Enhance clarity and structure in introduction, background, reproducibility, system design, and implementation chapters; add new references and include TikZ for diagrams

thesis/chapters/03_reproducibility.tex

@@ -20,18 +20,18 @@ Based on this analysis, I identify specific ways that software infrastructure ca
 \begin{enumerate}
 \item \textbf{Guided wizard execution.} Rather than merely providing tools for wizard control, an ideal WoZ platform should actively guide wizards through scripted procedures. This means presenting actions in a prescribed sequence to prevent out-of-order execution, highlighting the current step in the protocol, recording any deviations from the script as explicit events in the data log, and supporting repeatable decision logic through clearly defined conditional branches. By constraining wizard behavior within the bounds of the experimental design, the system reduces unintended variability across trials and participants.
 
-\item \textbf{Comprehensive automatic logging.} Manual data collection is error-prone and often incomplete. The platform should automatically record every action triggered by the wizard with precise timestamps, all robot sensor data and state changes, and timing information indicating when actions were requested, when they began executing, and when they completed. The full experimental protocol should be embedded in each log file so that researchers can recover the exact script used for any session. Note that recording precise timestamps does not imply that trials must have identical timing--human-robot interactions naturally vary in duration--but rather that the system captures what actually occurred for later analysis.
+\item \textbf{Comprehensive automatic logging.} Manual data collection is error-prone and often incomplete. The platform should automatically record every action triggered by the wizard with precise timestamps, all robot sensor data and state changes, and timing information indicating when actions were requested, when they began executing, and when they completed. The full experimental protocol should be embedded in each log file so that researchers can recover the exact script used for any session. Note that recording precise timestamps does not imply that trials must have identical timing, since human-robot interactions naturally vary in duration; rather, the system captures what actually occurred for later analysis.
 
 \item \textbf{Self-documenting protocol specifications.} The protocol specification itself should serve as documentation. When interaction protocols are defined using structured formats such as visual flowcharts or declarative scripts rather than imperative code, they become simultaneously executable and human-readable. Researchers can then share complete, unambiguous descriptions of their experimental procedures alongside their results.
 
-\item \textbf{Platform-independent abstractions.} To maximize the lifespan and transferability of experimental designs, the platform must separate the high-level control logic--the sequence of wizard and robot actions--from the low-level details of how specific robots execute those behaviors. This abstraction allows experiments designed for one robot to be more easily adapted to another, extending the reproducibility of interaction designs even when the original hardware becomes obsolete.
+\item \textbf{Platform-independent abstractions.} To maximize the lifespan and transferability of experimental designs, the platform must separate the high-level control logic, the sequence of wizard and robot actions, from the low-level details of how specific robots execute those behaviors. This abstraction allows experiments designed for one robot to be more easily adapted to another, extending the reproducibility of interaction designs even when the original hardware becomes obsolete.
 \end{enumerate}
 
 
 
 \section{Connecting Reproducibility Challenges to Infrastructure Requirements}
 
-The reproducibility challenges identified above directly motivate the infrastructure requirements established in Chapter~\ref{ch:background}. Inconsistent wizard behavior creates the need for enforced experimental protocols (R1, R2) that guide wizards systematically. The lack of comprehensive data undermines analysis, motivating automatic logging requirements (R4). Technical fragmentation--where each lab builds custom software tied to specific hardware--violates platform agnosticism (R5), as these custom systems become obsolete when hardware evolves. Incomplete documentation reflects the need for self-documenting protocol specifications (R1, R2) that are simultaneously executable and shareable. As Chapter~\ref{ch:background} demonstrated, no existing platform simultaneously satisfies all six requirements. Addressing this gap requires rethinking how WoZ infrastructure is designed, prioritizing reproducibility and methodological rigor as first-class design goals rather than afterthoughts.
+The reproducibility challenges identified above directly motivate the infrastructure requirements established in Chapter~\ref{ch:background}. Inconsistent wizard behavior creates the need for enforced experimental protocols (R1, R2) that guide wizards systematically. The lack of comprehensive data undermines analysis, motivating automatic logging requirements (R4). Technical fragmentation violates platform agnosticism (R5). Each lab builds custom software tied to specific hardware, and these custom systems become obsolete when hardware evolves. Incomplete documentation reflects the need for self-documenting protocol specifications (R1, R2) that are simultaneously executable and shareable. As Chapter~\ref{ch:background} demonstrated, no existing platform simultaneously satisfies all six requirements. Addressing this gap requires rethinking how WoZ infrastructure is designed, prioritizing reproducibility and methodological rigor as first-class design goals rather than afterthoughts.
 
 \section{Chapter Summary}