the workload of the human operator. This interface is thought out to be simple in delivering its information taking cues from video games, a well known industry in studying the theory behind the creation of user interfaces. Sensorial information is abstracted in a graphical perspective much like the attributes of a character inside a video game. The Unity game engine was used to implement such an interface, integrating ROS with a layer of DDS to manage the communications while providing QoS settings. The DDS solves the problem of multiple ROS masters by setting up a separate network where users can connect and disconnect seamlessly from the network, without the need to restart roscore on each machine. Interactions between these two software is made by using websockets on a local network. Visual representations of the sensors onboard the autonomous vehicles transform the huge stream of data into human understandable formats for immediate response by the operator. Dynamic generation of terrain was accomplished by the use of LiDAR and side-scan sensors, if available, to map the surroundings, while Mapbox provided prefetched terrain data from OpenStreetMaps. |
id |
RCAP_3eee12fc8046aba728840de2330aa2d8 |
---|---|
oai_identifier_str |
oai:recipp.ipp.pt:10400.22/17465 |
network_acronym_str |
RCAP |
network_name_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository_id_str |
7160 |
spelling |
Interface Homem-Máquina Multi Robótica em Unity3DHMIUnity3DROSMore than ever the use of autonomous vehicles to accomplish objectives deemed too dangerous or even impossible by human standards is increasing. This demand puts to the test our capabilities for managing teams of multiple robots and creating intuitive interactions with these teams is a must. Creating means to abstract and condense the information that reaches the end user into a single kit of software would improve its manageability considerably. The development of a centralized graphical user interface is proposed to alleviate the workload of the human operator. This interface is thought out to be simple in delivering its information taking cues from video games, a well known industry in studying the theory behind the creation of user interfaces. Sensorial information is abstracted in a graphical perspective much like the attributes of a character inside a video game. The Unity game engine was used to implement such an interface, integrating ROS with a layer of DDS to manage the communications while providing QoS settings. The DDS solves the problem of multiple ROS masters by setting up a separate network where users can connect and disconnect seamlessly from the network, without the need to restart roscore on each machine. Interactions between these two software is made by using websockets on a local network. Visual representations of the sensors onboard the autonomous vehicles transform the huge stream of data into human understandable formats for immediate response by the operator. Dynamic generation of terrain was accomplished by the use of LiDAR and side-scan sensors, if available, to map the surroundings, while Mapbox provided prefetched terrain data from OpenStreetMaps.Mais do que nunca, o uso de veículos autónomos para cumprir objectivos considerados demasiado perigosos ou até mesmo impossíveis segundo os padrões humanos tem vindo a aumentar. Este requerimento testa as nossas capacidades de gestão de equipas de múltiplos robôs e torna a criação de interações intuitivas com estas equipas numa necessidade. Criar meios de abstrair e condensar a informação que chega ao utilizador final num só pacote de software iria melhorar a sua gestão consideravelmente. O desenvolvimento de uma interface gráfica centralizada é proposta de modo a aliviar a carga de trabalho do operador humano. Esta interface é pensada para transmitir a sua informação como um vídeo jogo, sendo que esta é uma indústria que conhecida pelo seu estudo de interfaces de utilizador. Informação sensorial é abstraída com uma perspectiva gráfica tal como os atributos de uma personagem de um vídeo jogo. O motor de jogo Unity foi o utilizado para implementar tal interface integrando funcionalidades de ROS com uma camada de DDS, responsável pela gestão das comunicações, fornecendo opções de QoS. O DDS resolve o problema de múltiplos ROS master estabelecendo uma rede separada em que os utilizadores podem conectar-se e desconectar-se simultaneamente sem haver a necessidade de reiniciar o roscore em cada máquina. Interações entre os dois software é efetuada através de websockets numa rede local. Representações visuais dos sensores a bordo dos veículos autónomos transformam os enormes fluxos de dados em formatos facilmente compreensíveis por humanos para resposta imediata por parte do operador. Geração dinâmica de ambientes virtuais foi tornado possível com recurso a sensores como LiDAR e side-scan, caso existam, enquanto que API’s como Mapbox e OpenStreetMaps forneceram dados estáticos destes ambientes.Martins, Alfredo Manuel OliveiraRepositório Científico do Instituto Politécnico do PortoFigueirinha, Rui Rodrigo Serra2021-03-12T12:25:11Z20202020-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10400.22/17465TID:202574962enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T13:08:14Zoai:recipp.ipp.pt:10400.22/17465Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:37:05.937075Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Interface Homem-Máquina Multi Robótica em Unity3D |
title |
Interface Homem-Máquina Multi Robótica em Unity3D |
spellingShingle |
Interface Homem-Máquina Multi Robótica em Unity3D Figueirinha, Rui Rodrigo Serra HMI Unity3D ROS |
title_short |
Interface Homem-Máquina Multi Robótica em Unity3D |
title_full |
Interface Homem-Máquina Multi Robótica em Unity3D |
title_fullStr |
Interface Homem-Máquina Multi Robótica em Unity3D |
title_full_unstemmed |
Interface Homem-Máquina Multi Robótica em Unity3D |
title_sort |
Interface Homem-Máquina Multi Robótica em Unity3D |
author |
Figueirinha, Rui Rodrigo Serra |
author_facet |
Figueirinha, Rui Rodrigo Serra |
author_role |
author |
dc.contributor.none.fl_str_mv |
Martins, Alfredo Manuel Oliveira Repositório Científico do Instituto Politécnico do Porto |
dc.contributor.author.fl_str_mv |
Figueirinha, Rui Rodrigo Serra |
dc.subject.por.fl_str_mv |
HMI Unity3D ROS |
topic |
HMI Unity3D ROS |
description |
More than ever the use of autonomous vehicles to accomplish objectives deemed too dangerous or even impossible by human standards is increasing. This demand puts to the test our capabilities for managing teams of multiple robots and creating intuitive interactions with these teams is a must. Creating means to abstract and condense the information that reaches the end user into a single kit of software would improve its manageability considerably. The development of a centralized graphical user interface is proposed to alleviate the workload of the human operator. This interface is thought out to be simple in delivering its information taking cues from video games, a well known industry in studying the theory behind the creation of user interfaces. Sensorial information is abstracted in a graphical perspective much like the attributes of a character inside a video game. The Unity game engine was used to implement such an interface, integrating ROS with a layer of DDS to manage the communications while providing QoS settings. The DDS solves the problem of multiple ROS masters by setting up a separate network where users can connect and disconnect seamlessly from the network, without the need to restart roscore on each machine. Interactions between these two software is made by using websockets on a local network. Visual representations of the sensors onboard the autonomous vehicles transform the huge stream of data into human understandable formats for immediate response by the operator. Dynamic generation of terrain was accomplished by the use of LiDAR and side-scan sensors, if available, to map the surroundings, while Mapbox provided prefetched terrain data from OpenStreetMaps. |
publishDate |
2020 |
dc.date.none.fl_str_mv |
2020 2020-01-01T00:00:00Z 2021-03-12T12:25:11Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.22/17465 TID:202574962 |
url |
http://hdl.handle.net/10400.22/17465 |
identifier_str_mv |
TID:202574962 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
_version_ |
1799131461439193088 |