Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685305
G. Sepúlveda-Cervantes, Vicente Parra‐Vega, O. Dominguez-Ramirez
Navigation in 3D virtual environment is a popular task in modern 3D applications. The main information is visual, which leads to an incomplete acknowledgement of the virtual environment, since other senses are impaired, such as touch or hearing. Haptic devices provides kinesthetic information which may improve the navigation capabilities of humans in virtual environments, however 3D haptic applications use intensive low level programming languages. This paper presents a 3D maze haptic navigation based on kinesthetic perception of the walls of the maze, wherein the walls surface have different properties, thus a learning haptic process enables better navigation skills after few trials. Experimental results done with a test users group, is realized with Novint as the haptic device and Panda3D as the haptic rendering system. Results with and without haptic cues indicates a successful learning curve to navigate with haptic cues. The haptic cues used are surface texture, viscosity, elasticity, shape recognition and external force. The results highlight the importance of haptic cues as navigation reference to improve the performance of the users.
{"title":"Haptic cues for effective learning in 3D maze navigation","authors":"G. Sepúlveda-Cervantes, Vicente Parra‐Vega, O. Dominguez-Ramirez","doi":"10.1109/HAVE.2008.4685305","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685305","url":null,"abstract":"Navigation in 3D virtual environment is a popular task in modern 3D applications. The main information is visual, which leads to an incomplete acknowledgement of the virtual environment, since other senses are impaired, such as touch or hearing. Haptic devices provides kinesthetic information which may improve the navigation capabilities of humans in virtual environments, however 3D haptic applications use intensive low level programming languages. This paper presents a 3D maze haptic navigation based on kinesthetic perception of the walls of the maze, wherein the walls surface have different properties, thus a learning haptic process enables better navigation skills after few trials. Experimental results done with a test users group, is realized with Novint as the haptic device and Panda3D as the haptic rendering system. Results with and without haptic cues indicates a successful learning curve to navigate with haptic cues. The haptic cues used are surface texture, viscosity, elasticity, shape recognition and external force. The results highlight the importance of haptic cues as navigation reference to improve the performance of the users.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115232466","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685312
J. Martin, J. Savall, I. Díaz, J. Hernantes, D. Borro
The design of a new 3 degrees-of-freedom (DOF) haptic wrist for our 3-DOF force feedback haptic device is presenting a great design challenge. Demanding target specifications make it difficult to find a satisfactory mechanical design solution. This paper studies whether sensory substitution can lead to the possibility of simplifying the mechanics while preserving haptic performance. The proposed approach consists of substituting the haptic actuation of one of the 3 rotational DOF by specially designed visual or auditory cues. We have carried out a user study where participants are asked to perform an accessibility task with the aid of different sensorial stimuli. The results of these experiments show that the performance obtained by visual or auditory substitution can be satisfactory for accomplishing specific tasks, although it does not meet the performance obtained with a full haptic wrist.
{"title":"Evaluation of sensory substitution to simplify the mechanical design of a haptic wrist","authors":"J. Martin, J. Savall, I. Díaz, J. Hernantes, D. Borro","doi":"10.1109/HAVE.2008.4685312","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685312","url":null,"abstract":"The design of a new 3 degrees-of-freedom (DOF) haptic wrist for our 3-DOF force feedback haptic device is presenting a great design challenge. Demanding target specifications make it difficult to find a satisfactory mechanical design solution. This paper studies whether sensory substitution can lead to the possibility of simplifying the mechanics while preserving haptic performance. The proposed approach consists of substituting the haptic actuation of one of the 3 rotational DOF by specially designed visual or auditory cues. We have carried out a user study where participants are asked to perform an accessibility task with the aid of different sensorial stimuli. The results of these experiments show that the performance obtained by visual or auditory substitution can be satisfactory for accomplishing specific tasks, although it does not meet the performance obtained with a full haptic wrist.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"214 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114320393","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685319
Ping Guo, Z. Miao
This paper presents a new human motion recognition method based on motion history image (MHI) and local binary pattern (LBP). MHI describes human motion sequence in one gray level image and LBP extracts its texture features. LBP feature image is built and chi square distance is applied to compute matching cost. Experiments are conducted with encouraging results which show a success of applying LBP in motion recognition.
{"title":"Motion description with local binary pattern and motion history image: Application to human motion recognition","authors":"Ping Guo, Z. Miao","doi":"10.1109/HAVE.2008.4685319","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685319","url":null,"abstract":"This paper presents a new human motion recognition method based on motion history image (MHI) and local binary pattern (LBP). MHI describes human motion sequence in one gray level image and LBP extracts its texture features. LBP feature image is built and chi square distance is applied to compute matching cost. Experiments are conducted with encouraging results which show a success of applying LBP in motion recognition.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129504683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685297
Patrick J. Violante, Kimberly Drake, Steven Latman, Shreekanth Mandayam
Complex systems can be challenging to operate, maintain, and repair. The US Navy is interested in developing data fusion techniques that include video to both assist the shippsilas crew in monitoring machinery and also to allow the crew to get ship-to-shore assistance, usually called distance support, for repairs. This paper reports on a work-in-progress integrating sensor data, streaming and stored video data and processed video data with virtual technologies and 3D modeling to create a data fusion technology. First the hardware and software requirements and development will be discussed. Then progress with the human-system integration and data fusion aspects will be discussed. Finally, the paper will conclude with remarks on future work.
{"title":"Virtual environments, data fusion, and video in support of remote health management systems","authors":"Patrick J. Violante, Kimberly Drake, Steven Latman, Shreekanth Mandayam","doi":"10.1109/HAVE.2008.4685297","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685297","url":null,"abstract":"Complex systems can be challenging to operate, maintain, and repair. The US Navy is interested in developing data fusion techniques that include video to both assist the shippsilas crew in monitoring machinery and also to allow the crew to get ship-to-shore assistance, usually called distance support, for repairs. This paper reports on a work-in-progress integrating sensor data, streaming and stored video data and processed video data with virtual technologies and 3D modeling to create a data fusion technology. First the hardware and software requirements and development will be discussed. Then progress with the human-system integration and data fusion aspects will be discussed. Finally, the paper will conclude with remarks on future work.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121576523","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685310
Jonghyun Ryu, Seungmoon Choi
This paper presents an authoring tool, posVibEditor, for quick and easy design of vibrotactile patterns for vibration motors. The tool supports the drag-and-drop design paradigm so that novice users can easily learn and interact with the tool. Vibration patterns are managed in a database using XML formats in order to improve their reusability and extensibility. The multi-channel timeline interface is also developed for designing time-synchronized multiple vibrotactile patterns for multiple vibration motors. In addition, an internal vibration player is incorporated to allow the user to test and evaluate designed patterns immediately. The last unique feature is a module for perceptually transparent rendering that can guarantee the delivery of perceptually correct vibration effects. The authoring tool is suitable to mobile devices that contain a single vibration motor as well as applications in virtual reality and haptics that frequently employ multiple vibration motors.
{"title":"posVibEditor: Graphical authoring tool of vibrotactile patterns","authors":"Jonghyun Ryu, Seungmoon Choi","doi":"10.1109/HAVE.2008.4685310","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685310","url":null,"abstract":"This paper presents an authoring tool, posVibEditor, for quick and easy design of vibrotactile patterns for vibration motors. The tool supports the drag-and-drop design paradigm so that novice users can easily learn and interact with the tool. Vibration patterns are managed in a database using XML formats in order to improve their reusability and extensibility. The multi-channel timeline interface is also developed for designing time-synchronized multiple vibrotactile patterns for multiple vibration motors. In addition, an internal vibration player is incorporated to allow the user to test and evaluate designed patterns immediately. The last unique feature is a module for perceptually transparent rendering that can guarantee the delivery of perceptually correct vibration effects. The authoring tool is suitable to mobile devices that contain a single vibration motor as well as applications in virtual reality and haptics that frequently employ multiple vibration motors.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124263109","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685294
M. Arbabtafti, M. Moghaddam, A. Nahvi, M. Mahvash, A. Rahimi
A physics-based haptic surgical simulator for bone surgery is presented. The simulator uses voxels to represent virtual bones obtained from CT or MRI data. We use a analytical force model of bone milling process to calculate interaction forces. The analytical model considers the interior structure and the mechanical properties of heterogeneous bone. A real-time voxel-based implementation of the model is described using a 3DOF haptic device. 3D texture-based volume rendering is used to display the bone and to visually remove bone material due to drilling in real-time.
{"title":"Haptic and visual rendering of virtual bone surgery: A physically realistic voxel-based approach","authors":"M. Arbabtafti, M. Moghaddam, A. Nahvi, M. Mahvash, A. Rahimi","doi":"10.1109/HAVE.2008.4685294","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685294","url":null,"abstract":"A physics-based haptic surgical simulator for bone surgery is presented. The simulator uses voxels to represent virtual bones obtained from CT or MRI data. We use a analytical force model of bone milling process to calculate interaction forces. The analytical model considers the interior structure and the mechanical properties of heterogeneous bone. A real-time voxel-based implementation of the model is described using a 3DOF haptic device. 3D texture-based volume rendering is used to display the bone and to visually remove bone material due to drilling in real-time.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115164203","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685300
C. Hua, P.X. Liu, Huanran Wang
This note addresses the stability problem of tele-operation system with unsymmetric time-varying delays. The human operator contains a constant force on the master robot, thus the passive condition is not satisfied. The master and the slave sites are coupled using PD control strategy. By choosing new Lyapunov Krasovskii functional, we show that the master-slave tele-operation system is asymptotically stable under specific LMI conditions. With the given PD (Proportional-Derivative) parameters, we can obtain the allowable maximum delay values. Finally, simulations are performed to show the effectiveness of the proposed method.
{"title":"Convergence analysis of tele-operation systems with unsymmetric time-varying delays","authors":"C. Hua, P.X. Liu, Huanran Wang","doi":"10.1109/HAVE.2008.4685300","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685300","url":null,"abstract":"This note addresses the stability problem of tele-operation system with unsymmetric time-varying delays. The human operator contains a constant force on the master robot, thus the passive condition is not satisfied. The master and the slave sites are coupled using PD control strategy. By choosing new Lyapunov Krasovskii functional, we show that the master-slave tele-operation system is asymptotically stable under specific LMI conditions. With the given PD (Proportional-Derivative) parameters, we can obtain the allowable maximum delay values. Finally, simulations are performed to show the effectiveness of the proposed method.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122689726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685296
Luqman Ahmad, Ming Zhang, A. Boukerche
With the emergence of massive multiplayer online games (MMOG) and distributed distant learning/e-learning applications, distributed virtual environments (DVE) have received a good deal of attention. As a highly human-computer interacting environment, DVE provides an ideal platform for real-time message exchanges among virtual objects, human-beings. However, consistency and scalability are becoming indispensable challenges considering the complexities of the existing heterogeneous network architecture as well as the state synchronization requirement of DVEs. In this paper, we made an effort to address these issues by proposing a novel JXTA-based overlay peer to peer architecture for large scale distributed collaborative virtual simulation environments. Compared with our previous implementations based on Department of Defense (DoDpsilas) High Level Architecture (HLA/RTI), this novel architecture is able to provide consistency, scalability and fault tolerance by taking advantages of state-of-the-art of the peer to peer computing paradigm. Our experimental results show that the scalability of DVEs is improved significantly whit our Peer-to-Peer DVE architecture. As a step further, we also propose a time and state synchronization algorithm and evaluate its performance using a series of simulation experiments.
{"title":"A scalable adaptive time synchronization protocol for Large Scale Distributed Collaborative Simulation Environment","authors":"Luqman Ahmad, Ming Zhang, A. Boukerche","doi":"10.1109/HAVE.2008.4685296","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685296","url":null,"abstract":"With the emergence of massive multiplayer online games (MMOG) and distributed distant learning/e-learning applications, distributed virtual environments (DVE) have received a good deal of attention. As a highly human-computer interacting environment, DVE provides an ideal platform for real-time message exchanges among virtual objects, human-beings. However, consistency and scalability are becoming indispensable challenges considering the complexities of the existing heterogeneous network architecture as well as the state synchronization requirement of DVEs. In this paper, we made an effort to address these issues by proposing a novel JXTA-based overlay peer to peer architecture for large scale distributed collaborative virtual simulation environments. Compared with our previous implementations based on Department of Defense (DoDpsilas) High Level Architecture (HLA/RTI), this novel architecture is able to provide consistency, scalability and fault tolerance by taking advantages of state-of-the-art of the peer to peer computing paradigm. Our experimental results show that the scalability of DVEs is improved significantly whit our Peer-to-Peer DVE architecture. As a step further, we also propose a time and state synchronization algorithm and evaluate its performance using a series of simulation experiments.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124957830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685302
Verena Nitsch, B. Farber, L. Geiger, P. Hinterseer, Eckehard Steinbach
High network requirements of multiple degrees of freedom haptic data exchange represent a challenge in modern telepresence and teleaction systems. This study presents a systematic evaluation of a psychophysics-based approach to lossy haptic data compression proposed in the literature: the deadband approach and its extension which introduces additional signal model based prediction. In an experimental study, the effects of these approaches on packet rate reduction, perceived interface quality, and relevant task performance criteria were investigated in a three degrees of freedom telepresence and teleaction system. The results indicate that the extended approach did not lead to significant data reduction and adversely affected perceived interface quality as well as task performance. Without prediction, the deadband approach showed excellent rate reduction performance without adversely affecting perceived interface quality and most task performance criteria. We conclude from our study that the combined deadband and prediction approach is not practical for a telepresence and teleaction system with the used control structure, while the deadband compression approach alone exceeded expectations.
{"title":"An experimental study of lossy compression in a real telepresence and teleaction system","authors":"Verena Nitsch, B. Farber, L. Geiger, P. Hinterseer, Eckehard Steinbach","doi":"10.1109/HAVE.2008.4685302","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685302","url":null,"abstract":"High network requirements of multiple degrees of freedom haptic data exchange represent a challenge in modern telepresence and teleaction systems. This study presents a systematic evaluation of a psychophysics-based approach to lossy haptic data compression proposed in the literature: the deadband approach and its extension which introduces additional signal model based prediction. In an experimental study, the effects of these approaches on packet rate reduction, perceived interface quality, and relevant task performance criteria were investigated in a three degrees of freedom telepresence and teleaction system. The results indicate that the extended approach did not lead to significant data reduction and adversely affected perceived interface quality as well as task performance. Without prediction, the deadband approach showed excellent rate reduction performance without adversely affecting perceived interface quality and most task performance criteria. We conclude from our study that the combined deadband and prediction approach is not practical for a telepresence and teleaction system with the used control structure, while the deadband compression approach alone exceeded expectations.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125037059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-11-21DOI: 10.1109/HAVE.2008.4685318
D. Stanescu, D. Borca, V. Groza, M. Stratulat
Digital watermarking has been identified as a major technology to achieve copy control and ownership protection, due to improvements in imaging technologies and the ease with which digital multimedia can be created and manipulated. In this paper we present a hybrid steganographic technique for watermarking, using SVD transform and watermark quantization.
{"title":"A hybrid watermarking technique using singular value decomposition","authors":"D. Stanescu, D. Borca, V. Groza, M. Stratulat","doi":"10.1109/HAVE.2008.4685318","DOIUrl":"https://doi.org/10.1109/HAVE.2008.4685318","url":null,"abstract":"Digital watermarking has been identified as a major technology to achieve copy control and ownership protection, due to improvements in imaging technologies and the ease with which digital multimedia can be created and manipulated. In this paper we present a hybrid steganographic technique for watermarking, using SVD transform and watermark quantization.","PeriodicalId":113594,"journal":{"name":"2008 IEEE International Workshop on Haptic Audio visual Environments and Games","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133721809","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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