Master of Science

thesisThis thesis discusses the development of an olfactory display for the University of Utah TreadPort Virtual Environment (UUTVE). The goal of the UUTVE is to create a virtual environment that is as life like as possible by communicating to the user as many of the sensations felt in moving around in real the world as possible, while staying within the confines of the virtual environment's workspace. The UUTVE has a visual display, auditory display, a locomotion interface and wind display. With the wind display, it is possible to create an effective olfactory display that does not have some of the limitations associated with many of the current olfactory displays. The inclusion of olfactory information in virtual environments is becoming increasingly common as the effects of including an olfactory display show an increase in user presence. The development of the olfactory display for the UUTVE includes the following components: the physical apparatus for injecting scent particles into the air stream, the development of a Computational Fluid Dynamics (CFD) model with which to control the concentration of scent being sensed by the user, and user studies to verify the model and show as proof of concept that the wind tunnel can be used to create an olfactory display. The physical apparatus of the display consists of air atomizing nozzles, solenoids for controlling when the scents are released, containers for holding the scents and a pressurized air tank used to provide the required air to make the nozzles work. CFD is used model the wind flow through the TPAWT. The model of the wind flow is used to simulate how particles advect in the wind tunnel. These particle dispersion simulations are then used to create a piecewise model that is able to predict the scent's concentration behavior as the odor flows through the wind tunnel. The user studies show that the scent delivery system is able to display an odor to a person standing in the TPAWT. The studies also provided a way to measure the time it takes for a person to recognize an odor after it has been released into the air stream, and also the time it takes for a user to recognize that the odor is no longer present

Substitutional reality:using the physical environment to design virtual reality experiences

Experiencing Virtual Reality in domestic and other uncontrolled settings is challenging due to the presence of physical objects and furniture that are not usually defined in the Virtual Environment. To address this challenge, we explore the concept of Substitutional Reality in the context of Virtual Reality: a class of Virtual Environments where every physical object surrounding a user is paired, with some degree of discrepancy, to a virtual counterpart. We present a model of potential substitutions and validate it in two user studies. In the first study we investigated factors that affect participants' suspension of disbelief and ease of use. We systematically altered the virtual representation of a physical object and recorded responses from 20 participants. The second study investigated users' levels of engagement as the physical proxy for a virtual object varied. From the results, we derive a set of guidelines for the design of future Substitutional Reality experiences

Mechatronic Systems

Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools

ShapeBots: Shape-changing Swarm Robots

We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can change its shape by leveraging small linear actuators that are thin (2.5 cm) and highly extendable (up to 20cm) in both horizontal and vertical directions. The modular design of each actuator enables various shapes and geometries of self-transformation. We illustrate potential application scenarios and discuss how this type of interface opens up possibilities for the future of ubiquitous and distributed shape-changing interfaces.Comment: UIST 201

Feedback Control as a Framework for Understanding Tradeoffs in Biology

Control theory arose from a need to control synthetic systems. From regulating steam engines to tuning radios to devices capable of autonomous movement, it provided a formal mathematical basis for understanding the role of feedback in the stability (or change) of dynamical systems. It provides a framework for understanding any system with feedback regulation, including biological ones such as regulatory gene networks, cellular metabolic systems, sensorimotor dynamics of moving animals, and even ecological or evolutionary dynamics of organisms and populations. Here we focus on four case studies of the sensorimotor dynamics of animals, each of which involves the application of principles from control theory to probe stability and feedback in an organism's response to perturbations. We use examples from aquatic (electric fish station keeping and jamming avoidance), terrestrial (cockroach wall following) and aerial environments (flight control in moths) to highlight how one can use control theory to understand how feedback mechanisms interact with the physical dynamics of animals to determine their stability and response to sensory inputs and perturbations. Each case study is cast as a control problem with sensory input, neural processing, and motor dynamics, the output of which feeds back to the sensory inputs. Collectively, the interaction of these systems in a closed loop determines the behavior of the entire system.Comment: Submitted to Integr Comp Bio