Estimation of Displacement Distance for Wiping motion of Fabric Products

In this manuscript, an estimation method of displacement distance for wiping motion of fabric products is implemented. This wiping motion is defined as a task in which there is contact, but no relative movement, between the manipulator and the deformable object, while there is both contact and relative movement between the object and a floor during the displacement of the object in this wiping motion. We propose a visual tracking algorithm utilizing combination of a particle filter and a rebelling processing for measuring the displace distance. We invest the validity of the algorithm utilizing a planar robotic arm

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

〈平成25年度活動報告>先端ロボット工学研究センター活動報告

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인간 기계 상호작용을 위한 강건하고 정확한 손동작 추적 기술 연구

학위논문(박사) -- 서울대학교대학원 : 공과대학 기계항공공학부, 2021.8. 이동준.Hand-based interface is promising for realizing intuitive, natural and accurate human machine interaction (HMI), as the human hand is main source of dexterity in our daily activities. For this, the thesis begins with the human perception study on the detection threshold of visuo-proprioceptive conflict (i.e., allowable tracking error) with or without cutantoues haptic feedback, and suggests tracking error specification for realistic and fluidic hand-based HMI. The thesis then proceeds to propose a novel wearable hand tracking module, which, to be compatible with the cutaneous haptic devices spewing magnetic noise, opportunistically employ heterogeneous sensors (IMU/compass module and soft sensor) reflecting the anatomical properties of human hand, which is suitable for specific application (i.e., finger-based interaction with finger-tip haptic devices). This hand tracking module however loses its tracking when interacting with, or being nearby, electrical machines or ferromagnetic materials. For this, the thesis presents its main contribution, a novel visual-inertial skeleton tracking (VIST) framework, that can provide accurate and robust hand (and finger) motion tracking even for many challenging real-world scenarios and environments, for which the state-of-the-art technologies are known to fail due to their respective fundamental limitations (e.g., severe occlusions for tracking purely with vision sensors; electromagnetic interference for tracking purely with IMUs (inertial measurement units) and compasses; and mechanical contacts for tracking purely with soft sensors). The proposed VIST framework comprises a sensor glove with multiple IMUs and passive visual markers as well as a head-mounted stereo camera; and a tightly-coupled filtering-based visual-inertial fusion algorithm to estimate the hand/finger motion and auto-calibrate hand/glove-related kinematic parameters simultaneously while taking into account the hand anatomical constraints. The VIST framework exhibits good tracking accuracy and robustness, affordable material cost, light hardware and software weights, and ruggedness/durability even to permit washing. Quantitative and qualitative experiments are also performed to validate the advantages and properties of our VIST framework, thereby, clearly demonstrating its potential for real-world applications.손 동작을 기반으로 한 인터페이스는 인간-기계 상호작용 분야에서 직관성, 몰입감, 정교함을 제공해줄 수 있어 많은 주목을 받고 있고, 이를 위해 가장 필수적인 기술 중 하나가 손 동작의 강건하고 정확한 추적 기술 이다. 이를 위해 본 학위논문에서는 먼저 사람 인지의 관점에서 손 동작 추적 오차의 인지 범위를 규명한다. 이 오차 인지 범위는 새로운 손 동작 추적 기술 개발 시 중요한 설계 기준이 될 수 있어 이를 피험자 실험을 통해 정량적으로 밝히고, 특히 손끝 촉각 장비가 있을때 이 인지 범위의 변화도 밝힌다. 이를 토대로, 촉각 피드백을 주는 것이 다양한 인간-기계 상호작용 분야에서 널리 연구되어 왔으므로, 먼저 손끝 촉각 장비와 함께 사용할 수 있는 손 동작 추적 모듈을 개발한다. 이 손끝 촉각 장비는 자기장 외란을 일으켜 착용형 기술에서 흔히 사용되는 지자기 센서를 교란하는데, 이를 적절한 사람 손의 해부학적 특성과 관성 센서/지자기 센서/소프트 센서의 적절한 활용을 통해 해결한다. 이를 확장하여 본 논문에서는, 촉각 장비 착용 시 뿐 아니라 모든 장비 착용 / 환경 / 물체와의 상호작용 시에도 사용 가능한 새로운 손 동작 추적 기술을 제안한다. 기존의 손 동작 추적 기술들은 가림 현상 (영상 기반 기술), 지자기 외란 (관성/지자기 센서 기반 기술), 물체와의 접촉 (소프트 센서 기반 기술) 등으로 인해 제한된 환경에서 밖에 사용하지 못한다. 이를 위해 많은 문제를 일으키는 지자기 센서 없이 상보적인 특성을 지니는 관성 센서와 영상 센서를 융합하고, 이때 작은 공간에 다 자유도의 움직임을 갖는 손 동작을 추적하기 위해 다수의 구분되지 않는 마커들을 사용한다. 이 마커의 구분 과정 (correspondence search)를 위해 기존의 약결합 (loosely-coupled) 기반이 아닌 강결합 (tightly-coupled 기반 센서 융합 기술을 제안하고, 이를 통해 지자기 센서 없이 정확한 손 동작이 가능할 뿐 아니라 착용형 센서들의 정확성/편의성에 문제를 일으키던 센서 부착 오차 / 사용자의 손 모양 등을 자동으로 정확히 보정한다. 이 제안된 영상-관성 센서 융합 기술 (Visual-Inertial Skeleton Tracking (VIST)) 의 뛰어난 성능과 강건성이 다양한 정량/정성 실험을 통해 검증되었고, 이는 VIST의 다양한 일상환경에서 기존 시스템이 구현하지 못하던 손 동작 추적을 가능케 함으로써, 많은 인간-기계 상호작용 분야에서의 가능성을 보여준다.1 Introduction 1 1.1. Motivation 1 1.2. Related Work 5 1.3. Contribution 12 2 Detection Threshold of Hand Tracking Error 16 2.1. Motivation 16 2.2. Experimental Environment 20 2.2.1. Hardware Setup 21 2.2.2. Virtual Environment Rendering 23 2.2.3. HMD Calibration 23 2.3. Identifying the Detection Threshold of Tracking Error 26 2.3.1. Experimental Setup 27 2.3.2. Procedure 27 2.3.3. Experimental Result 31 2.4. Enlarging the Detection Threshold of Tracking Error by Haptic Feedback 31 2.4.1. Experimental Setup 31 2.4.2. Procedure 32 2.4.3. Experimental Result 34 2.5. Discussion 34 3 Wearable Finger Tracking Module for Haptic Interaction 38 3.1. Motivation 38 3.2. Development of Finger Tracking Module 42 3.2.1. Hardware Setup 42 3.2.2. Tracking algorithm 45 3.2.3. Calibration method 48 3.3. Evaluation for VR Haptic Interaction Task 50 3.3.1. Quantitative evaluation of FTM 50 3.3.2. Implementation of Wearable Cutaneous Haptic Interface 51 3.3.3. Usability evaluation for VR peg-in-hole task 53 3.4. Discussion 57 4 Visual-Inertial Skeleton Tracking for Human Hand 59 4.1. Motivation 59 4.2. Hardware Setup and Hand Models 62 4.2.1. Human Hand Model 62 4.2.2. Wearable Sensor Glove 62 4.2.3. Stereo Camera 66 4.3. Visual Information Extraction 66 4.3.1. Marker Detection in Raw Images 68 4.3.2. Cost Function for Point Matching 68 4.3.3. Left-Right Stereo Matching 69 4.4. IMU-Aided Correspondence Search 72 4.5. Filtering-based Visual-Inertial Sensor Fusion 76 4.5.1. EKF States for Hand Tracking and Auto-Calibration 78 4.5.2. Prediction with IMU Information 79 4.5.3. Correction with Visual Information 82 4.5.4. Correction with Anatomical Constraints 84 4.6. Quantitative Evaluation for Free Hand Motion 87 4.6.1. Experimental Setup 87 4.6.2. Procedure 88 4.6.3. Experimental Result 90 4.7. Quantitative and Comparative Evaluation for Challenging Hand Motion 95 4.7.1. Experimental Setup 95 4.7.2. Procedure 96 4.7.3. Experimental Result 98 4.7.4. Performance Comparison with Existing Methods for Challenging Hand Motion 101 4.8. Qualitative Evaluation for Real-World Scenarios 105 4.8.1. Visually Complex Background 105 4.8.2. Object Interaction 106 4.8.3. Wearing Fingertip Cutaneous Haptic Devices 109 4.8.4. Outdoor Environment 111 4.9. Discussion 112 5 Conclusion 116 References 124 Abstract (in Korean) 139 Acknowledgment 141박

Insecurity Cameras: Cinematic Elevators, Infidelity and the Crime of Time

The elevator, like the train and other icons of automated movement, would seem to hold a natural affinity with cinema, a kind of machine for making non-habitual space and time. Elevators displace human activity and effort, opening up instead a range of other types of encounters and types of mobility. As time-based mediums, elevators are zones of duration where the potential for change is made manifest. Unlike trains, however, elevators have not received or drawn critical interest on the part of cinema studies. This paper looks at the enduring verticality of cinematic elevators through a Bergsonian sense of duration as “infidelity to the self”, presenting a close reading of the elevator murder in Brian DePalma’s Dressed to Kill (1980) and a broader consideration of the elevator in cinema and urban culture.À l’instar d’icônes du mouvement automatisé, comme le train, l’ascenseur semble présenter une affinité naturelle avec le cinéma dans la mesure où il crée un espace-temps non habituel. Les ascenseurs dévient les activités et les efforts humains, en déployant d’autres formes de mobilité et de rencontres. En tant que médiums temporels, les ascenseurs représentent des zones de durée où se manifeste explicitement un potentiel de changement. Mais, contrairement aux trains, les ascenseurs n’ont jamais fait l’objet d’études cinématographiques approfondies. Cet article se propose de penser l’axe vertical des ascenseurs cinématographiques à partir de la conception « bergsonnienne » de la durée comprise comme « infidélité à soi ». Le célèbre meurtre dans un ascenseur du film Dressed to Kill (1980) de Brian de Palma servira de point d’ancrage afin de mener cette étude sur le rôle de l’ascenseur au cinéma et dans la culture urbaine

Reading to Play and Playing to Read: A Mediated Discourse Analysis of Early Literacy Apprenticeship

How does “playing school,” an ordinary childhood pastime, shape children’s reading abilities, classroom identities, and relative social positioning? In an ethnographic study of literacy play in one kindergarten classroom, I discovered that young children regularly combined reading and play practices to make the meanings of texts more accessible and to take up empowered identity positions in child-ruled spaces. Two examples, excerpted from the data, illustrate how reading a book while playing the teacher transformed a classroom meeting area into a pretend school space where children could assume identities as readers and leaders

Advanced Image Reconstruction for Limited View Cone-Beam CT

In a standard CT acquisition, a high number of projections is obtained around the sample, generally covering an angular span of 360º. However, complexities may arise in some clinical scenarios such as surgery and emergency rooms or Intensive Care Units (ICUs) when the accessibility to the patient is limited due to the monitoring equipment attached. X-ray systems used in these cases are usually C-arms that only enable the acquisition of planar images within a limited angular range. Obtaining 3D images in these scenarios could be extremely interesting for diagnosis or image guided surgery. This would be based on the acquisition of a small number of projections within a limited angular span. Reconstruction of these limited-view data with conventional algorithms such as FDK result in streak artifacts and shape distortion deteriorating the image quality. In order to reduce these artifacts, advanced reconstruction methods can be used to compensate the lack of data by the incorporation of prior information. This bachelor thesis is framed on one of the lines of research carried out by the Biomedical Imaging and Instrumentation group from the Bioengineering and Aerospace Department of Universidad Carlos III de Madrid working jointly with the Hospital General Universitario Gregorio Marañón through its Instituto de Investigación Sanitaria. This line of research is carried out in collaboration with the company SEDECAL, which enables the direct transfer to the industry. Previous work showed that a new iterative reconstruction method proposed by the group, SCoLD, is able to restore the altered contour of the object, suppress greatly the streak artifacts and recover to some extend the image quality by restricting the space of search with a surface constraint. However, the evaluation was only carried out using a simulated mask that described the shape of the object obtained by thresholding a previous CT image of the sample, which is generally not available in real scenarios. The general objective of this thesis is the designing of a complete workflow to implement SCoLD in real scenarios. For that purpose, the 3D scanner Artec Eva was chosen to acquire the surface information of the sample, which was then transformed to be usable as prior information for SCoLD method. The evaluation done in a rodent study showed high similarity between the mask obtained from real data and the ideal mask obtained from a CT. Distortions in shape and streak artifacts in the limited-view FDK reconstruction were greatly reduced when using the real mask with the SCoLD reconstruction and the image quality was highly improved demonstrating the feasibility of the proposal.Grado en Ingeniería Biomédica (Plan 2010

Ideas for Inclusion: A Resource for Occupational Therapists

School-based occupational therapy practice is continually changing to meet the needs of the students and stay in alignment with federal mandates and current research. Current legislative regulations of No Child Left Behind Act of2001 (NCLB 2001; Public Law 107-110) and The Individuals with Disabilities Education Improvement Act of 2004 (IDEIA 2004, Public Law 108-446) together require that education programs be provided in the natural or least restrictive environment. After the review of literature and personal interviews it was found that many occupational therapists, teachers and school based staff were having difficulty fulfilling this requirement, often using the direct, pull-out service model. The author\u27s intent of the scholarly project was to develop a guide for new and experienced therapists to promote collaboration between occupational therapists and school personnel. The guide was designed to address educationally relevant occupations and foundational skills for 4-6 year olds through activities that can be provided in an inclusive school setting. The intention of Ideas for Inclusion: A Resource for Occupational Therapists is to encourage occupational therapists to use a more inclusive, population-based service delivery model in the school setting through collaboration with and coaching of educational personnel. The activities suggested the product include sensory motor, gross motor, fine motor, self-care, and social skills. These skills were chosen because of their developmental characteristics which promote performance of the higher-level educational tasks such as reading, writing, and socializing with peers based upon literature review. Practitioners and teachers are encouraged to integrate the guide\u27s units and targeted developmental skills into the naturally occurring student\u27s schedule and create new ideas to further the educational success of the targeted students