Towards Intelligent Telerobotics: Visualization and Control of Remote Robot

Human-machine cooperative or co-robotics has been recognized as the next generation of robotics. In contrast to current systems that use limited-reasoning strategies or address problems in narrow contexts, new co-robot systems will be characterized by their flexibility, resourcefulness, varied modeling or reasoning approaches, and use of real-world data in real time, demonstrating a level of intelligence and adaptability seen in humans and animals. The research I focused is in the two sub-field of co-robotics: teleoperation and telepresence. We firstly explore the ways of teleoperation using mixed reality techniques. I proposed a new type of display: hybrid-reality display (HRD) system, which utilizes commodity projection device to project captured video frame onto 3D replica of the actual target surface. It provides a direct alignment between the frame of reference for the human subject and that of the displayed image. The advantage of this approach lies in the fact that no wearing device needed for the users, providing minimal intrusiveness and accommodating users eyes during focusing. The field-of-view is also significantly increased. From a user-centered design standpoint, the HRD is motivated by teleoperation accidents, incidents, and user research in military reconnaissance etc. Teleoperation in these environments is compromised by the Keyhole Effect, which results from the limited field of view of reference. The technique contribution of the proposed HRD system is the multi-system calibration which mainly involves motion sensor, projector, cameras and robotic arm. Due to the purpose of the system, the accuracy of calibration should also be restricted within millimeter level. The followed up research of HRD is focused on high accuracy 3D reconstruction of the replica via commodity devices for better alignment of video frame. Conventional 3D scanner lacks either depth resolution or be very expensive. We proposed a structured light scanning based 3D sensing system with accuracy within 1 millimeter while robust to global illumination and surface reflection. Extensive user study prove the performance of our proposed algorithm. In order to compensate the unsynchronization between the local station and remote station due to latency introduced during data sensing and communication, 1-step-ahead predictive control algorithm is presented. The latency between human control and robot movement can be formulated as a linear equation group with a smooth coefficient ranging from 0 to 1. This predictive control algorithm can be further formulated by optimizing a cost function. We then explore the aspect of telepresence. Many hardware designs have been developed to allow a camera to be placed optically directly behind the screen. The purpose of such setups is to enable two-way video teleconferencing that maintains eye-contact. However, the image from the see-through camera usually exhibits a number of imaging artifacts such as low signal to noise ratio, incorrect color balance, and lost of details. Thus we develop a novel image enhancement framework that utilizes an auxiliary color+depth camera that is mounted on the side of the screen. By fusing the information from both cameras, we are able to significantly improve the quality of the see-through image. Experimental results have demonstrated that our fusion method compares favorably against traditional image enhancement/warping methods that uses only a single image

Virtual image out-the-window display system study. Volume 2 - Appendix

Virtual image out-the-window display system imaging techniques and simulation devices - appendices containing background materia

Leveraging eXtented Reality & Human-Computer Interaction for User Experi- ence in 360◦ Video

EXtended Reality systems have resurged as a medium for work and entertainment. While 360o video has been characterized as less immersive than computer-generated VR, its realism, ease of use and affordability mean it is in widespread commercial use. Based on the prevalence and potential of the 360o video format, this research is focused on improving and augmenting the user experience of watching 360o video. By leveraging knowledge from Extented Reality (XR) systems and Human-Computer Interaction (HCI), this research addresses two issues affecting user experience in 360o video: Attention Guidance and Visually Induced Motion Sickness (VIMS). This research work relies on the construction of multiple artifacts to answer the de- fined research questions: (1) IVRUX, a tool for analysis of immersive VR narrative expe- riences; (2) Cue Control, a tool for creation of spatial audio soundtracks for 360o video, as well as enabling the collection and analysis of captured metrics emerging from the user experience; and (3) VIMS mitigation pipeline, a linear sequence of modules (including optical flow and visual SLAM among others) that control parameters for visual modi- fications such as a restricted Field of View (FoV). These artifacts are accompanied by evaluation studies targeting the defined research questions. Through Cue Control, this research shows that non-diegetic music can be spatialized to act as orientation for users. A partial spatialization of music was deemed ineffective when used for orientation. Addi- tionally, our results also demonstrate that diegetic sounds are used for notification rather than orientation. Through VIMS mitigation pipeline, this research shows that dynamic restricted FoV is statistically significant in mitigating VIMS, while mantaining desired levels of Presence. Both Cue Control and the VIMS mitigation pipeline emerged from a Research through Design (RtD) approach, where the IVRUX artifact is the product of de- sign knowledge and gave direction to research. The research presented in this thesis is of interest to practitioners and researchers working on 360o video and helps delineate future directions in making 360o video a rich design space for interaction and narrative.Sistemas de Realidade EXtendida ressurgiram como um meio de comunicação para o tra- balho e entretenimento. Enquanto que o vídeo 360o tem sido caracterizado como sendo menos imersivo que a Realidade Virtual gerada por computador, o seu realismo, facili- dade de uso e acessibilidade significa que tem uso comercial generalizado. Baseado na prevalência e potencial do formato de vídeo 360o, esta pesquisa está focada em melhorar e aumentar a experiência de utilizador ao ver vídeos 360o. Impulsionado por conhecimento de sistemas de Realidade eXtendida (XR) e Interacção Humano-Computador (HCI), esta pesquisa aborda dois problemas que afetam a experiência de utilizador em vídeo 360o: Orientação de Atenção e Enjoo de Movimento Induzido Visualmente (VIMS). Este trabalho de pesquisa é apoiado na construção de múltiplos artefactos para res- ponder as perguntas de pesquisa definidas: (1) IVRUX, uma ferramenta para análise de experiências narrativas imersivas em VR; (2) Cue Control, uma ferramenta para a criação de bandas sonoras de áudio espacial, enquanto permite a recolha e análise de métricas capturadas emergentes da experiencia de utilizador; e (3) canal para a mitigação de VIMS, uma sequência linear de módulos (incluindo fluxo ótico e SLAM visual entre outros) que controla parâmetros para modificações visuais como o campo de visão restringido. Estes artefactos estão acompanhados por estudos de avaliação direcionados para às perguntas de pesquisa definidas. Através do Cue Control, esta pesquisa mostra que música não- diegética pode ser espacializada para servir como orientação para os utilizadores. Uma espacialização parcial da música foi considerada ineficaz quando usada para a orientação. Adicionalmente, os nossos resultados demonstram que sons diegéticos são usados para notificação em vez de orientação. Através do canal para a mitigação de VIMS, esta pesquisa mostra que o campo de visão restrito e dinâmico é estatisticamente significante ao mitigar VIMS, enquanto mantem níveis desejados de Presença. Ambos Cue Control e o canal para a mitigação de VIMS emergiram de uma abordagem de Pesquisa através do Design (RtD), onde o artefacto IVRUX é o produto de conhecimento de design e deu direcção à pesquisa. A pesquisa apresentada nesta tese é de interesse para profissionais e investigadores tra- balhando em vídeo 360o e ajuda a delinear futuras direções em tornar o vídeo 360o um espaço de design rico para a interação e narrativa

Engineering data compendium. Human perception and performance. User's guide

The concept underlying the Engineering Data Compendium was the product of a research and development program (Integrated Perceptual Information for Designers project) aimed at facilitating the application of basic research findings in human performance to the design and military crew systems. The principal objective was to develop a workable strategy for: (1) identifying and distilling information of potential value to system design from the existing research literature, and (2) presenting this technical information in a way that would aid its accessibility, interpretability, and applicability by systems designers. The present four volumes of the Engineering Data Compendium represent the first implementation of this strategy. This is the first volume, the User's Guide, containing a description of the program and instructions for its use

A Perceptual Color-Matching Method for Examining Color Blending in Augmented Reality Head-Up Display Graphics

Augmented reality (AR) offers new ways to visualize information on-the-go. As noted in related work, AR graphics presented via optical see-through AR displays are particularly prone to color blending, whereby intended graphic colors may be perceptually altered by real-world backgrounds, ultimately degrading usability. This work adds to this body of knowledge by presenting a methodology for assessing AR interface color robustness, as quantitatively measured via shifts in the CIE color space, and qualitatively assessed in terms of users’ perceived color name. We conducted a human factors study where twelve participants examined eight AR colors atop three real-world backgrounds as viewed through an in-vehicle AR head-up display (HUD); a type of optical see-through display used to project driving-related information atop the forward-looking road scene. Participants completed visual search tasks, matched the perceived AR HUD color against the WCS color palette, and verbally named the perceived color. We present analysis that suggests blue, green, and yellow AR colors are relatively robust, while red and brown are not, and discuss the impact of chromaticity shift and dispersion on outdoor AR interface design. While this work presents a case study in transportation, the methodology is applicable to a wide range of AR displays in many application domains and settings

Computational Light Routing: 3D Printed Optical Fibers for Sensing and Display

Despite recent interest in digital fabrication, there are still few algorithms that provide control over how light propagates inside a solid object. Existing methods either work only on the surface or restrict themselves to light diffusion in volumes. We use multi-material 3D printing to fabricate objects with embedded optical fibers, exploiting total internal reflection to guide light inside an object. We introduce automatic fiber design algorithms together with new manufacturing techniques to route light between two arbitrary surfaces. Our implicit algorithm optimizes light transmission by minimizing fiber curvature and maximizing fiber separation while respecting constraints such as fiber arrival angle. We also discuss the influence of different printable materials and fiber geometry on light propagation in the volume and the light angular distribution when exiting the fiber. Our methods enable new applications such as surface displays of arbitrary shape, touch-based painting of surfaces, and sensing a hemispherical light distribution in a single shot.National Science Foundation (U.S.) (Grant CCF-1012147)National Science Foundation (U.S.) (Grant IIS-1116296)United States. Defense Advanced Research Projects Agency (Grant N66001-12-1-4242)Intel Corporation (Science and Technology Center for Visual Computing)Alfred P. Sloan Foundation (Sloan Research Fellowship