2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
It is expected that the use of haptic sensors to measure the magnitude, direction, and distributi... more It is expected that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous manipulations. Therefore, we have developed a new type of finger-shaped haptic sensor that can measure a three-dimensional force vector field over a contact surface. The sensor consists of a transparent elastic body, two layers of internal blue and red markers, and a CCD camera to capture the movements of the markers. Using the elastic theory, we can calculate the force vector field from the captured movements of the markers. However, the elastic theory cannot be applied to the finger-shaped sensor because of its complicated shape. Therefore, we use actual measurements for the calibration in order to develop a prototype of the sensor. Then, we evaluate its basic performance. The result shows that the sensor performance can be improved further, and the sensor can be successfully used in a robotic hand.
This paper describes the display system which has an internal active focus control system with th... more This paper describes the display system which has an internal active focus control system with the camera for an eye gaze detection to enhance depth information.. In order to enhance the depth information of two-dimensional images, blur effect is often used in creating the CG image. However, in this situation, even if the observer gazes at unfocused objects, he cannot see the objects clearly. Hence, such the effect is static effect and different from the focal accommodation of eyes. We propose a prototype system for actively controlling the focus of an image on the basis of the point of gaze of the observer in order to simulate the effect of focal accommodation; our system can be mounted to the existing displays. By using this system, we conducted comparative experiments using an all-in-focus image and a controlled-focus image with regard to the gaze of the observer. The results indicated that we can improve the three-dimensional appearance of two-dimensional images.
Science-fiction has frequently depicted people directly interacting with life-size autostereoscop... more Science-fiction has frequently depicted people directly interacting with life-size autostereoscopic images projected from the walls of buildings in public places. In this paper, we present a large modularized autostereoscopic display. The shape and size can be easily changed by rearranging the number of the multiple display modules. We propose a reconfigurable temporal division multiplexed autostereoscopic display module that can display aerial images. Moreover, we show that the temporal division multiplexing method allows the autostereoscopic display to be viewed from a broad range of positions. In this paper, we discuss the design and implementation of this modularized 3D display technology. Furthermore, user evaluations confirmed that the depth perception of the image was improved by connecting the multiple display modules. CCS Concepts • Human-centered computing → Displays and imagers; • Computing methodologies → Mixed / augmented reality;
2015 IEEE International Conference on Smart Grid Communications (SmartGridComm), 2015
A smart building has an outlet-level power meters for managing the energy consumption of plug-loa... more A smart building has an outlet-level power meters for managing the energy consumption of plug-load devices-the devices or appliances connected to the outlets. Identification of the connected devices used to be made by system operators in the traditional building energy management systems (BEMS), but it is no more realistic for such fine-grained power monitoring applications. This paper proposes a new communication methodelectric current based power line communication (ECPLC), which enables automatic identification of plug-load devices without the intervention of system operators. Using ECPLC, a device transmits bit sequences that show its identifier on the electric current flow, which propagates only to the outlet from the connected device. We have designed a transmitter and a receiver of ECPLC with studying the electric model that enables the communication. We have also implemented them, and carried out experiments on varieties of cases. The results show that ECPLC performs very well in typical application scenarios, indicating that it is useful for automatic identification of plug-load devices.
We will demonstrate new methods of flexible scene capture (including motion, orientation, and inc... more We will demonstrate new methods of flexible scene capture (including motion, orientation, and incident illumination), to create a dynamicvirtual recording set.Ẃe use tracking tags that are imperceptible under attire; inserted Computer Graphics elements can match the lighting on the presenter, making the technique ideal for real-time broadcast.
Human-Computer Interaction. Ambient, Ubiquitous and Intelligent Interaction, 2009
In this paper, we present a novel position measurement method that makes use of a couple of plane... more In this paper, we present a novel position measurement method that makes use of a couple of plane light sources created from an IR-LED matrix array and a photo-detector. The light sources emit light with the same frequency, but different phases, while the optical axes of the sources are set up orthogonally. Then, the signal place is diffused by the space with phase differences in each position. Finally, the signal received by the photo-detector is analyzed to determine the position.
Proceedings of the 2008 International Conference on Advances in Computer Entertainment Technology, 2008
In this paper, we describe a high speed optical motion capture method that has a simple mechanism... more In this paper, we describe a high speed optical motion capture method that has a simple mechanism. We use a light shielding filter using a pattern of Single-Track Gray Code (STGC) [1] absolute encoder to take location of IR light marker tags instead of high-speed camera or row of binary coded masks. Therefore, this system can convert the position coordinate of tags into the digital signal directly, and it can track faster than the traditional method, with only the combination of inexpensive optical parts.
CHI '06 Extended Abstracts on Human Factors in Computing Systems, 2006
We present Visual Resonator (VR), an auditory interface that promises to provide an interactive r... more We present Visual Resonator (VR), an auditory interface that promises to provide an interactive realization of the Cocktail Party Phenomenon. The wearer of this interface can hear a voice or auditory information only from the direction in which he/she is facing, and can send his/her voice only in the direction towards which he/she is facing. In addition, individuals who are within sight of each other can have a conversation, even if they are not close enough to talk directly, since an infrared signal is used to transmit the auditory information.
SICE Journal of Control, Measurement, and System Integration, 2008
TELEsarPHONE is a conceptual prototype of a mutual telexistence system, designed for face-to-face... more TELEsarPHONE is a conceptual prototype of a mutual telexistence system, designed for face-to-face telecommunication via robots. Because of the development of telexistence technology, we can acquire a feeling that we are present in several actual remote places using remote robots as our surrogates and can work and act freely there. However, people in the place where someone telexists using a robot see only the robot, and they cannot feel the existence of the telexisting person. Mutual telexistence aims to solve this problem so that the existence of a telexisting person (visitor) is apparent to the people in the remote environment by providing mutual sensations of presence. On the basis of the concept of mutual telexistence, we have designed and developed a prototype of a telexistence master-slave system for remote communication by applying retroreflective projection technology. In the TELEsarPHONE system, the face and chest of the slave robot TELESAR II are covered by retroreflective material. To provide the feeling of existence, the real-time image of the visitor is projected onto the robot so that people can see the visitor in real time.
Camera / Camera For safety and operability of drivers while operating a vehicle, it is very impor... more Camera / Camera For safety and operability of drivers while operating a vehicle, it is very important to obtain a wide field of vision. However, the space available for setting up windows is limited. Therefore, we BlindSpot BlSot propose a transparent cockpit," in which the image of a blind spot is displayed on the inner wall of the vehicle using a retro-reflective projection technology. In this system, the internal components of Figure 1: Conceptual drawing of our proposed transparent cockpit. the vehicle, such as the doors and floor, are virtually transparent, and the blind spot is clearly visible, as observed from a window. In this paper, we describe the implementation of a prototype of the proposed system and demonstrate its effectiveness by an evaluation experiment.
The Journal of The Institute of Image Information and Television Engineers, 2012
We propose a novel full-parallax 3D display system, called RePro3D, that is suitable for interact... more We propose a novel full-parallax 3D display system, called RePro3D, that is suitable for interactive 3D applications. The approach is based on retro-reflective projection technology in which several images from a projector array are displayed on a retro-reflective screen. When viewers look at the screen through a half mirror, they see a 3D image superimposed on the real scene without having to wear glasses. RePro3D has a sensor function to recognize user input, so it can support some interactive features, such as manipulation of 3D objects. In this paper, we describe the optical system of the high-density projector array. Then, we develop a prototype of RePro3D. The prototype shows parallax images that were displayed on a real scene from 42 different viewpoints. The user can touch the 3D image with his/her hands.
2011 IEEE International Symposium on VR Innovation, 2011
We propose a novel full-parallax three-dimensional (3D) display system-RePro3D-that is suitable f... more We propose a novel full-parallax three-dimensional (3D) display system-RePro3D-that is suitable for interactive 3D applications with haptic feedback.Our approach is based on the retro-reflective projection technology in which several images projected from a projector array are displayed on a retro-reflective screen. When viewers view the screen through a half mirror, they see, without the aid of glasses, a 3D image superimposed in real space. Re-Pro3D has a sensor function that recognizes user input; therefore, it can support some interactive features such as manipulation of 3D objects. In addition, a wearable haptic device, which is a part of our system, provides the user with a sensation of having touched the 3D image. In this paper, we describe the optical system of the high-density projector array used in RePro3D. Then, we describe the development of a prototype of RePro3D. The prototype is used to demonstrate that our system displays full-parallax images superimposed in real space from 42 different viewpoints. The proposed system enables a user to physically interact with the 3D image with haptic feedback.
Figure 1: The 3D object that is projected onto the retro-reflective screen can be seen from a num... more Figure 1: The 3D object that is projected onto the retro-reflective screen can be seen from a number of viewpoints with motion parallax, and the user can operate this object using his/her hands.
IEICE Transactions on Information and Systems, 2014
Kening ZHU †a) , Nonmember, Rongbo ZHU † †b) , Member, Hideaki NII † † †c) , Hooman SAMANI † † † ... more Kening ZHU †a) , Nonmember, Rongbo ZHU † †b) , Member, Hideaki NII † † †c) , Hooman SAMANI † † † †d) , and Borhan (Brian) JALAEIAN † † † † †e) , Nonmembers SUMMARY As the development of Internet-of-Things is moving towards large scale industry, such as logistic and manifacturing, there is a need for end-users to get involved in the process of creating IoT easily. In this paper, we introduce PaperIO, a paper-based 3D I/O interface, in which a single piece of paper can be sensed and actuated at the same time in three dimensions using the technology of selective inductive power transmission. With this technology, paper material with multiple embedded receivers, can not only selectively receive inductive power to perform papercomputing behavior, but also work as input sensors to communicate with power transmitter wirelessly. This technology allows the creation of paperbased sensor and actuators, and forms an Interent of Embedded Paper-craft. This paper presents the detailed implementation of the system, results of the technical experiments, and a few sample applications of the presented paper-based 3D I/O interface, and finally discusses the future plan of this research.
ABSTRACT You're traveling down the highway with the road flashing by beneath your feet an... more ABSTRACT You're traveling down the highway with the road flashing by beneath your feet and the scenery looming everywhere- fore and aft, left and right, above and below. Gone are the usual blind spots created by your vehicle's doors, window frames, roof, and floor. You're as free as a bird and just as aware of your surroundings. We call this form of augmented reality a transparent cockpit because it would make the driver of a car feel like he's piloting an airplane-another place where this technology might be used. We have implemented it in test cars using cameras, imaging software, projector displays, and reflective surfaces. Thus equipped, human beings could drive very safely while still enjoying the open road-more open, indeed, than ever before.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
It is expected that the use of haptic sensors to measure the magnitude, direction, and distributi... more It is expected that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous manipulations. Therefore, we have developed a new type of finger-shaped haptic sensor that can measure a three-dimensional force vector field over a contact surface. The sensor consists of a transparent elastic body, two layers of internal blue and red markers, and a CCD camera to capture the movements of the markers. Using the elastic theory, we can calculate the force vector field from the captured movements of the markers. However, the elastic theory cannot be applied to the finger-shaped sensor because of its complicated shape. Therefore, we use actual measurements for the calibration in order to develop a prototype of the sensor. Then, we evaluate its basic performance. The result shows that the sensor performance can be improved further, and the sensor can be successfully used in a robotic hand.
This paper describes the display system which has an internal active focus control system with th... more This paper describes the display system which has an internal active focus control system with the camera for an eye gaze detection to enhance depth information.. In order to enhance the depth information of two-dimensional images, blur effect is often used in creating the CG image. However, in this situation, even if the observer gazes at unfocused objects, he cannot see the objects clearly. Hence, such the effect is static effect and different from the focal accommodation of eyes. We propose a prototype system for actively controlling the focus of an image on the basis of the point of gaze of the observer in order to simulate the effect of focal accommodation; our system can be mounted to the existing displays. By using this system, we conducted comparative experiments using an all-in-focus image and a controlled-focus image with regard to the gaze of the observer. The results indicated that we can improve the three-dimensional appearance of two-dimensional images.
Science-fiction has frequently depicted people directly interacting with life-size autostereoscop... more Science-fiction has frequently depicted people directly interacting with life-size autostereoscopic images projected from the walls of buildings in public places. In this paper, we present a large modularized autostereoscopic display. The shape and size can be easily changed by rearranging the number of the multiple display modules. We propose a reconfigurable temporal division multiplexed autostereoscopic display module that can display aerial images. Moreover, we show that the temporal division multiplexing method allows the autostereoscopic display to be viewed from a broad range of positions. In this paper, we discuss the design and implementation of this modularized 3D display technology. Furthermore, user evaluations confirmed that the depth perception of the image was improved by connecting the multiple display modules. CCS Concepts • Human-centered computing → Displays and imagers; • Computing methodologies → Mixed / augmented reality;
2015 IEEE International Conference on Smart Grid Communications (SmartGridComm), 2015
A smart building has an outlet-level power meters for managing the energy consumption of plug-loa... more A smart building has an outlet-level power meters for managing the energy consumption of plug-load devices-the devices or appliances connected to the outlets. Identification of the connected devices used to be made by system operators in the traditional building energy management systems (BEMS), but it is no more realistic for such fine-grained power monitoring applications. This paper proposes a new communication methodelectric current based power line communication (ECPLC), which enables automatic identification of plug-load devices without the intervention of system operators. Using ECPLC, a device transmits bit sequences that show its identifier on the electric current flow, which propagates only to the outlet from the connected device. We have designed a transmitter and a receiver of ECPLC with studying the electric model that enables the communication. We have also implemented them, and carried out experiments on varieties of cases. The results show that ECPLC performs very well in typical application scenarios, indicating that it is useful for automatic identification of plug-load devices.
We will demonstrate new methods of flexible scene capture (including motion, orientation, and inc... more We will demonstrate new methods of flexible scene capture (including motion, orientation, and incident illumination), to create a dynamicvirtual recording set.Ẃe use tracking tags that are imperceptible under attire; inserted Computer Graphics elements can match the lighting on the presenter, making the technique ideal for real-time broadcast.
Human-Computer Interaction. Ambient, Ubiquitous and Intelligent Interaction, 2009
In this paper, we present a novel position measurement method that makes use of a couple of plane... more In this paper, we present a novel position measurement method that makes use of a couple of plane light sources created from an IR-LED matrix array and a photo-detector. The light sources emit light with the same frequency, but different phases, while the optical axes of the sources are set up orthogonally. Then, the signal place is diffused by the space with phase differences in each position. Finally, the signal received by the photo-detector is analyzed to determine the position.
Proceedings of the 2008 International Conference on Advances in Computer Entertainment Technology, 2008
In this paper, we describe a high speed optical motion capture method that has a simple mechanism... more In this paper, we describe a high speed optical motion capture method that has a simple mechanism. We use a light shielding filter using a pattern of Single-Track Gray Code (STGC) [1] absolute encoder to take location of IR light marker tags instead of high-speed camera or row of binary coded masks. Therefore, this system can convert the position coordinate of tags into the digital signal directly, and it can track faster than the traditional method, with only the combination of inexpensive optical parts.
CHI '06 Extended Abstracts on Human Factors in Computing Systems, 2006
We present Visual Resonator (VR), an auditory interface that promises to provide an interactive r... more We present Visual Resonator (VR), an auditory interface that promises to provide an interactive realization of the Cocktail Party Phenomenon. The wearer of this interface can hear a voice or auditory information only from the direction in which he/she is facing, and can send his/her voice only in the direction towards which he/she is facing. In addition, individuals who are within sight of each other can have a conversation, even if they are not close enough to talk directly, since an infrared signal is used to transmit the auditory information.
SICE Journal of Control, Measurement, and System Integration, 2008
TELEsarPHONE is a conceptual prototype of a mutual telexistence system, designed for face-to-face... more TELEsarPHONE is a conceptual prototype of a mutual telexistence system, designed for face-to-face telecommunication via robots. Because of the development of telexistence technology, we can acquire a feeling that we are present in several actual remote places using remote robots as our surrogates and can work and act freely there. However, people in the place where someone telexists using a robot see only the robot, and they cannot feel the existence of the telexisting person. Mutual telexistence aims to solve this problem so that the existence of a telexisting person (visitor) is apparent to the people in the remote environment by providing mutual sensations of presence. On the basis of the concept of mutual telexistence, we have designed and developed a prototype of a telexistence master-slave system for remote communication by applying retroreflective projection technology. In the TELEsarPHONE system, the face and chest of the slave robot TELESAR II are covered by retroreflective material. To provide the feeling of existence, the real-time image of the visitor is projected onto the robot so that people can see the visitor in real time.
Camera / Camera For safety and operability of drivers while operating a vehicle, it is very impor... more Camera / Camera For safety and operability of drivers while operating a vehicle, it is very important to obtain a wide field of vision. However, the space available for setting up windows is limited. Therefore, we BlindSpot BlSot propose a transparent cockpit," in which the image of a blind spot is displayed on the inner wall of the vehicle using a retro-reflective projection technology. In this system, the internal components of Figure 1: Conceptual drawing of our proposed transparent cockpit. the vehicle, such as the doors and floor, are virtually transparent, and the blind spot is clearly visible, as observed from a window. In this paper, we describe the implementation of a prototype of the proposed system and demonstrate its effectiveness by an evaluation experiment.
The Journal of The Institute of Image Information and Television Engineers, 2012
We propose a novel full-parallax 3D display system, called RePro3D, that is suitable for interact... more We propose a novel full-parallax 3D display system, called RePro3D, that is suitable for interactive 3D applications. The approach is based on retro-reflective projection technology in which several images from a projector array are displayed on a retro-reflective screen. When viewers look at the screen through a half mirror, they see a 3D image superimposed on the real scene without having to wear glasses. RePro3D has a sensor function to recognize user input, so it can support some interactive features, such as manipulation of 3D objects. In this paper, we describe the optical system of the high-density projector array. Then, we develop a prototype of RePro3D. The prototype shows parallax images that were displayed on a real scene from 42 different viewpoints. The user can touch the 3D image with his/her hands.
2011 IEEE International Symposium on VR Innovation, 2011
We propose a novel full-parallax three-dimensional (3D) display system-RePro3D-that is suitable f... more We propose a novel full-parallax three-dimensional (3D) display system-RePro3D-that is suitable for interactive 3D applications with haptic feedback.Our approach is based on the retro-reflective projection technology in which several images projected from a projector array are displayed on a retro-reflective screen. When viewers view the screen through a half mirror, they see, without the aid of glasses, a 3D image superimposed in real space. Re-Pro3D has a sensor function that recognizes user input; therefore, it can support some interactive features such as manipulation of 3D objects. In addition, a wearable haptic device, which is a part of our system, provides the user with a sensation of having touched the 3D image. In this paper, we describe the optical system of the high-density projector array used in RePro3D. Then, we describe the development of a prototype of RePro3D. The prototype is used to demonstrate that our system displays full-parallax images superimposed in real space from 42 different viewpoints. The proposed system enables a user to physically interact with the 3D image with haptic feedback.
Figure 1: The 3D object that is projected onto the retro-reflective screen can be seen from a num... more Figure 1: The 3D object that is projected onto the retro-reflective screen can be seen from a number of viewpoints with motion parallax, and the user can operate this object using his/her hands.
IEICE Transactions on Information and Systems, 2014
Kening ZHU †a) , Nonmember, Rongbo ZHU † †b) , Member, Hideaki NII † † †c) , Hooman SAMANI † † † ... more Kening ZHU †a) , Nonmember, Rongbo ZHU † †b) , Member, Hideaki NII † † †c) , Hooman SAMANI † † † †d) , and Borhan (Brian) JALAEIAN † † † † †e) , Nonmembers SUMMARY As the development of Internet-of-Things is moving towards large scale industry, such as logistic and manifacturing, there is a need for end-users to get involved in the process of creating IoT easily. In this paper, we introduce PaperIO, a paper-based 3D I/O interface, in which a single piece of paper can be sensed and actuated at the same time in three dimensions using the technology of selective inductive power transmission. With this technology, paper material with multiple embedded receivers, can not only selectively receive inductive power to perform papercomputing behavior, but also work as input sensors to communicate with power transmitter wirelessly. This technology allows the creation of paperbased sensor and actuators, and forms an Interent of Embedded Paper-craft. This paper presents the detailed implementation of the system, results of the technical experiments, and a few sample applications of the presented paper-based 3D I/O interface, and finally discusses the future plan of this research.
ABSTRACT You're traveling down the highway with the road flashing by beneath your feet an... more ABSTRACT You're traveling down the highway with the road flashing by beneath your feet and the scenery looming everywhere- fore and aft, left and right, above and below. Gone are the usual blind spots created by your vehicle's doors, window frames, roof, and floor. You're as free as a bird and just as aware of your surroundings. We call this form of augmented reality a transparent cockpit because it would make the driver of a car feel like he's piloting an airplane-another place where this technology might be used. We have implemented it in test cars using cameras, imaging software, projector displays, and reflective surfaces. Thus equipped, human beings could drive very safely while still enjoying the open road-more open, indeed, than ever before.
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