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A virtual harp for therapy in an augmented reality environment

A virtual harp for therapy in an augmented reality environme...

2008 ASME International Design engineering Technical Conferences and computers and Information in engineering Conference, DETC 2008

作者： Taylor, Tanasha Palmerius, Karijohan L. Smith, Shana Virtual Reality Applications Center Human Computer Interaction Graduate Program Iowa State University United States NorrkOping Visualization and Interaction Studio LinkOping University Sweden Department of Mechanical Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9780791843253

The goal of this research study was to develop a music therapy tool using a computer-generated harp which could provide users with visual, audio, and haptic feedback during interaction with the virtual instrument. Realistic 3D visual and haptic feedback was provided through immersion in a portable augmented reality-based system composed of a video see- through head mounted display (HMD) and a Sensable Phantom Omni haptic device. Users play the virtual harp by using the Phantom Omni haptic device to pluck or strum the strings of the harp. Users can also freely move the harp in the augmented reality environment to provide a more realistic experience, similar to that of playing a traditional musical instrument. The system will be used to provide interactive musical experiences and to develop motor skills among individuals with disabilities through music therapy. A virtual therapist feature was developed which can be used by a therapist without musical knowledge to observe a user during therapy exercises or by a user to engage in self-motivated therapy exercises outside the therapy room. With the virtual therapy feature, users can follow a simple pre-determined sequence of notes using color-coded strings. User testing was completed to study usability, therapeutic effectiveness, and patients' therapy motivation. Copyright © 2008 by ASME.

关键词： Virtual reality

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Digital pheromone implementation of PSO with velocity vector accelerated by commodity graphics hardware

Digital pheromone implementation of PSO with velocity vector...

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作者： Kalivarapu, Vijay Winer, Eliot Department of Mechanical Engineering Human Computer Interaction Virtual Reality Applications Center Iowa State University Ames IA 50011 United States

ISBN: (纸本)9781563479731

In this paper, a model for Graphics Processing Unit (GPU) implementation of Particle Swarm Optimization (PSO) using digital pheromones to coordinate swarms within ndimensional design spaces is presented. Particularly, the velocity vector computations are carried out on graphics hardware. Previous work by the authors demonstrated the capability of digital pheromones within PSO for searching n-dimensional design spaces with improved accuracy, efficiency and reliability in serial, parallel and GPU computing environments. The GPU implementation was limited to computing the objective function values alone. Modern GPUs have proven to outperform the number of floating point operations when compared to CPUs through inherent data parallel architecture and higher bandwidth capabilities. This paper presents a method to implement velocity vector computations on a GPU along with objective function evaluations. Three different modes of implementation are studied and presented - First, CPU-CPU where objective function and velocity vector are calculated on CPU alone. Second, GPU-CPU where objective function is computed on the GPU and velocity vector is computed on GPU. Third, GPU-GPU where objective function and velocity vector are both evaluated on the GPU. The results from these three implementations are presented followed by conclusions and recommendations on the best approach for utilizing the full potential of GPUs for PSO. © 2009 by Vijay Kalivarapu.

关键词： Graphics processing unit

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Three-dimensional multi-objective uav path planner using terrain information

Three-dimensional multi-objective uav path planner using ter...

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作者： Swartzentruber, Levi Foo, Jung Leng Winer, Eliot H. Department of Mechanical Engineering and Human Computer Interaction Virtual Reality Applications Center Iowa State University 2274 Howe Hall Ames IA 50010 United States

ISBN: (纸本)9781563479731

Military operations are turning to more complex and advanced automation technology for minimum risk and maximum efficiency. A critical piece to this strategy is unmanned aerial vehicles (UAVs). UAVs require the intelligence to safely maneuver along a path to an intended target, avoiding obstacles such as other aircrafts or enemy threats. Often automated path planning algorithms are employed to specify targets for a UAV to fly to. To date, path-planning algorithms have been limited to providing only a single solution (alternate) path without further inputs from the UAV controller. This paper presents a unique platform for decision making in a three-dimensional path planner where multiple solution paths are generated in the form of meta-paths. The path planner uses Particle Swarm Optimization (PSO) to generate multiple solution paths based on predefined criteria. The problem formulation was designed to minimize risk due to enemy threats, to minimize fuel consumption incurred by deviating from the original path, and takes into account reconnaissance targets. Using PSO, alternate paths are generated using B-spline curves, optimized based on preferences set for the three objectives. The resulting paths can be optimized with a preference towards maximum safety, minimum fuel consumption, or target reconnaissance. By incorporating terrain data into the path planner, the algorithm ensures that the generated alternate paths are feasible and at a safe height above ground. Viewing the paths in an immersive environment allows the decision making process to be completed in an efficient and organized manner. The problem formulation and solution implementation is described along with the results from several simulated scenarios. © 2009 by Levi Swartzentruber.

关键词： Antennas

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Using immersive Virtual environments for realistic life-Size fire safety training for children

Using immersive Virtual environments for realistic life-Size...

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3rd IASTED International Conference on human-computer interaction, HCI 2008

作者： Ericson, Emily Smith, Shana Human-Computer Interaction Graduate Program Iowa State University Taipei United States Department of Mechanical Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9780889867253

Injuries from residential fires are often overlooked as a dangerous safety concern for children. While lectures and classroom learning techniques can be effective in mitigating this risk, studies have shown that kids retain information better if they are allowed to practice escape techniques. Virtual Reality has been used to simulate situations that are too dangerous to practice in real life. This paper presents a fire safety program that combines classroom activities and small group interaction with fire professionals with a virtual simulation of an at-risk house. Students help firefighters to identify home fire hazards and then practice escaping from a simulated fire in a virtual environment. A CAVE is used to immerse participants in the fire scene.

关键词： Virtual reality

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Implementation of digital pheromones in PSO accelerated by commodity Graphics Hardware

Implementation of digital pheromones in PSO accelerated by c...

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作者： Kalivarapu, Vijay Winer, Eliot Department of Mechanical Engineering Human Computer Interaction Virtual Reality Applications Center Iowa State University 2274 Howe Hall Ames IA 50011 United States

ISBN: (纸本)9781563479472

In this paper, a model for Graphics Processing Unit (GPU) implementation of Particle Swarm Optimization (PSO) using digital pheromones to coordinate swarms within n-dimensional design spaces is presented. Previous work by the authors demonstrated the capability of digital pheromones within PSO for searching n-dimensional design spaces with improved accuracy, efficiency and reliability in both serial and parallel computing environments using traditional CPUs. Modern GPUs have proven to outperform the number of floating point operations when compared to CPUs through inherent data parallel architecture and higher bandwidth capabilities. The advent of programmable graphics hardware in the recent times further provided a suitable platform for scientific computing particularly in the field of design optimization. However, the data parallel architecture of GPUs requires a specialized formulation for leveraging its computational capabilities. When the objective function computations are appropriately formulated for GPUs, it is theorized that the solution efficiency (speed) can be significantly increased while maintaining solution accuracy. The development of this method together with a number of multi-modal unconstrained test problems are tested and presented in this paper. Copyright © 2008 by Vijay Kalivarapu.

关键词： Graphics processing unit

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Three-dimensional multi-objective uav path planner using meta-paths for decision making and visualization

Three-dimensional multi-objective uav path planner using met...

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ISBN: (纸本)9781563479472

Military operations are turning to more complex and advanced automation technology for minimum risk and maximum efficiency. A critical piece to this strategy is unmanned aerial vehicles (UAVs). UAVs require the intelligence to safely maneuver along a path to an intended target, avoiding obstacles such as other aircrafts or enemy threats. Often automated path planning algori thms are employed to s pecify targets for a UAV to fly to. To date, path-planning algorithms have been limi ted to providing only a single solution (alternate) path without further inputs from the UAV controller. This paper presents a unique platform for decision making in a three-dimensional path planner where multiple solution paths are generated in the form of meta-paths. The path planner uses Particle Swarm Optimization (PSO) to generate multiple solution paths based on predefined criteria. The problem formulation was designed to minimize risk due to enemy threats, to minimize fuel consumption incurred by deviating from the original path, and takes into account reconnaissance targets. Using PSO, al ternate paths are generated using B-spline curves, optimized based on preferences set for the three objectives. The resulting paths can be optimized wi th a preference towards maximum safety, minimum fuel consumption, or target reconnaissance. For each preference, the top five solutions generated by PSO are presented, for a total of 15 alternate paths. In order to efficiently present these multiple solution paths, meta-paths are implemented, which is a single summarized representation of all the paths generated for a particular preference. This allows the decision making process to be completed in an efficient and organized manner. The problem formulation and solution implementation is described along wi th the results from several simulated scenarios. Copyright © 2008 by Levi Swartzentruber.

关键词： Decision making

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It's not easy being green: Supporting collaborative "green design" learning

It's not easy being green: Supporting collaborative "green d...

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9th International Conference on Intelligent Tutoring Systems, ITS 2008

作者： Chaudhuri, Sourish Kumar, Rohit Joshi, Mahesh Terrell, Elon Higgs, Fred Aleven, Vincent Penstein Rosé, Carolyn Language Technologies Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 United States Human-Computer Interaction Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 United States Mechanical Engineering Department Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 United States

ISBN: (纸本)3540691308

We present the results of a study in which we contrast alternative forms of collaborative learning support in the midst of a collaborative design task in which students negotiate between increasing power and increasing environmental friendliness. In this context, we evaluated the instructional effectiveness of four alternative support conditions as well as a goal manipulation. Both manipulations yield surprising findings, which we are continuing to investigate. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Ecodesign

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Emotional Exchange of a Socially Interactive Robot

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IFAC Proceedings Volumes 2008年第2期41卷 4330-4335页

作者： Dong-Soo Kwon Myung Jin Chung Jong C. Park Chang D. Yoo Eun-Sook Jee Kyung-Sook Park Young-Min Kim Hyoung-Rock Kim Jong-Chan Park Hye-Jin Min Jeong Woo Park Sungrack Yun Kyung-Won Lee Dept. of Mechanical Engineering KAIST Daejeon Korea Human-Robot Interaction Research Center KAIST Daejeon Korea Electrical Engineering Division EECS Department KAIST Daejeon Korea Computer Science Division EECS Department KAIST Daejeon Korea JS Human & Robot Music Research Institute Daejeon Korea Bundang Saemmul Christian School Seongnam-si Korea

This paper presents an emotional exchange framework for a socially interactive robot. The purpose of emotional exchange in social interaction between a robot and people is to make people feel that the robot is a believable living assistant, not a mere machine for information translation. Our emotional exchange framework is composed of the emotion recognition, generation, and expression systems. A user's emotion is recognized by multi-modality such as voice, dialogue, and touch. The robot's emotion is generated according to a psychological theory about cognitive emotions caused by the social interaction within people. Furthermore, the emotion intensity is regulated by the loyalty level of a robot to various users. The generated emotion is dynamically expressed by facial expression, gesture, and the musical sound of the robot. The proposed system, which is composed of all the three components that are necessary for a full emotional interaction cycle, is implemented in the real robot system and tested. The proposed framework can be a cornerstone for the design of emotion interaction and generation systems for robots.

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Mechatronics, robotics and components for automation and control IFAC milestone report

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IFAC Proceedings Volumes 2008年第2期41卷 10800-10809页

作者： S. Boverie Dongil Dan Cho H. Hashimoto M. Tomizuka Wang Wei D. Zühlke Continental Automotive France BP 83649 1 Ave.Paul Ourliac. F-31036 Toulouse CEDEX. France School of Electrical Engineering and Computer Science Seoul National University Kwanak-ku Seoul 151-742 Korea Institute of Industrial Science University of Tokyo 4-6-1 Komaba Meguro-ku Tokyo 153-8505 JAPAN Department of Mechanical Engineering University of California Berkeley CA 94720-1740 USA Research Center of Information and Control Dalian University of Technology Dalian 116024 P.R. China German Research Center for Artificial Intelligence DFKI GmbH Center for Human-Machine-Interaction PO Box 3049 D-67653 Kaiserslautern Germany

This paper presents a general overview of the technological fields of mechatronic, robotic, components for automation and control. Five technical areas are considered: component and instruments, mechatronic, robotics, cost oriented automation and human-machine systems. The paper addresses their current key problems and the recent major accomplishments. At last the most promising forecasted development and applications are considered.

关键词： Component for control Mechatronic systems Robotics Cost oriented automation human-machine systems

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A statistical analysis of particle swarm optimization with and without digital pheromones

A statistical analysis of particle swarm optimization with a...

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48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference

作者： Kalivarapu, Vijay Winer, Eliot Iowa State University Ames IA 50011 United States Department of Mechanical Engineering Human Computer Interaction 2274 Howe Hall Iowa State University Ames IA 50011 United States

ISBN: (纸本)1563478927

Particle Swarm Optimization (PSO) is a population based heuristic search method for finding global optimal values in multi-disciplinary design optimization problems. PSO is based on simple social behavior exhibited by birds and insects. Due to its simplicity in implementation, PSO has been increasingly gaining popularity in the optimization community. Previous work by the authors demonstrated superior design space search capabilities of particle swarm through implementing digital pheromones in a regular PSO. Although preliminary results showed substantial performance gains, a quantitative assessment has not yet been made to prove the claim. Through a formal statistical hypothesis testing, this paper attempts to evaluate the performance characteristics of PSO with digital pheromones. Specifically, the authors' claim that the use of digital pheromones improves the solution quality and solution times are tested using various multi-dimensional unconstrained optimization test problems. Conclusions are drawn based on the results from statistical analysis of these test problems and presented in the paper.

关键词： Global optimization

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