From a7722caa8b3fad02f1f9a51473418f2d0fc3a823 Mon Sep 17 00:00:00 2001 From: Sean O'Connor Date: Sun, 25 Jan 2026 20:47:44 -0500 Subject: [PATCH] milestone 2 submission --- .gitignore | 16 ++++++- Makefile | 42 ++++++++++++++++++ appendices/consent_subject.tex | 33 ++++++++++++++ appendices/consent_wizard.tex | 43 ++++++++++++++++++ appendices/paper_specification.tex | 59 +++++++++++++++++++++++++ appendices/post_study_questionnaire.tex | 32 ++++++++++++++ appendices/recruitment_materials.tex | 48 ++++++++++++++++++++ context/study_draft.md | 45 ++++++++++--------- irbapplication.tex | 14 ++++-- 9 files changed, 305 insertions(+), 27 deletions(-) create mode 100644 Makefile create mode 100644 appendices/consent_subject.tex create mode 100644 appendices/consent_wizard.tex create mode 100644 appendices/paper_specification.tex create mode 100644 appendices/post_study_questionnaire.tex create mode 100644 appendices/recruitment_materials.tex diff --git a/.gitignore b/.gitignore index 6419bb9..554be2a 100644 --- a/.gitignore +++ b/.gitignore @@ -1,8 +1,20 @@ +# LaTeX build artifacts *.aux -*.fls *.log +*.out +*.toc *.synctex.gz -*.pdf +*.fls *.fdb_latexmk +*.pdf +# Build directories +build/ +out/ + +# Keep the makefile and source files +!Makefile +!*.tex + +# macOS *.DS_Store \ No newline at end of file diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..5848cfd --- /dev/null +++ b/Makefile @@ -0,0 +1,42 @@ +# Makefile for IRB Application + +# Tools +LATEXMk = latexmk +PDFLATEX = pdflatex + +# Directories +BUILD_DIR = build +OUT_DIR = out +APPENDIX_DIR = appendices + +# Files +MAIN_SRC = irbapplication.tex +APPENDICES_SRC = $(wildcard $(APPENDIX_DIR)/*.tex) + +# Targets +all: main appendices + +# Build main application +main: $(MAIN_SRC) + mkdir -p $(BUILD_DIR) $(OUT_DIR) + $(PDFLATEX) -output-directory=$(BUILD_DIR) $(MAIN_SRC) + mv $(BUILD_DIR)/irbapplication.pdf $(OUT_DIR)/ + +# Build appendices +appendices: $(APPENDICES_SRC) + mkdir -p $(BUILD_DIR) $(OUT_DIR) + for file in $(APPENDICES_SRC); do \ + $(PDFLATEX) -output-directory=$(BUILD_DIR) $$file; \ + mv $(BUILD_DIR)/*.pdf $(OUT_DIR)/; \ + done + +# Clean build artifacts +clean: + rm -rf $(BUILD_DIR) + rm -f *.aux *.log *.out *.toc *.synctex.gz *.fls *.fdb_latexmk + +# Clean strictly (remove output too) +distclean: clean + rm -rf $(OUT_DIR) + +.PHONY: all main appendices clean distclean diff --git a/appendices/consent_subject.tex b/appendices/consent_subject.tex new file mode 100644 index 0000000..edbbaea --- /dev/null +++ b/appendices/consent_subject.tex @@ -0,0 +1,33 @@ +\documentclass[12pt]{article} +\usepackage[margin=1in]{geometry} +\usepackage{titlesec} +\usepackage{parskip} +\usepackage{setspace} +\usepackage{enumitem} + +\onehalfspacing +\setlength{\parskip}{1em} +\setlist{itemsep=0.5em, topsep=0.5em} +\titleformat{\section}{\large\bfseries}{\thesection}{1em}{} + +\begin{document} + +\section*{Appendix B: Informed Consent Form (Test Subject)} + +\textbf{HRIStudio User Study - Informed Consent (Student/Subject)} + +\textbf{Introduction:} You are invited to participate in a 15-minute robot interaction session. + +\textbf{Procedure:} You will enter a lab room and be asked to listen to a short story and answer a question administered by a robot ("The Interactive Storyteller"). You will answer the robot's question naturally. The interaction will last approximately 5-10 minutes. + +\textbf{Data Collection:} The session will be video recorded to analyze the robot's timing and behavior. Your responses to the quiz questions are not being graded/evaluated; we are evaluating the \textit{robot's} performance. + +\textbf{Risks \& Benefits:} Minimal risk. You will receive snacks/refreshments for your time. + +\textbf{Voluntary Nature:} You may stop the interaction and leave at any time. + +\vspace{1cm} +\noindent\rule{0.5\textwidth}{0.4pt} \\ +Signature of Participant \hspace{3cm} Date + +\end{document} diff --git a/appendices/consent_wizard.tex b/appendices/consent_wizard.tex new file mode 100644 index 0000000..471872e --- /dev/null +++ b/appendices/consent_wizard.tex @@ -0,0 +1,43 @@ +\documentclass[12pt]{article} +\usepackage[margin=1in]{geometry} +\usepackage{titlesec} +\usepackage{parskip} +\usepackage{setspace} +\usepackage{enumitem} + +\onehalfspacing +\setlength{\parskip}{1em} +\setlist{itemsep=0.5em, topsep=0.5em} +\titleformat{\section}{\large\bfseries}{\thesection}{1em}{} + +\begin{document} + +\section*{Appendix A: Informed Consent Form (Wizard)} + +\textbf{HRIStudio User Study - Informed Consent (Faculty/Wizard)} + +\textbf{Introduction:} You are invited to participate in a research study evaluating a new software platform for the NAO robot. This study is conducted by Sean O'Connor (Student PI) and Dr. L. Felipe Perrone (Advisor) in the Department of Computer Science. + +\textbf{Purpose:} The purpose of this study is to compare the usability and reproducibility of a new visual programming tool (HRIStudio) against the standard software (Choregraphe). + +\textbf{Procedures:} If you agree to participate, you will satisfy the following steps in a single 75-minute session: +\begin{enumerate} + \item \textbf{Training (15 mins):} You will receive a brief tutorial on your assigned software interface. + \item \textbf{Design Challenge (30 mins):} You will be given a storyboard for an 'Interactive Storyteller' interaction and asked to program it on the robot using the software. + \item \textbf{Live Trial (15 mins):} A student volunteer will enter the room, and you will use your program to tell the story to them. + \item \textbf{Debrief (15 mins):} You will complete a short usability survey about your experience. +\end{enumerate} + +\textbf{Risks \& Benefits:} There are no known risks beyond those of normal computer use. You will receive snacks/refreshments during the session. Your participation will contribute to the understanding of accessible tools for HRI research. + +\textbf{Confidentiality:} Your interaction with the software will be screen-recorded. The live trial will be video recorded to verify the robot's behavior. All data will be stored on encrypted drives and your identity will be protected with a numerical code (e.g., W-01). + +\textbf{Voluntary Nature:} Participation is voluntary. You may withdraw at any time without penalty. + +\textbf{Contact:} If you have questions, please contact Sean O'Connor (sso005@bucknell.edu) or the IRB Chair at irb@bucknell.edu. + +\vspace{1cm} +\noindent\rule{0.5\textwidth}{0.4pt} \\ +Signature of Participant \hspace{3cm} Date + +\end{document} diff --git a/appendices/paper_specification.tex b/appendices/paper_specification.tex new file mode 100644 index 0000000..f92b861 --- /dev/null +++ b/appendices/paper_specification.tex @@ -0,0 +1,59 @@ +\documentclass[12pt]{article} +\usepackage[margin=1in]{geometry} +\usepackage{enumitem} +\usepackage{titlesec} +\usepackage{parskip} +\usepackage{setspace} + +\onehalfspacing +\setlength{\parskip}{1em} +\setlist{itemsep=0.5em, topsep=0.5em} +\titleformat{\section}{\large\bfseries}{\thesection}{1em}{} + +\begin{document} + +\section*{Appendix D: Paper Specification (The "Interactive Storyteller")} + +\textit{This document is handed to the Wizard at the start of the Design Phase.} + +\textbf{Goal:} You must program the robot to tell a short interactive story to the participant. The robot must introduce the story, deliver the narrative with appropriate gestures, ask a comprehension question, and respond to the participant's answer. + +\textbf{Script \& Logic Flow:} +\begin{enumerate} + \item \textbf{Start State:} + \begin{itemize} + \item Robot is standing. + \item Robot is looking at the participant. + \end{itemize} + \item \textbf{Interaction Step 1: The Hook} + \begin{itemize} + \item \textbf{Robot Speech:} "Hello. I have a story to tell you about a space traveler. Are you ready?" + \item \textbf{Action:} Robot performs a 'Welcome' or 'Open Hand' gesture. + \end{itemize} + \item \textbf{Interaction Step 2: The Narrative} + \begin{itemize} + \item \textbf{Robot Speech:} "The traveler flew to Mars. He found a red rock that glowed in the dark. He put it in his pocket." + \item \textbf{Action:} Robot looks away (to the side) while thinking/telling, then looks back at the user. + \end{itemize} + \item \textbf{Interaction Step 3: The Comprehension Check (Branching)} + \begin{itemize} + \item \textbf{Robot Speech:} "What color was the rock the traveler found?" + \item \textbf{Branch A (Correct - "Red"):} + \begin{itemize} + \item \textbf{Robot Speech:} "Yes! It was a glowing red rock." + \item \textbf{Action:} Robot nods. + \end{itemize} + \item \textbf{Branch B (Incorrect - Anything else):} + \begin{itemize} + \item \textbf{Robot Speech:} "Actually, it was red." + \item \textbf{Action:} Robot shakes head. + \end{itemize} + \end{itemize} + \item \textbf{Interaction Step 4: Conclusion} + \begin{itemize} + \item \textbf{Robot Speech:} "The End. Thank you for listening." + \item \textbf{Action:} Robot sits down (or bows). + \end{itemize} +\end{enumerate} + +\end{document} diff --git a/appendices/post_study_questionnaire.tex b/appendices/post_study_questionnaire.tex new file mode 100644 index 0000000..8607313 --- /dev/null +++ b/appendices/post_study_questionnaire.tex @@ -0,0 +1,32 @@ +\documentclass[12pt]{article} +\usepackage[margin=1in]{geometry} +\usepackage{enumitem} +\usepackage{titlesec} +\usepackage{parskip} +\usepackage{setspace} + +\onehalfspacing +\setlength{\parskip}{1em} +\setlist{itemsep=0.5em, topsep=0.5em} +\titleformat{\section}{\large\bfseries}{\thesection}{1em}{} + +\begin{document} + +\section*{Appendix E: Post-Study Questionnaire (SUS)} + +\textit{To be completed by the Wizard after the session. Scale 1 (Strongly Disagree) to 5 (Strongly Agree).} + +\begin{enumerate} + \item I think that I would like to use this system frequently. + \item I found the system unnecessarily complex. + \item I thought the system was easy to use. + \item I think that I would need the support of a technical person to be able to use this system. + \item I found the various functions in this system were well integrated. + \item I thought there was too much inconsistency in this system. + \item I would imagine that most people would learn to use this system very quickly. + \item I found the system very cumbersome to use. + \item I felt very confident using the system. + \item I needed to learn a lot of things before I could get going with this system. +\end{enumerate} + +\end{document} diff --git a/appendices/recruitment_materials.tex b/appendices/recruitment_materials.tex new file mode 100644 index 0000000..9ecf57b --- /dev/null +++ b/appendices/recruitment_materials.tex @@ -0,0 +1,48 @@ +\documentclass[12pt]{article} +\usepackage[margin=1in]{geometry} +\usepackage{titlesec} +\usepackage{parskip} +\usepackage{setspace} +\usepackage{enumitem} + +\onehalfspacing +\setlength{\parskip}{1em} +\setlist{itemsep=0.5em, topsep=0.5em} +\titleformat{\section}{\large\bfseries}{\thesection}{1em}{} + +\begin{document} + +\section*{Appendix C: Recruitment Materials} + +\textbf{1. Email to CS Faculty (Wizards):} + +Subject: Invitation to evaluate HRI software (Snacks provided!) + +Dear [Professor Name], + +I am conducting an honors thesis study to evaluate "HRIStudio," a new platform for designing human-robot interactions. I am seeking Computer Science faculty to act as expert reviewers by participating in a 75-minute "Wizard-of-Oz" design session. + +You will be asked to spend 30 minutes programming a simple behavior on the NAO robot using either HRIStudio or Choregraphe, and then run it with a live student volunteer. No prior experience with the NAO robot is required (in fact, it's preferred!). + +Snacks and refreshments will be provided during the session. + +If you are willing to help evaluate this tool, please reply to schedule a slot. + +Best, +Sean O'Connor + +\textbf{2. Campus Flyer (Test Subjects):} + +\begin{center} +\textbf{\LARGE VOLUNTEERS NEEDED: INTERACT WITH A ROBOT!} + +\vspace{0.5cm} +Participate in a short 15-minute study. \\ +Participate in an "Interactive Storyteller" session with the NAO Robot. \\ +\textbf{Get Free Snacks!} + +\vspace{0.5cm} +Contact: sso005@bucknell.edu +\end{center} + +\end{document} diff --git a/context/study_draft.md b/context/study_draft.md index 0d4bfa4..59f9376 100644 --- a/context/study_draft.md +++ b/context/study_draft.md @@ -9,16 +9,14 @@ Study Protocol Draft # **1. Experimental Overview** -**Objective:** To quantitatively and qualitatively compare two Wizard-of-Oz (WoZ) interfaces- **Choregraphe** (Industry Standard) and **HRIStudio** (Proposed Platform)- to determine their impact on: - -1. **Disciplinary Accessibility:** Can non-technical domain experts successfully design a robot interaction? +**Objective:** To quantitatively and qualitatively compare two Wizard-of-Oz (WoZ) interfaces- **Choregraphe** (Industry Standard) and **HRIStudio** (Proposed Platform)- to determine their impact on14: 1. **Disciplinary Accessibility:** Can domain experts without prior robotics experience successfully design a robot interaction? 2. **Scientific Reproducibility:** Does the tool minimize human error and data loss during experiment execution? ## **Experimental Design:** - **Method:** Between-Subjects User Study. - **Participants:** N=20 (10 Wizards, 10Subjects). - - *Wizards:* Faculty or Graduate Students from non-Computer Science disciplines (e.g., Psychology, Education). + - *Wizards:* Faculty from the Computer Science Department (with no prior robot experience). - *Subjects:* Undergraduate students (confederates or recruited volunteers). - **Conditions:** - **Group A (Control):** Choregraphe @@ -30,29 +28,34 @@ Study Protocol Draft ## **Scenario: "The Geography Quiz Proctor"** -**Goal:** You must program the robot to act as a quiz proctor for a single student. The robot will ask a question, wait for an answer, and provide feedback based on whether the student is right or wrong. +## **Scenario: "The Interactive Storyteller"** -### **Script & Logic Flow:** +*(Adapted from [Mutlu et al., 2006](https://www.researchgate.net/publication/224060505_A_Storytelling_Robot_Modeling_and_Evaluation_of_Human-like_Gaze_Behavior))* + +**Goal:** You must program the robot to tell a short interactive story to the participant. The robot must introduce the story, deliver the narrative with appropriate gestures, ask a comprehension question, and respond to the participant's answer. + +**Script & Logic Flow:** 1. **Start State:** - Robot is standing. - - Robot LED eyes are Blue. -2. **Interaction Step 1: Introduction** - - **Robot Speech:** "Hello. I am the Quiz Bot. Please sit down so we can begin.” - - **Action:** Robot waves its right hand. -3. **Interaction Step 2: The Question** - - **Robot Speech:** "Question One. What is the capital city of Pennsylvania?" - - **Wizard Action:** Wait for the student to speak. -4. **Interaction Step 3: Branching Logic (The Wizard's Choice)** - - *If Student says "Harrisburg" (Correct):* - - **Robot Speech:** "That is correct. Well done." - - **Action:** Robot nods head. - - *If Student says anything else (Incorrect):* - - **Robot Speech:** "I am sorry, that is incorrect. The answer is Harrisburg." + - Robot is looking at the participant. +2. **Interaction Step 1: The Hook** + - **Robot Speech:** "Hello. I have a story to tell you about a space traveler. Are you ready?" + - **Action:** Robot performs a 'Welcome' or 'Open Hand' gesture. +3. **Interaction Step 2: The Narrative** + - **Robot Speech:** "The traveler flew to Mars. He found a red rock that glowed in the dark. He put it in his pocket." + - **Action:** Robot looks away (to the side) while thinking/telling, then looks back at the user. *(This tests the Wizard's ability to sequence gaze/motion).* +4. **Interaction Step 3: The Comprehension Check (Branching)** + - **Robot Speech:** "What color was the rock the traveler found?" + - **Branch A (Correct - "Red"):** + - **Robot Speech:** "Yes! It was a glowing red rock." + - **Action:** Robot nods. + - **Branch B (Incorrect - Anything else):** + - **Robot Speech:** "Actually, it was red." - **Action:** Robot shakes head. 5. **Interaction Step 4: Conclusion** - - **Robot Speech:** "Thank you for participating. Goodbye." - - **System Action:** Save the log of the interaction. + - **Robot Speech:** "The End. Thank you for listening." + - **Action:** Robot sits down (or bows). # **3. Study Procedure (Timeline: 75 Minutes)** diff --git a/irbapplication.tex b/irbapplication.tex index 946868a..435798c 100644 --- a/irbapplication.tex +++ b/irbapplication.tex @@ -3,6 +3,12 @@ \usepackage{setspace} \usepackage{titlesec} \usepackage{enumitem} +\usepackage{parskip} + +% Spacing configuration +\onehalfspacing +\setlength{\parskip}{1em} +\setlist{itemsep=0.5em, topsep=0.5em} % Title formatting \titleformat{\section}{\large\bfseries}{\thesection}{1em}{} @@ -60,7 +66,7 @@ Please describe in some detail the purpose of the proposed study (including, as For my honors thesis project, I am evaluating HRIStudio, a web-based platform I developed for designing and executing Wizard-of-Oz experiments in Human-Robot Interaction (HRI). My research question compares HRIStudio against the industry standard (Choregraphe) to determine their impact on: \begin{enumerate} - \item \textbf{Disciplinary Accessibility:} Can non-technical domain experts successfully design a robot interaction? + \item \textbf{Disciplinary Accessibility:} Can domain experts without prior robotics experience successfully design a robot interaction? \item \textbf{Scientific Reproducibility:} Does the tool minimize human error and data loss during experiment execution? \end{enumerate} I hypothesize that participants using HRIStudio will achieve higher Design Fidelity Scores and Execution Reliability Scores than those using the control software. @@ -106,13 +112,13 @@ This is a between-subjects user study comparing two software interfaces. \textbf{For "Wizard" Participants (75 minutes):} \begin{enumerate} \item \textbf{Training (15 mins):} Participant receives a standardized tutorial on their assigned software (HRIStudio or Choregraphe) covering speech, motion, and triggers. - \item \textbf{Design Challenge (30 mins):} Participant is given a "Paper Specification" (a storyboard for a 'Geography Quiz Proctor' scenario) and must implement it on the robot. The researcher tracks time-to-completion and help requests. + \item \textbf{Design Challenge (30 mins):} Participant is given a "Paper Specification" (a storyboard for an 'Interactive Storyteller' scenario) and must implement it on the robot. The researcher tracks time-to-completion and help requests. \item \textbf{Live Trial (15 mins):} A "Test Subject" (Group B participant) enters the room. The Wizard uses their interface to administer the quiz to the Test Subject. \item \textbf{Debrief (15 mins):} Wizard exports the data and completes the System Usability Scale (SUS) survey. \end{enumerate} \textbf{For "Test Subject" Participants (15 minutes):} -The Test Subject enters the lab, consents to participate, and interacts with the robot for the duration of the "Geography Quiz" (approx. 5-10 minutes). They answer the robot's questions naturally. +The Test Subject enters the lab, consents to participate, and interacts with the robot for the duration of the "Interactive Storyteller" interaction (approx. 5-10 minutes). They answer the robot's questions naturally. \vspace{0.2cm} \textbf{b) Approximately how much time each subject is expected to devote to the research} @@ -177,7 +183,7 @@ The PI is an undergraduate student in the Computer Science department. To mitiga \item \textbf{Informed Consent Form (Wizard)} \item \textbf{Informed Consent Form (Test Subject)} \item \textbf{Recruitment Materials} -\item \textbf{Paper Specification (The "Geography Quiz")} +\item \textbf{Paper Specification (The "Interactive Storyteller")} \item \textbf{Post-Study Questionnaire (SUS)} \item \textbf{CITI Completion Report} \end{itemize}