Impact of motion cues, color, and luminance on depth perception in optical see-through AR displays

Introduction: Augmented Reality (AR) systems are systems in which users view and interact with virtual objects overlaying the real world. AR systems are used across a variety of disciplines, i.e., games, medicine, and education to name a few. Optical See-Through (OST) AR displays allow users to perceive the real world directly by combining computer-generated imagery overlaying the real world. While perception of depth and visibility of objects is a widely studied field, we wanted to observe how color, luminance, and movement of an object interacted with each other as well as external luminance in OST AR devices. Little research has been done regarding the issues around the effect of virtual objects’ parameters on depth perception, external lighting, and the effect of an object’s mobility on this depth perception.Methods: We aim to perform an analysis of the effects of motion cues, color, and luminance on depth estimation of AR objects overlaying the real world with OST displays. We perform two experiments, differing in environmental lighting conditions (287 lux and 156 lux), and analyze the effects and differences on depth and speed perceptions.Results: We have found that while stationary objects follow previous research with regards to depth perception, motion and both object and environmental luminance play a factor in this perception.Discussion: These results will be significantly useful for developers to account for depth estimation issues that may arise in AR environments. Awareness of the different effects of speed and environmental illuminance on depth perception can be utilized when performing AR or MR applications where precision matters

Coupling between spin and charge order driven by magnetic field in triangular Ising system LuFe2O4+δ

We present a study of the magnetic-field effect on spin correlations in the charge ordered triangular Ising system LuFe2O4+δ through single crystal neutron diffraction. In the absence of a magnetic field, the strong diffuse neutron scattering observed below the Neel temperature (TN = 240 K) indicates that LuFe2O4+δ shows short-range, two-dimensional (2D) correlations in the FeO5 triangular layers, characterized by the development of a magnetic scattering rod along the 1/3 1/3 L direction, persisting down to 5 K.We also found that on top of the 2D correlations, a long range ferromagnetic component associated with the propagation vector k1 = 0 sets in at around 240 K. On the other hand, an external magnetic field applied along the c-axis effectively favours a three-dimensional (3D) spin correlation between the FeO5 bilayers evidenced by the increase of the intensity of satellite reflections with propagation vector k2 = (1/3, 1/3, 3/2). This magnetic modulation is identical to the charge ordered superstructure, highlighting the field-promoted coupling between the spin and charge degrees of freedom. Formation of the 3D spin correlations suppresses both the rod-type diffuse scattering and the k1 component. Simple symmetry-based arguments provide a natural explanation of the observed phenomenon and put forward a possible charge redistribution in the applied magnetic field

SCENEREPLICA: Benchmarking Real-World Robot Manipulation by Creating Reproducible Scenes

We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our results are comparable to other studies. Additionally, the benchmark is designed to be easily reproducible in the real world, making it accessible to researchers and practitioners. We also provide our experimental results and analyzes for model-based and model-free 6D robotic grasping on the benchmark, where representative algorithms are evaluated for object perception, grasping planning, and motion planning. We believe that our benchmark will be a valuable tool for advancing the field of robot manipulation. By providing a standardized evaluation framework, researchers can more easily compare different techniques and algorithms, leading to faster progress in developing robot manipulation methods.Comment: 12 pages, 10 figures, Project page is available at https://irvlutd.github.io/SceneReplic

Usability of an Immersive Augmented Reality Based Telerehabilitation System with Haptics (ARTESH) for Synchronous Remote Musculoskeletal Examination

This study describes the features and utility of a novel augmented reality based telemedicine system with haptics that allows the sense of touch and direct physical examination during a synchronous immersive telemedicine consultation and physical examination. The system employs novel engineering features: (a) a new force enhancement algorithm to improve force rendering and overcoming the “just-noticeable-difference” limitation; (b) an improved force compensation method to reduce the delay in force rendering; (c) use of the “haptic interface point” to reduce disparity between the visual and haptic data; and (d) implementation of efficient algorithms to process, compress, decompress, transmit and render 3-D tele-immersion data. A qualitative pilot study (n=20) evaluated the usability of the system. Users rated the system on a 26-question survey using a seven-point Likert scale, with percent agreement calculated from the total users who agreed with a given statement. Survey questions fell into three main categories: (1) ease and simplicity of use, (2) quality of experience, and (3) comparison to in-person evaluation. Average percent agreements between the telemedicine and in-person evaluation were highest for ease and simplicity of use (86%) and quality of experience (85%), followed by comparison to in-person evaluation (58%). Eighty-nine percent (89%) of respondents expressed satisfaction with the overall quality of experience. Results suggest that the system was effective at conveying audio-visual and touch data in real-time across 20.3 miles, and warrants further development.

An on-line repository for embedded software

Abstract The use of off-the-shelf components (COTS) can significantly reduce the time and cost of developing largescale software systems. However, there are some difficult problems with the component-based approach. First, the developers have to be able to effectively retrieve components. This requires the developers to have an extensive knowledge of available components and how to retrieve them. After identifying the components, the developers also face a steep learning curve to master the use of these components. We are developing an On-line Repository for Embedded Software (ORES) to facilitate component management and retrieval. In this paper, we address the issues of designing software repository systems to assist users in obtaining appropriate components and learning to understand and use the components efficiently. We use an ontology to construct an abstract view of the organization of the components in ORES. The ontology structure facilitates repository browsing and effective sea rch. We also develop a set of tools to assist with component comprehension, including a tutorial manager and a component explorer

Nuclear Spin Assisted Quantum Tunnelling of Magnetic Monopoles in Spin Ice

Extensive work on single molecule magnets has identified a fundamental mode of relaxation arising from the nuclear-spin assisted quantum tunnelling of nearly independent and quasi-classical magnetic dipoles. Here we show that nuclear-spin assisted quantum tunnelling can also control the dynamics of purely emergent excitations: magnetic monopoles in spin ice. Our low temperature experiments were conducted on canonical spin ice materials with a broad range of nuclear spin values. By measuring the magnetic relaxation, or monopole current, we demonstrate strong evidence that dynamical coupling with the hyperfine fields bring the electronic spins associated with magnetic monopoles to resonance, allowing the monopoles to hop and transport magnetic charge. Our result shows how the coupling of electronic spins with nuclear spins may be used to control the monopole current. It broadens the relevance of the assisted quantum tunnelling mechanism from single molecular spins to emergent excitations in a strongly correlated system

Nuclear spin assisted quantum tunnelling of magnetic monopoles in spin ice

Extensive work on single molecule magnets has identified a fundamental mode of relaxation arising from the nuclear-spin assisted quantum tunnelling of nearly independent and quasi-classical magnetic dipoles. Here we show that nuclear-spin assisted quantum tunnelling can also control the dynamics of purely emergent excitations: magnetic monopoles in spin ice. Our low temperature experiments were conducted on canonical spin ice materials with a broad range of nuclear spin values. By measuring the magnetic relaxation, or monopole current, we demonstrate strong evidence that dynamical coupling with the hyperfine fields bring the electronic spins associated with magnetic monopoles to resonance, allowing the monopoles to hop and transport magnetic charge. Our result shows how the coupling of electronic spins with nuclear spins may be used to control the monopole current. It broadens the relevance of the assisted quantum tunnelling mechanism from single molecular spins to emergent excitations in a strongly correlated system

A novel mixed reality system to manage phantom pain in-home: results of a pilot clinical trial

IntroductionMirror therapy for phantom limb pain (PLP) is a well-accepted treatment method that allows participants to use a mirror to visually perceive the missing limb. Mixed reality options are now becoming increasingly available, but an in-home virtual mirror therapy option has yet to be adequately investigated.MethodsWe had previously developed a mixed reality system for Managing Phantom Pain (Mr. MAPP) that registers the intact limb and mirrors it onto the amputated limb with the system's visual field, allowing the user to engage with interactive games targeting different large lower limb movements. Feasibility and pilot outcomes of treating patients with lower extremity PLP by using Mr. MAPP at home for 1 month were evaluated in this study. Pain intensity and interference were assessed using the McGill Pain Questionnaire, Brief Pain Inventory, and a daily exercise diary. Function was assessed using the Patient Specific Functional Scale (PSFS). The clinical trial registry number for this study is NCT04529083.ResultsThis pilot study showed that it was feasible for patients with PLP to use Mr. MAPP at home. Among pilot clinical outcomes, statistically significant differences were noted in mean current pain intensity [1.75 (SD = 0.46) to 1.125 (SD = 0.35) out of 5, P = .011] and PSFS goal scores [4.28 (SD = 2.27) to 6.22 (SD = 2.58) out of 10, P = .006], with other outcome measures showing non-significant trends towards improvement.DiscussionThis pilot study revealed that in-home use of Mr. MAPP has potential to provide pain relief and improve function in patients with lower extremity PLP and is feasible. Each scale used provided unique perspective on the functional impact of PLP. Further expanded studies and investigation, including a fully powered clinical trial, with these scales are warranted.Clinical Trial Registrationhttps://www.clinicaltrials.gov/ct2/show/NCT04529083, Identifier: NCT04529083