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A multirate energy bounding algorithm for high fidelity stable haptic interaction control

A multirate energy bounding algorithm for high fidelity stab...

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SICE-ICASE International Joint Conference

作者： Kim, Jong-Phil Seo, Changhoon Ryu, Jeha Human-Machine-Computer Interface Laboratory Department of Mechatronics Gwangju Institute of Science and Technology(GIST) South Korea Department of Mechatronics Gwangju Institute of Science and Technology(GIST) South Korea

ISBN: (纸本)9788995003848

This paper presents multirate energy bounding algorithm to provide high fidelity stable haptic interaction. Stable haptic interaction control algorithms such as virtual coupling or time-domain passivity algorithm has been studied by many researchers. For slowly-simulated virtual environments, however, the deterioration of realistic haptic feeling is unavoidable because these algorithms require high update rate. For high fidelity haptic interaction, we propose multirate approach that separates haptic thread and low-level control thread. A haptic thread carries out calculating the virtual environments force at slow rate while low-level control thread executes determining the actuator force by the energy bounding algorithm at high update rate. Experiments using commercial haptic device have been performed to show the efficiency of the proposed algorithm. As a result, we confirmed that the response was stable and displayed stiffness was much increased even though the haptic rendering rate was slow.

关键词： haptic interaction control stability fidelity multirate

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Mica: A Web-Search Tool for Finding API Components and Examples

Mica: A Web-Search Tool for Finding API Components and Examp...

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IEEE Symposium on Visual Languages and human Centric Computing (VL/HCC)

作者： J. Stylos B.A. Myers Computer Science Department Human-Computer Interaction Institute Carnegie Mellon University Pittsburgh PA USA

Because software libraries are numerous and large, learning how to use them is a common and problematic task for experienced programmers and novices alike. Internet search engines such as Google have emerged as important resources to help programmers successfully use APIs. However, observations of programmers using Web search have revealed problems and inefficiencies in their use. We present a new prototype search tool called Mica that augments standard Web search results to help programmers find the right API classes and methods given a description of the desired functionality, and help programmers find examples when they already know which methods to use. Mica works by using the Google Web APIs to find relevant pages, and then analyzing the content of those pages to extract the most relevant programming terms and to classify the type of each result

关键词： Programming profession Web search Search engines Documentation Software libraries Application software Java Terminology computer science Internet

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Joint Correspondence and Background Modeling Based on Tree Dynamic Programming

Joint Correspondence and Background Modeling Based on Tree D...

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International Conference on Pattern Recognition

作者： N.I. Rao Huijun Di Guangyou Xu Pervasive Computing Laboratory Institute of Human Computer Interaction Department of Computer Engineering Tsinghua University Beijing China

Foreground segmentation with moving camera is a challenging task due to the presence of parallax effect, registration error, scene variations in out door, and etc. Currently, background modeling techniques either assumes correspondence among pixels in concurrent frames or do not model it explicitly. The contribution by this paper is in two folds. First, we achieve a new background model by introducing correspondence into it. Second, we pose foreground segmentation and correspondence estimation as a labeling problem. Spatial context is enforced in shape of tree structure and global optimal label at each node is computed using dynamic programming. Finally, based on the optimal correspondence, background model is updated. Resultantly, parallax effect and registration error are reduced significantly. Primary experiments proved our algorithm to be robust in performance

关键词： Dynamic programming Cameras Layout Labeling Tree data structures Pervasive computing human computer interaction computer errors Shape Robustness

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The use of abstraction and motion in the design of social interfaces

The use of abstraction and motion in the design of social in...

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6th ACM Conference on Designing Interactive Systems, DIS 2006

作者： Mutlu, Bilge Forlizzi, Jodi Nourbakhsh, Illah Hodgins, Jessica Human-Computer Interaction Institute School of Design Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 United States Robotics Institute Computer Science Department Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 United States

ISBN: (纸本)1595933417

In this paper, we explore how dynamic visual cues can be used to create accessible and meaningful social interfaces without raising expectations beyond what is achievable with current technology. Our approach is inspired by research in perceptual causality, which suggests that simple displays in motion can evoke high-level social and emotional content. For our exploration, we iteratively designed and implemented a public social interface using abstraction and motion as design elements. Our interface communicated simple social and emotional content such as displaying happiness when there is high social interaction in the environment. Our qualitative evaluations showed that people frequently and repeatedly interacted with the interface while they tried to make sense of the underlying social content. They also shared their models with others, which led to more social interaction in the environment. Copyright 2006 ACM.

关键词： Iterative methods

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Comparison of silhouette shape descriptors for example-based human pose recovery

Comparison of silhouette shape descriptors for example-based...

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International Conference on Automatic Face and Gesture Recognition

作者： R. Poppe M. Poel Department of Computer Science Human Media Interaction Group University of Twente Enschede Netherlands

Automatically recovering human poses from visual input is useful but challenging due to variations in image space and the high dimensionality of the pose space. In this paper, we assume that a human silhouette can be extracted from monocular visual input. We compare three shape descriptors that are used in the encoding of silhouettes: Fourier descriptors, shape contexts and Hu moments. An example-based approach is taken to recover upper body poses from these descriptors. We perform experiments with deformed silhouettes to test each descriptor's robustness against variations in body dimensions, viewpoint and noise. It is shown that Fourier descriptors and shape context histograms outperform Hu moments for all deformations

关键词： Shape humans Noise robustness Noise shaping Biological system modeling Encoding Testing Data mining computer science Performance evaluation

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Overcoming World in Miniature Limitations by a Scaled and Scrolling WIM

Overcoming World in Miniature Limitations by a Scaled and Sc...

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IEEE Symposium on 3D User Interfaces (3DUI)

作者： C.A. Wingrave Y. Haciahmetoglu D.A. Bowman Department of Computer Science Center for Human Computer Interaction Virginia Polytechnic Institute and State University Blacksburg VA USA

The World In Miniature (WIM) technique has effectively allowed users to interact and travel efficiently in Virtual Environments. However, WIM fails to work in worlds with tasks at various levels of scale. Such an example is using the WIM to arrange furniture and then leaving the room to travel the city using the WIM for navigation and wayfinding. To address this problem, scaling and scrolling were added to the WIM to create the Scaled Scrolling World In Miniature (SSWIM). The interface and testbed were iteratively created under expert evaluation and multiple formative user evaluations led to the final design. The WIM and SSWIM were then compared inside three differently sized cities by users who located a sphere and traveled into it to read the label at the sphere’s center. Users were administered two standard psychology tests to account for spatial orientation (Cube Comparison Test) and spatial scanning (Maze Tracing Test) factors. The results show that the SSWIM’s added functionality, and hence complexity, caused no significant hit in user performance and additionally that users were able to use SSWIM effectively after a short instructional period. To better understand the effect of experience, a follow-up experiment was performed showing performance plateaued after ten to fifteen minutes of use.

关键词： Testing Cities and towns Visualization computer science human computer interaction Virtual environment Navigation Psychology User interfaces Graphical user interfaces

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A Storytelling Robot: Modeling and Evaluation of human-like Gaze Behavior

A Storytelling Robot: Modeling and Evaluation of Human-like ...

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IEEE-RAS International Conference on humanoid Robots

作者： Bilge Mutlu Jodi Forlizzi Jessica Hodgins Human-Computer Interaction Institute Carnegie Mellon University USA Human-Computer Interaction Institute and School of Design Carnegie Mellon University USA Robotics Institute and Computer Science Department Carnegie Mellon University USA

ISBN: (纸本)1424401992

Engaging storytelling is a necessary skill for humanoid robots if they are to be used in education and entertainment applications. Storytelling requires that the humanoid robot be aware of its audience and able to direct its gaze in a natural way. In this paper, we explore how human gaze can be modeled and implemented on a humanoid robot to create a natural, human-like behavior for storytelling. Our gaze model integrates data collected from a human storyteller and a discourse structure model developed by Cassell and her colleagues for human-like conversational agents (1994). We used this model to direct the gaze of a humanoid robot, Honda's ASIMO, as he recited a Japanese fairy tale using a pre-recorded human voice. We assessed the efficacy of this gaze algorithm by manipulating the frequency of ASIMO's gaze between two participants and used pre and post questionnaires to assess whether participants evaluated the robot more positively and did better on a recall task when ASIMO looked at them more. We found that participants performed significantly better in recalling ASIMO's story when the robot looked at them more. Our results also showed significant differences in how men and women evaluated ASIMO based on the frequency of gaze they received from the robot. Our study adds to the growing evidence that there are many commonalities between human-human communication and human-robot communication

关键词： humanoid robots Educational robots human robot interaction Frequency Speech Robotics and automation computer science computer science education Application software human voice

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FRBR: enriching and integrating digital libraries

FRBR: enriching and integrating digital libraries

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IEEE/ACM Joint Conference on Digital Libraries(JCDL)

作者： George Buchanan Future Interaction Techology Laboratory Department of Computer Science University of Wales Swansea UK

FRBR (functional requirements for bibliographic records) is a promising framework for supporting rich indexation, and therefore rich interaction, in digital libraries. However, it is poorly reported in the digital library research literature and practical examples of its use are seldom discussed. In this paper, we introduce an implemented architecture for FRBR support that can supplement existing digital library systems. We also demonstrate the benefits gained by the user when FRBR data is used to enrich the user's interaction with the digital library

关键词： Software libraries Permission computer science Information retrieval Network servers Bibliographies Digital systems Printing

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Domain Ontology for Personalized E-Learning in Educational Systems

Domain Ontology for Personalized E-Learning in Educational S...

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International Conference on Advanced Learning Technologies (ICALT)

作者： J.M. Gascuena A. Fernandez-Caballero P. Gonzalez Laboratory of User Interaction and Software Engineering LoUISE Computer Science Research Institute and Department of Computer Science University of Castilla La Mancha Albacete Spain

This paper introduces domain ontology to describe learning materials that compose a course, capable of providing adaptive e-learning environments and reusable educational resources. Two characteristics have been considered to describe each resource: (1) the most appropriate learning style and, (2) the most satisfactory hardware and software features of the used device

关键词： Ontologies Electronic learning computer science Hardware Software engineering Personal digital assistants Cellular phones OWL Video on demand Animation

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Vertical vergence calibration for augmented reality displays

Vertical vergence calibration for augmented reality displays

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IEEE Virtual Reality 2006 Conference

作者： Livingston, Mark A. Ellis, Stephen R. White, Sean M. Virtual Reality Lab. Naval Research Laboratory United States Human Information Processing Research Branch NASA Ames Research Center United States Department of Computer Science Columbia University United States

ISBN: (纸本)1424402239

Stereo and bi-ocular head-mounted displays (HMDs) require the user to fuse two,images into a coherent picture of the three-dimensional world, The human visual system performs this task constantly, but when the input images contain both real and graphical depictions, the problem becomes more difficult. A vertical disparity in the,graphics causes diplopia for user's trying to fuse the real and virtual objects simultaneously. We implement three methods, to measure and correct this disparity and assess them with,a collection of a single model of optical see-through HMD.

关键词： augmented reality head-mounted display vergence

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