	Sections	Description
1	Sprayer status/activity awareness	Provide indicators of sprayer health/state [44] [45] . Make automation mode and system states salient [28] . Enable the supervisor to understand the sprayer’s status [10] . Facilitate the supervisor’s knowledge of the sprayer’s activities [45] . Enable the supervisor to self-inspect the sprayer’s body for damages or entangled obstacles [46] .
2	Sprayer location and environment awareness	Provide map of where the autonomous sprayer has been [39] . Enable an understanding of the sprayer’s location in the environment [47] . A frame of reference to determine position of the sprayer relative to its environment [44] . Provide spatial information about the sprayer in the environment [48] . Provide to the supervisor an understanding of the sprayer’s immediate surroundings [46] . Convey the information of the video stream with respect to sprayer’s orientation [45] .
3	Overall mission awareness	Facilitate an understanding of the overall mission and the moment-by-moment progress towards completing the mission [26] . When multiple sprayers (machines) are available, use one to view another [49] . Provide support for multiple sprayers (machines) in a single display [48] . Always keep users informed about what is going on, through appropriate feedback within reasonable time [10] . Support supervisor’s prioritization of environments or tasks [50] . Clearly indicate relationships between past and current system state [51] .
4	Cognitive factors	Exploit users’ prior knowledge [5] . Minimize what the supervisor must remember (i.e., promote recognition over recall) [52] . Help direct the supervisor’s focus of attention [45] . Make it easy for the supervisor to extract meaning from the display quickly [53] . Integrate information to support comprehension of information (level 2 SA) [28] . Present Level 2 information directly—support comprehension [4] . Provide assistance for SA projections (level 3 SA) [4] [28] . Design for appropriate trust, not greater trust [54] . Provide consistency between sprayer’s behavior and what the supervisor operator has been led to believe based on the interface [45] . Organized information around goals [4] .
5	Robustness	Enable user control and freedom [26] . Support multiple sprayers (machines) in a single display [49] . Interaction architecture scalability [45] . Should be able to support multiple tasks and multiple machines [26] . Should be sensitive to the differing needs of its users and the conditions at that moment [55] .
6	Safety	Tolerate and forgive common and unavoidable human errors [52] . When an error does occur, provide constructive message—brief and simple [56] . Protect against unauthorized access. Prevent the user from making catastrophic errors [52] . Use color coding, highlighting, and other attention-demanding devices for safety-critical information [57] . After an emergency stop, require the user to go through the complete restart sequence [57] . If connectivity failure, the interface should allow the user to pick up from where he or she left off when the connection is restored [5] . Provide help and documentation [10] [58] .
7	Information presentation	Use a single monitor for the interface [49] . Minimize the use of multiple windows [39] . Use efficient interaction language [45] . Strive for consistency [52] . Make the interface content legible/visible [26] . Present information in appropriate form [26] . Deliver information, not just data [59] . Use discriminable elements/color (similarity causes confusion) [55] . For differentiation don’t rely on colors alone [60] . Elements should function the way people expect them to function [52] . Arrange elements so they follow the flow of reading—left to right, and top to down [52] . Most frequently used element should be closest and most easily accessible to the user [52] . Functions that are used together should be near each other [52] . Avoid visual cluttering [55] . Provide an adequate contrast between elements and their background [55] . Follow real-world conventions [45] . It should be obvious what an element is used for, how an element is used, and when it has been used [5] .
8	Design considerations for handheld mobile devices	Design dialogs to yield closure [61] . Support internal locus of control [61] . Design for ‘top-down; interaction [61] . Icons should be meaningful and represent what they are meant to convey [5] . Should be able to differentiate between clickable and statics graphics [5] . Where appropriate offer a selection of option rather than text entry [61] .
9	Warning and notification	Inform the supervisor about any abnormality using appropriate warning signal [62] . Remind the supervisor about the abnormal conditions if no action had been taken or abnormality persist [63] . Influence supervisor’s behavior to act timely [63] . It should not impair the cognitive functioning of the supervisor, nor act as stressor or irritant [64] . Presenting a signal in more than one way increases the likelihood it will be interpreted correctly [65] . Flicker frequency should not be greater than 2 Hz or lower than 55 Hz [5] .
10	Standards	ISO 9241-210 Human-centered design standard [66] . ISO 9241-110 Dialogue principles [67] . ISO 9241-11 Guidance on usability [68] . ISO 13407: human-centered design processes for interactive systems [68] . ISO 14915: Software ergonomics for multimedia user interface [5] .