Haptically enabled interactivity and immersive virtual assembly

Virtual training systems are attracting paramount attention from the manufacturing industries due to their potential advantages over the conventional training practices such as general assembly. Within this virtual training realm for general assembly, a haptically enabled interactive and immersive virtual reality (HIVEx) system is presented. The idea is to imitate real assembly training scenarios by providing comprehensive user interaction as well as by enforcing physical constraints within the virtual environment through the use of haptics technology. The developed system employs a modular system approach providing flexibility of reconfiguration and scalability as well as better utilization of the current multi-core computer architecture. The user interacts with the system using haptics device and data glove while fully immersed into the virtual environment with depth perception. An evaluation module, incorporated into the system, automatically logs and evaluates the information through the simulation providing user performance and improvements over time. A ruggedized portable version of the system is also developed and presented with full system capabilities allowing easy relocation with different factory environments. A number of training scenarios has been developed with varying degree of complexity to exploit the potential of the presented system. The presented system can be employed for teaching and training of existing assembly processes as well as the design of new optimised assembly operations. Furthermore, the presented system can assist in optimizing existing practices by evaluating the effectiveness and the level of knowledge transfer involved in the process. Within the aforementioned conceptual. framework, a working prototype is developed.<br /

Haptically enable interactive virtual assembly training system development and evaluation

Virtual training systems are attracting paramount attention from the manufacturing industries due to their potential advantages over the conventional training practices. Significant cost savings can be realized due to the shorter times for the development of different training-scenarios as well as reuse of existing designed engineering (math) models. In addition, use of computer based virtual reality (VR) training systems can shorten the time span from computer aided product design to commercial production due to non-reliance on the hardware parts for training. Within the aforementioned conceptual framework, a haptically enabled interactive and immersive virtual reality (HIVEx) system is presented. Unlike existing VR systems, the presented idea tries to imitate real physical training scenarios by providing comprehensive user interaction, constrained within the physical limitations of the real world. These physical constrains are imposed by the haptics devices in the virtual environment. As a result, in contrast to the existing VR systems that are capable of providing knowledge generally about assembly sequences only, the proposed system helps in cognitive learning and procedural skill development as well, due to its high physically interactive nature.<br /

Agents for educational games and simulations

This book consists mainly of revised papers that were presented at the Agents for Educational Games and Simulation (AEGS) workshop held on May 2, 2011, as part of the Autonomous Agents and MultiAgent Systems (AAMAS) conference in Taipei, Taiwan. The 12 full papers presented were carefully reviewed and selected from various submissions. The papers are organized topical sections on middleware applications, dialogues and learning, adaption and convergence, and agent applications

Tangible user interfaces : past, present and future directions

In the last two decades, Tangible User Interfaces (TUIs) have emerged as a new interface type that interlinks the digital and physical worlds. Drawing upon users' knowledge and skills of interaction with the real non-digital world, TUIs show a potential to enhance the way in which people interact with and leverage digital information. However, TUI research is still in its infancy and extensive research is required in or- der to fully understand the implications of tangible user interfaces, to develop technologies that further bridge the digital and the physical, and to guide TUI design with empirical knowledge. This paper examines the existing body of work on Tangible User In- terfaces. We start by sketching the history of tangible user interfaces, examining the intellectual origins of this field. We then present TUIs in a broader context, survey application domains, and review frame- works and taxonomies. We also discuss conceptual foundations of TUIs including perspectives from cognitive sciences, phycology, and philoso- phy. Methods and technologies for designing, building, and evaluating TUIs are also addressed. Finally, we discuss the strengths and limita- tions of TUIs and chart directions for future research

Intelligent tutoring in virtual reality for highly dynamic pedestrian safety training

This thesis presents the design, implementation, and evaluation of an Intelligent Tutoring System (ITS) with a Virtual Reality (VR) interface for child pedestrian safety training. This system enables children to train practical skills in a safe and realistic virtual environment without the time and space dependencies of traditional roadside training. This system also employs Domain and Student Modelling techniques to analyze user data during training automatically and to provide appropriate instructions and feedback. Thus, the traditional requirement of constant monitoring from teaching personnel is greatly reduced. Compared to previous work, especially the second aspect is a principal novelty for this domain. To achieve this, a novel Domain and Student Modeling method was developed in addition to a modular and extensible virtual environment for the target domain. While the Domain and Student Modeling framework is designed to handle the highly dynamic nature of training in traffic and the ill-defined characteristics of pedestrian tasks, the modular virtual environment supports different interaction methods and a simple and efficient way to create and adapt exercises. The thesis is complemented by two user studies with elementary school children. These studies testify great overall user acceptance and the system’s potential for improving key pedestrian skills through autonomous learning. Last but not least, the thesis presents experiments with different forms of VR input and provides directions for future work.Diese Arbeit behandelt den Entwurf, die Implementierung sowie die Evaluierung eines intelligenten Tutorensystems (ITS) mit einer Virtual Reality (VR) basierten Benutzeroberfläche zum Zwecke von Verkehrssicherheitstraining für Kinder. Dieses System ermöglicht es Kindern praktische Fähigkeiten in einer sicheren und realistischen Umgebung zu trainieren, ohne den örtlichen und zeitlichen Abhängigkeiten des traditionellen, straßenseitigen Trainings unterworfen zu sein. Dieses System macht außerdem von Domain und Student Modelling Techniken gebrauch, um Nutzerdaten während des Trainings zu analysieren und daraufhin automatisiert geeignete Instruktionen und Rückmeldung zu generieren. Dadurch kann die bisher erforderliche, ständige Überwachung durch Lehrpersonal drastisch reduziert werden. Verglichen mit bisherigen Lösungen ist insbesondere der zweite Aspekt eine grundlegende Neuheit für diesen Bereich. Um dies zu erreichen wurde ein neuartiges Framework für Domain und Student Modelling entwickelt, sowie eine modulare und erweiterbare virtuelle Umgebung für diese Art von Training. Während das Domain und Student Modelling Framework so entworfen wurde, um mit der hohen Dynamik des Straßenverkehrs sowie den vage definierten Fußgängeraufgaben zurecht zu kommen, unterstützt die modulare Umgebung unterschiedliche Eingabeformen sowie eine unkomplizierte und effiziente Methode, um Übungen zu erstellen und anzupassen. Die Arbeit beinhaltet außerdem zwei Nutzerstudien mit Grundschulkindern. Diese Studien belegen dem System eine hohe Benutzerakzeptanz und stellt das Potenzial des Systems heraus, wichtige Fähigkeiten für Fußgängersicherheit durch autodidaktisches Training zu verbessern. Nicht zuletzt beschreibt die Arbeit Experimente mit verschiedenen Formen von VR Eingaben und zeigt die Richtung für zukünftige Arbeit auf

Examining the sense of agency in human-computer interaction

Humans are agents, we feel that we control the course of events on our everyday life. This refers to the Sense of Agency (SoA). This experience is not only crucial in our daily life, but also in our interaction with technology. When we manipulate a user interface (e.g., computer, smartphone, etc.), we expect that the system responds to our input commands with feedback, as we desire to feel that we are in charge of the interaction. If this interplay elicits a SoA, then the user will perceive an instinctive feeling of “I am controlling this”. Although research in Human-Computer Interaction (HCI) pursuits the design of intuitive and responsive systems, most of the current studies have been focussed mainly on interaction techniques (e.g., software-hardware) and User Experience (UX) (e.g., comfort, usability, etc.), and very little has been investigated in terms of the SoA i.e., the conscious experience of being in control regarding the interaction. In this thesis, we present an experimental exploration of the role of the SoA in interaction paradigms typical of HCI. After two chapters of introduction and related work, we describe a series of studies that explore agency implication in interaction with systems through human senses such as vision, audio, touch and smell. Chapter 3 explores the SoA in mid-air haptic interaction through touchless actions. Then, Chapter 4 examines agency modulation through smell and its application for olfactory interfaces. Chapter 5 describes two novel timing techniques based on auditory and haptic cues that provide alternative timing methods to the traditional Libet clock. Finally, we conclude with a discussion chapter that highlights the importance of our SoA during interactions with technology as well as the implications of the results found, in the design of user interfaces

User-based gesture vocabulary for form creation during a product design process

There are inconsistencies between the nature of the conceptual design and the functionalities of the computational systems supporting it, which disrupt the designers’ process, focusing on technology rather than designers’ needs. A need for elicitation of hand gestures appropriate for the requirements of the conceptual design, rather than those arbitrarily chosen or focusing on ease of implementation was identified.The aim of this thesis is to identify natural and intuitive hand gestures for conceptual design, performed by designers (3rd, 4th year product design engineering students and recent graduates) working on their own, without instruction and without limitations imposed by the facilitating technology. This was done via a user centred study including 44 participants. 1785 gestures were collected. Gestures were explored as a sole mean for shape creation and manipulation in virtual 3D space. Gestures were identified, described in writing, sketched, coded based on the taxonomy used, categorised based on hand form and the path travelled and variants identified. Then they were statistically analysed to ascertain agreement rates between the participants, significance of the agreement and the likelihood of number of repetitions for each category occurring by chance. The most frequently used and statistically significant gestures formed the consensus set of vocabulary for conceptual design. The effect of the shape of the manipulated object on the gesture performed, and if the sequence of the gestures participants proposed was different from the established CAD solid modelling practices were also observed.Vocabulary was evaluated by non-designer participants, and the outcomes have shown that the majority of gestures were appropriate and easy to perform. Evaluation was performed theoretically and in the VR environment. Participants selected their preferred gestures for each activity, and a variant of the vocabulary for conceptual design was created as an outcome, that aims to ensure that extensive training is not required, extending the ability to design beyond trained designers only.There are inconsistencies between the nature of the conceptual design and the functionalities of the computational systems supporting it, which disrupt the designers’ process, focusing on technology rather than designers’ needs. A need for elicitation of hand gestures appropriate for the requirements of the conceptual design, rather than those arbitrarily chosen or focusing on ease of implementation was identified.The aim of this thesis is to identify natural and intuitive hand gestures for conceptual design, performed by designers (3rd, 4th year product design engineering students and recent graduates) working on their own, without instruction and without limitations imposed by the facilitating technology. This was done via a user centred study including 44 participants. 1785 gestures were collected. Gestures were explored as a sole mean for shape creation and manipulation in virtual 3D space. Gestures were identified, described in writing, sketched, coded based on the taxonomy used, categorised based on hand form and the path travelled and variants identified. Then they were statistically analysed to ascertain agreement rates between the participants, significance of the agreement and the likelihood of number of repetitions for each category occurring by chance. The most frequently used and statistically significant gestures formed the consensus set of vocabulary for conceptual design. The effect of the shape of the manipulated object on the gesture performed, and if the sequence of the gestures participants proposed was different from the established CAD solid modelling practices were also observed.Vocabulary was evaluated by non-designer participants, and the outcomes have shown that the majority of gestures were appropriate and easy to perform. Evaluation was performed theoretically and in the VR environment. Participants selected their preferred gestures for each activity, and a variant of the vocabulary for conceptual design was created as an outcome, that aims to ensure that extensive training is not required, extending the ability to design beyond trained designers only

Directional adposition use in English, Swedish and Finnish

Directional adpositions such as to the left of describe where a Figure is in relation to a Ground. English and Swedish directional adpositions refer to the location of a Figure in relation to a Ground, whether both are static or in motion. In contrast, the Finnish directional adpositions edellä (in front of) and jäljessä (behind) solely describe the location of a moving Figure in relation to a moving Ground (Nikanne, 2003). When using directional adpositions, a frame of reference must be assumed for interpreting the meaning of directional adpositions. For example, the meaning of to the left of in English can be based on a relative (speaker or listener based) reference frame or an intrinsic (object based) reference frame (Levinson, 1996). When a Figure and a Ground are both in motion, it is possible for a Figure to be described as being behind or in front of the Ground, even if neither have intrinsic features. As shown by Walker (in preparation), there are good reasons to assume that in the latter case a motion based reference frame is involved. This means that if Finnish speakers would use edellä (in front of) and jäljessä (behind) more frequently in situations where both the Figure and Ground are in motion, a difference in reference frame use between Finnish on one hand and English and Swedish on the other could be expected. We asked native English, Swedish and Finnish speakers’ to select adpositions from a language specific list to describe the location of a Figure relative to a Ground when both were shown to be moving on a computer screen. We were interested in any differences between Finnish, English and Swedish speakers. All languages showed a predominant use of directional spatial adpositions referring to the lexical concepts TO THE LEFT OF, TO THE RIGHT OF, ABOVE and BELOW. There were no differences between the languages in directional adpositions use or reference frame use, including reference frame use based on motion. We conclude that despite differences in the grammars of the languages involved, and potential differences in reference frame system use, the three languages investigated encode Figure location in relation to Ground location in a similar way when both are in motion. Levinson, S. C. (1996). Frames of reference and Molyneux’s question: Crosslingiuistic evidence. In P. Bloom, M.A. Peterson, L. Nadel & M.F. Garrett (Eds.) Language and Space (pp.109-170). Massachusetts: MIT Press. Nikanne, U. (2003). How Finnish postpositions see the axis system. In E. van der Zee & J. Slack (Eds.), Representing direction in language and space. Oxford, UK: Oxford University Press. Walker, C. (in preparation). Motion encoding in language, the use of spatial locatives in a motion context. Unpublished doctoral dissertation, University of Lincoln, Lincoln. United Kingdo

Exploring Engineering Applications of Visual Analytics in Virtual Reality

Recent advancements and technological breakthroughs in the development of so-called immersive interfaces, such as augmented (AR), mixed (MR), and virtual reality (VR), coupled with the growing mass-market adoption of such devices has started to attract attention from academia and industry alike. Out of these technologies, VR offers the most mature option in terms of both hardware and software, as well as the best available range of different off-the-shelf offerings. VR is a term interchangeably used to denote both head-mounted displays (HMDs) and fully immersive, bespoke 3D environments which these devices transport their users to. With modern devices, developers can leverage a range of different interaction modalities, including visual, audio, and even haptic feedback, in the creation of these virtual worlds. With such a rich interaction space it is thus natural to think of VR as a well-suited environment for interactive visualisation and analytical reasoning of complex multidimensional data. Research in \textit{visual analytics} (VA) combines these two themes, spanning the last one and a half decades, and has revealed a number of research findings. This includes a range of new advanced and effective visualisation and analysis tools for even more complex, more noisy and larger data sets. Furthermore, the extension of this research and the use of immersive interfaces to facilitate visual analytics has spun-off a new field of research: \textit{immersive analytics} (IA). Immersive analytics leverages the potential bestowed by immersive interfaces to aid the user in swift and effective data analysis. Some of the most promising application domains of such immersive interfaces in the industry are various branches of engineering, including aerospace design and in civil engineering. The range of potential applications is vast and growing as new stakeholders are adopting these immersive tools. However, the use of these technologies brings its own challenges. One such difficulty is the design of appropriate interaction techniques. There is no optimal choice, instead such a choice varies depending on available hardware, the user’s prior experience, their task at hand, and the nature of the dataset. To this end, my PhD work has focused on designing and analysing various interactive, VR-based immersive systems for engineering visual analytics. One of the key elements of such an immersive system is the selection of an adequate interaction method. In a series of both qualitative and quantitative studies, I have explored the potential of various interaction techniques that can be used to support the user in swift and effective data analysis. Here, I have investigated the feasibility of using techniques such as hand-held controllers, gaze-tracking and hand-tracking input methods used solo or in combination in various challenging use cases and scenarios. For instance, I developed and verified the usability and effectiveness of the AeroVR system for aerospace design in VR. This research has allowed me to trim the very large design space of such systems that have been not sufficiently explored thus far. Moreover, building on top of this work, I have designed, developed, and tested a system for digital twin assessment in aerospace that coupled gaze-tracking and hand-tracking, achieved via an additional sensor attached to the front of the VR headset, with no need for the user to hold a controller. The analysis of the results obtained from a qualitative study with domain experts allowed me to distill and propose design implications when developing similar systems. Furthermore, I worked towards designing an effective VR-based visualisation of complex, multidimensional abstract datasets. Here, I developed and evaluated the immersive version of the well-known Parallel Coordinates Plots (IPCP) visualisation technique. The results of the series of qualitative user studies allowed me to obtain a list of design suggestions for IPCP, as well as provide tentative evidence that the IPCP can be an effective tool for multidimensional data analysis. Lastly, I also worked on the design, development, and verification of the system allowing its users to capture information in the context of conducting engineering surveys in VR. Furthermore, conducting a meaningful evaluation of immersive analytics interfaces remains an open problem. It is difficult and often not feasible to use traditional A/B comparisons in controlled experiments as the aim of immersive analytics is to provide its users with new insights into their data rather than focusing on more quantifying factors. To this end, I developed a generative process for synthesising clustered datasets for VR analytics experiments that can be used in the process of interface evaluation. I further validated this approach by designing and carrying out two user studies. The statistical analysis of the gathered data revealed that this generative process for synthesising clustered datasets did indeed result in datasets that can be used in experiments without the datasets themselves being the dominant contributor of the variability between conditions.Engineering and Physical Sciences Research Council (EPSRC-1788814); Trinity Hall and Cambridge Commonwealth, European & International Trust; Cambridge Philosophical Societ

Bare-handed 3D drawing in augmented reality

Head-mounted augmented reality (AR) enables embodied in situ drawing in three dimensions (3D).We explore 3D drawing interactions based on uninstrumented, unencumbered (bare) hands that preserve the user’s ability to freely navigate and interact with the physical environment. We derive three alternative interaction techniques supporting bare-handed drawing in AR from the literature and by analysing several envisaged use cases. The three interaction techniques are evaluated in a controlled user study examining three distinct drawing tasks: planar drawing, path description, and 3D object reconstruction. The results indicate that continuous freehand drawing supports faster line creation than the control point-based alternatives, although with reduced accuracy. User preferences for the different techniques are mixed and vary considerably between the different tasks, highlighting the value of diverse and flexible interactions. The combined effectiveness of these three drawing techniques is illustrated in an example application of 3D AR drawing