Remote Teleoperation Tejas Sathe
The Matrix
The Papers � Usability Guidelines for the Design of Robot Teleoperation: A Taxonomy � An Experimental Analysis of Cyber Security Threats Against Teleoperated Surgical Robotics
Usability Guidelines for the Design of Robot Teleoperation: A Taxonomy
Abstract � A taxonomy of design guidelines for robot remote teleoperation � A list of UI design guidelines, classified by open card sorting � Taxonomy further validated by closed card sorting
Classification of guidelines � Platform architecture and scalability � Error prevention and recovery � Visual design � Information presentation � Robot state awareness � Interaction effectiveness and efficiency � Robot surroundings awareness � Cognitive factors
Introduction � Robots can guide themselves with limited human expertise encoding � For high criticality situations, partial encoding my not be enough � For example, agricultural robot cannot adjust spraying according to specific needs of the plant � Suitable human-robot interface needed
Open card sorting � Participants given cards with no groupings and asked to classify � Participants: 6 female and 16 male experts � Apparatus: Sorting done using WebSort online service � Procedure: Drag and drop cards in appropriate groups
Closed card sorting � Used to test and refine proposed taxonomy obtained from earlier method � Give cards with primary groups and classify into preestablished groups (from earlier)
Closed card sorting � Participants: 20 female and 18 male experts (23 HCI + 15 HRI) � Apparatus: OptimalSort online service � Procedure: guidelines and categories presented in random order; drag and drop
Analysis of Open Sorting � Used for generating taxonomy � WebSort delivers categorizations generated both individually and cumulatively � Three of the authors created their own categorizations for the data
Analysis of Open Sorting � One author used nominalizations to merge several groupings � e.g. ‘Look’, ‘Orientation’, ‘Video Stream’ etc. were collectively grouped as ‘Viewing and Navigation’ � This resulted in 6 metacategories � The 70 guidelines were then placed in these
Analysis of Open Sorting � e.g. Metacategory A contains 1, 2 and 3 � For each guideline, a sum indicates how many times it was placed in one of these � If the sum was maximum among all subcategories, the guideline was assigned to A
Analysis of Open Sorting � The second author used the dendogram created by WebSort to group labels � e.g. “Error Prevention” and “Provide Feedback” were placed under the standardized label “Design for error prevention and recovery”
Analysis of Open Sorting � The third author merged linguistically and conceptually similar groups into one single standardized group � e.g. “Interface efficiency”, “Design efficiency”, “Interaction efficiency” etc. were placed under “User experience efficiency”
Analysis of Open Sorting � An analysis of a matrix with guidelines as rows, categories as columns and cells as percentage of participants who placed that guideline in that category was conducted � Column-wise exploration of the same in conjunction with WebSort’s dendogram identified the group consistently formed by the participants consisting of the same guidelines
Analysis of Open Sorting � e.g. Guidelines like “Extensibility of system” and “Support evolution of platforms” were placed under “Platform architecture and scalability” � Row-wise exploration was used to place the guidelines in the newly formed group
Analysis of Closed Sorting � An overall agreement of 86% was observed between the results of the open and closed sortings � For each guideline, a comparison of percentage of participants was done who placed it in different group in the open and closed sortings � A statistically significant difference was found for only 10 out of 70 categories; this was found using two-sided two-proportion z-test, p<0.05 as the standard value
Final taxonomy � The final taxonomy had to be refined � This was done by moving those ten guidelines into categories that the maximum number of participants chose for each of them
Application study � The proposed taxonomy was applied to an agricultural sprayer robot, AgriRobot � The evaluated prototype implemented functionality for robot navigation and targeted spraying � It was implemented using the Summit XL mobile platform, with three cameras for human-robot awareness
Application study � Four HRI experts conducted heuristic evaluation of the AgriRobot using the proposed taxonomy and severity rating proposed by Nielsen � First, they studied the proposed taxonomy and carried out a free exploration on their own to identify usability problems � Each expert then compiled a list containing problem description, the heuristic violated and a corresponding severity rating
Application study � They then shared notes, removed duplicates and refined problem descriptions and reordered the list by decreasing order of severity
Conclusion � This is the first endeavor to produce a taxonomy that takes inputs from HRI as well as HCI experts � This taxonomy focuses specifically on the UI design aspect of robotics � Several problems that were missed by UI experts in the AgriRobot were identified using this taxonomy
Audience response � What did we like about this paper? � What didn’t we like? � Are the conclusions appropriate? � How would we improve on this paper?
An Experimental Analysis of Cyber Security Threats Against Teleoperated Surgical Robotics
Abstract � Surgical robots are being tested and used; what if they were hacked and turned into weapons? � This paper analyzes possible cyber security attacks against Raven II, an advanced teleoperated surgical robotics system � They identify various threats and evaluate scopes and impacts � The also investigate methods of mitigating the damage
Introduction � There has been a 20% increase yearly in the number of surgical robots sold � These are expected to use of existing public networks and temporarily available ad-hoc wireless and satellite networks to transmit audio and video � These can provide immediate relief in under-developed and remote rural areas; also in the battlefield
Security concerns � Security hasn’t been a major concern for medical robotics so far � But worms like Stuxnet can affect any devices that use a PLC � So, security does become an important aspect of remote surgery (but so is the case with literally everything)
Stuxnet � A worm that exploited four zero-day vulnerabilities in the Windows OS; introduced into the device using a flash drive � It propagates across the network, looking for Siemens Step7 software that controls a PLC � If it doesn’t find it, it lays dormant, with the possibility of transmitting every time a flash drive is inserted into that device
Stuxnet � If a Siemens Step7 is found, Stuxnet introduces an infected rootkit on the PLC and Step7 � This modifies the code and gives unexpected commands and disrupts the functioning � It also simultaneously transmits acceptable readings to the monitoring system � Camera feed example
The Problem � Currently, surgical roboticists face two dimensions of lack of understanding � The first is how such a system can be attacked � The second, what the motivation behind doing this might be
The Analysis � Attack identification and characterization � Vulnerability analysis � Risk assessment and defense directions � Challenges specific to teleoperated procedures
Related Work � The Raven II is a teleoperated robotics system to support research in advanced robotic surgery � It can support both software development, experimental testing, and surgical training
Raven II
Raven II � The Raven II consists of two 7-degrees-of-freedom surgical manipulators � The motion axes are: shoulder joint, elbow joint, tool insertion/ retraction, tool roll, tool grasping, tool wrist actuations 1 and 2
Raven II � The surgeon control inputs are collected through a surgical control console � Control inputs and robot feedback are transmitted using a communication standard designed specifically for surgical teleoperation � It’s called the “Interoperable Telesurgery Protocol”, or ITP
Raven II � The Raven II has been tested in extreme environments, like the Mojave desert � It was controlled through the Internet, with the final link being a UAV- enable wireless network � The following network states were identified as critical for performance: comm latency, jitters, packet delays/out-of-order arrival/losses, device failures
Vulnerability Analysis: Attacker Model
Vulnerability Analysis: Attacker Model � Two attack vectors are identified: endpoint compromise and network/communication based attack � In the former, a surgeon’s control console or the robot can be compromised � In the latter, the attacker may intercept network traffic and inject malicious packets
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