Pub Date : 2003-11-10DOI: 10.1109/HAVE.2003.1244720
P. Bengtsson, C. Grane, J. Isaksson
In today's vehicles, the human-machine interaction (HMI) is becoming increasingly complex. The number of in-vehicle comfort functions is increasing as are the number of maneuverable buttons in the vehicle. Haptic interfaces for in-vehicle functions are now commercially available. Thus, haptic interfaces are a realistic approach to an aesthetically and ergonomically improved HMI. That is, without increasing the visual load on the driver. However, as often is the case with new technologies, some haptic interfaces might have been put into operation before being studied and evaluated sufficiently, e.g. being potentially "safety critical". The objective of this paper is to contribute in bridging the gulf between application and research concerning implementation of haptic interfaces for in-vehicle comfort functions. Two studies are reported in the paper. Firstly, a simulator study where a haptic/graphic interface is evaluated against a traditional interface with maneuverable buttons for in-vehicle comfort functions. Secondly, an experimental study that still is in the planning phase. The study aims at investigating the interaction effects between haptic and visual feedback in a haptic/graphic interface.
{"title":"Haptic/graphic interface for in-vehicle comfort functions - a simulator study and an experimental study","authors":"P. Bengtsson, C. Grane, J. Isaksson","doi":"10.1109/HAVE.2003.1244720","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244720","url":null,"abstract":"In today's vehicles, the human-machine interaction (HMI) is becoming increasingly complex. The number of in-vehicle comfort functions is increasing as are the number of maneuverable buttons in the vehicle. Haptic interfaces for in-vehicle functions are now commercially available. Thus, haptic interfaces are a realistic approach to an aesthetically and ergonomically improved HMI. That is, without increasing the visual load on the driver. However, as often is the case with new technologies, some haptic interfaces might have been put into operation before being studied and evaluated sufficiently, e.g. being potentially \"safety critical\". The objective of this paper is to contribute in bridging the gulf between application and research concerning implementation of haptic interfaces for in-vehicle comfort functions. Two studies are reported in the paper. Firstly, a simulator study where a haptic/graphic interface is evaluated against a traditional interface with maneuverable buttons for in-vehicle comfort functions. Secondly, an experimental study that still is in the planning phase. The study aims at investigating the interaction effects between haptic and visual feedback in a haptic/graphic interface.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116298826","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244719
H. Hajjdiab, R. Laganière
This paper studies the problem of robot localization in the case of robots equipped with a single camera. We propose to calculate the location of the robots by using a collection of sparse views of the planar surface on which these robots are moving. The camera motions are estimated using inter-image homographies computed from the matching of overhead transformed views. Results of map generated from the estimated robot locations are shown.
{"title":"Vision-based robot localization","authors":"H. Hajjdiab, R. Laganière","doi":"10.1109/HAVE.2003.1244719","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244719","url":null,"abstract":"This paper studies the problem of robot localization in the case of robots equipped with a single camera. We propose to calculate the location of the robots by using a collection of sparse views of the planar surface on which these robots are moving. The camera motions are estimated using inter-image homographies computed from the matching of overhead transformed views. Results of map generated from the estimated robot locations are shown.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121368425","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244722
C. Cocaud, A. Jnifene
This paper investigates the use of artificial muscles as actuators for robot manipulators. Using some basic equations from the field of kinesiology, a procedure was developed in order to determine the optimal position of a muscle in various musculoskeletal configurations found in the human body. This procedure takes into account the artificial muscle characteristics and finds the origin and insertion point of the muscle by optimizing the maximum range of motion and the output torque produced at the joint. Currently available artificial muscles such as McKibben air muscles, Shape Memory Alloys and electroactive polymers are reviewed. Functional models of the SMA and McKibben muscles were presented and used in the optimization procedure.
{"title":"Analysis of a two DOF anthropomorphic arm driven by artificial muscles","authors":"C. Cocaud, A. Jnifene","doi":"10.1109/HAVE.2003.1244722","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244722","url":null,"abstract":"This paper investigates the use of artificial muscles as actuators for robot manipulators. Using some basic equations from the field of kinesiology, a procedure was developed in order to determine the optimal position of a muscle in various musculoskeletal configurations found in the human body. This procedure takes into account the artificial muscle characteristics and finds the origin and insertion point of the muscle by optimizing the maximum range of motion and the output torque produced at the joint. Currently available artificial muscles such as McKibben air muscles, Shape Memory Alloys and electroactive polymers are reviewed. Functional models of the SMA and McKibben muscles were presented and used in the optimization procedure.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121244533","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244718
Peiran Liu, Xiaoyong Sun, N. Georganas, E. Dubois
This paper presents a novel approach for navigating in a panorama-based virtual environment (PBVE). A PBVE was constructed to synthesize the corresponding view when navigating. Users can interact with PBVE through augmented 3D graphic objects. Unlike traditional image-based virtual environment (VE) systems in which the functions of presenting 3D geometry and human-computer interaction (HCI) are very limited, the proposed PBVE system utilized augmented reality technology to enable users to interactively present 3D geometry. Therefore, the HCI ability is significantly increased and the gap between passive planar navigation and interactive human-VE three-dimensional navigation is eliminated.
{"title":"Augmented reality: a novel approach for navigating in panorama-based virtual environments (PBVE)","authors":"Peiran Liu, Xiaoyong Sun, N. Georganas, E. Dubois","doi":"10.1109/HAVE.2003.1244718","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244718","url":null,"abstract":"This paper presents a novel approach for navigating in a panorama-based virtual environment (PBVE). A PBVE was constructed to synthesize the corresponding view when navigating. Users can interact with PBVE through augmented 3D graphic objects. Unlike traditional image-based virtual environment (VE) systems in which the functions of presenting 3D geometry and human-computer interaction (HCI) are very limited, the proposed PBVE system utilized augmented reality technology to enable users to interactively present 3D geometry. Therefore, the HCI ability is significantly increased and the gap between passive planar navigation and interactive human-VE three-dimensional navigation is eliminated.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"4 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132286331","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244728
R. T. Souayed, D. Gaiti, G. Pujolle, Wai Yu, A. Marshall
This paper reports on the performance of distributed haptic virtual environment (DHVE) applications deployed over policy-based IP networks. Our previous work reported that a best effort service in IP networks is inadequate for satisfying the quality of service (QoS) requirements of such applications. The current work tries to find out whether applying differentiated services (DiffServ) satisfies DHVE QoS requirements or at least improves them. This work also determines which policies should be applied on the network. A set of experiments was conducted over a network connecting two departments of the Queen's University of Belfast. The results are presented in this paper and compared with our previous work results.
{"title":"Haptic virtual environment performance over policy-based IP networks: a case study","authors":"R. T. Souayed, D. Gaiti, G. Pujolle, Wai Yu, A. Marshall","doi":"10.1109/HAVE.2003.1244728","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244728","url":null,"abstract":"This paper reports on the performance of distributed haptic virtual environment (DHVE) applications deployed over policy-based IP networks. Our previous work reported that a best effort service in IP networks is inadequate for satisfying the quality of service (QoS) requirements of such applications. The current work tries to find out whether applying differentiated services (DiffServ) satisfies DHVE QoS requirements or at least improves them. This work also determines which policies should be applied on the network. A set of experiments was conducted over a network connecting two departments of the Queen's University of Belfast. The results are presented in this paper and compared with our previous work results.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122656550","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244734
M.D. Petriu, N. Georganas, T. Whalen
The paper discusses implementation details for the construction and animation of a human avatar taking advantage of the built-in features of Java3D.
本文讨论了利用Java3D的内置特性来构建和制作人物头像的实现细节。
{"title":"Development of a humanoid avatar in Java3D","authors":"M.D. Petriu, N. Georganas, T. Whalen","doi":"10.1109/HAVE.2003.1244734","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244734","url":null,"abstract":"The paper discusses implementation details for the construction and animation of a human avatar taking advantage of the built-in features of Java3D.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114415810","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244732
Xiaojun Shen, N. Georganas
Some international standards have been developed that are very likely to make a major impact on CVE (Collaborative Virtual Environment) technology: the Distributed Interactive Simulation (DIS) (IEEE Standard 1278.1) and the High Level Architecture (HLA) (IEEE Standard 1516). Deriving from military-purpose simulations, DIS and HLA, however, have limitations on building large-scale general-purpose CVE applications. For instance, HLA object-attribute based ownership management only allows joint manipulation in a constraint-based solution. The purpose of this research effort is to realize joint manipulation management in CVE. This paper begins with a discussion of interaction requests and interaction model and proceeds to describe three generic approaches for joint manipulation management: Constraint-based, Synchronized and Non Synchronized.
{"title":"Joint manipulation management in collaborative virtual environments","authors":"Xiaojun Shen, N. Georganas","doi":"10.1109/HAVE.2003.1244732","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244732","url":null,"abstract":"Some international standards have been developed that are very likely to make a major impact on CVE (Collaborative Virtual Environment) technology: the Distributed Interactive Simulation (DIS) (IEEE Standard 1278.1) and the High Level Architecture (HLA) (IEEE Standard 1516). Deriving from military-purpose simulations, DIS and HLA, however, have limitations on building large-scale general-purpose CVE applications. For instance, HLA object-attribute based ownership management only allows joint manipulation in a constraint-based solution. The purpose of this research effort is to realize joint manipulation management in CVE. This paper begins with a discussion of interaction requests and interaction model and proceeds to describe three generic approaches for joint manipulation management: Constraint-based, Synchronized and Non Synchronized.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124945048","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244730
Tong Qu, A. E. Saddik, Andy Adler
This paper presents a novel feature-based dynamic signature verification system. Data is acquired from a Patriot digital pad, using the Windows Pen API. The signatures are analyzed dynamically by considering their spatial and time domain characteristics. A stroke-based feature extraction method is studied, in which strokes are separated by the zero pressure points. Between each pair of signatures, the correlation comparisons are conducted for strokes. A significant stroke is discriminated by the maximum correlation with respect to the reference signatures. The correlation value and stroke length for the significant strokes are extracted as features for identifying genuine signatures against forgeries. The membership function and classifier are modeled based on the probabilistic distribution of selected features. Experimental results were obtained for signatures from 20 volunteers. The current 6-feature based signature verification system was calculated to have a false accept rate of 1.67% and false reject rate of 6.67%.
{"title":"Dynamic signature verification system using stroked based features","authors":"Tong Qu, A. E. Saddik, Andy Adler","doi":"10.1109/HAVE.2003.1244730","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244730","url":null,"abstract":"This paper presents a novel feature-based dynamic signature verification system. Data is acquired from a Patriot digital pad, using the Windows Pen API. The signatures are analyzed dynamically by considering their spatial and time domain characteristics. A stroke-based feature extraction method is studied, in which strokes are separated by the zero pressure points. Between each pair of signatures, the correlation comparisons are conducted for strokes. A significant stroke is discriminated by the maximum correlation with respect to the reference signatures. The correlation value and stroke length for the significant strokes are extracted as features for identifying genuine signatures against forgeries. The membership function and classifier are modeled based on the probabilistic distribution of selected features. Experimental results were obtained for signatures from 20 volunteers. The current 6-feature based signature verification system was calculated to have a false accept rate of 1.67% and false reject rate of 6.67%.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132102493","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244724
L. Ding, R. Goubran
This paper investigates the effects of packet loss on speech quality in Voice over Internet Protocol (VoIP) applications by using ITU-T G.107, the E-model, whose parameters currently only cover limited VoIP scenarios. Several packet loss rates, packet sizes and error concealment techniques for codec G.729 are examined. Mean Opinion Score (MOS) is used as an index for speech quality and is measured by Perceptual Evaluation of Speech Quality (PESQ) algorithm. These effects on speech quality are assessed in the equipment impairment factor domain and then formulated into the E-model. The validation test shows good accuracy of the proposed formula, the prediction errors range between /spl mnplus/0.10 MOS for most cases with an absolute maximum of 0.14 MOS.
{"title":"Assessment of effects of packet loss on speech quality in VoIP","authors":"L. Ding, R. Goubran","doi":"10.1109/HAVE.2003.1244724","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244724","url":null,"abstract":"This paper investigates the effects of packet loss on speech quality in Voice over Internet Protocol (VoIP) applications by using ITU-T G.107, the E-model, whose parameters currently only cover limited VoIP scenarios. Several packet loss rates, packet sizes and error concealment techniques for codec G.729 are examined. Mean Opinion Score (MOS) is used as an index for speech quality and is measured by Perceptual Evaluation of Speech Quality (PESQ) algorithm. These effects on speech quality are assessed in the equipment impairment factor domain and then formulated into the E-model. The validation test shows good accuracy of the proposed formula, the prediction errors range between /spl mnplus/0.10 MOS for most cases with an absolute maximum of 0.14 MOS.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125315551","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 : 2003-11-10DOI: 10.1109/HAVE.2003.1244736
N. A. Borghese, S. Ferrari, V. Piuri
In this paper, we present the formalization of a methodology for producing three-dimensional models of real objects from sampled surface data. We provide a high abstraction view of the process, depicting a common strategy to solve a class of problems related to the surface reconstruction and show the effectiveness of the use of hierarchical paradigm in this context.
{"title":"A methodology for surface reconstruction based on hierarchical models","authors":"N. A. Borghese, S. Ferrari, V. Piuri","doi":"10.1109/HAVE.2003.1244736","DOIUrl":"https://doi.org/10.1109/HAVE.2003.1244736","url":null,"abstract":"In this paper, we present the formalization of a methodology for producing three-dimensional models of real objects from sampled surface data. We provide a high abstraction view of the process, depicting a common strategy to solve a class of problems related to the surface reconstruction and show the effectiveness of the use of hierarchical paradigm in this context.","PeriodicalId":431267,"journal":{"name":"The 2nd IEEE Internatioal Workshop on Haptic, Audio and Visual Environments and Their Applications, 2003. HAVE 2003. Proceedings.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134046165","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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