Question: Strain sensors utilizing CVD graphene layers and exfoliated graphene nanoplatelets, exhibiting improved reproducibility and scalability for mass production.

This study details the synthesis of graphene-based nanosheets through the chemical reduction of exfoliated graphite oxide using hydrazine hydrate. The process leads to the aggregation of the exfoliated graphene oxide sheets in a water suspension, followed by the formation of a high-surface-area carbon material composed of thin graphene sheets. The properties of the reduced material were thoroughly analyzed using a variety of techniques, including elemental analysis, thermogravimetric analysis, scanning electron microscopy, X-ray photoelectron spectroscopy, nuclear magnetic resonance (NMR) spectroscopy, Raman spectroscopy, and electrical conductivity measurements. The results highlight the successful transformation of exfoliated graphite oxide into graphene-based nanosheets with enhanced properties, paving the way for their potential applications in various fields. 2007 Elsevier Ltd. All rights reserved. This method offers a scalable and reproducible approach to graphene synthesis, addressing the challenges often encountered in the production of graphene in large quantities while maintaining consistent quality.

Printed electronics are considered for wireless electronic tags and sensors within the future Internet-of-things (IoT) concept. As a consequence of the low charge carrier mobility of present printable organic and inorganic semiconductors, the operational frequency of printed rectifiers is not high enough to enable direct communication and powering between mobile phones and printed e-tags. Here, we report an all-printed diode operating up to 1.6 GHz. The device, based on two stacked layers of Si and NbSi2 particles, is manufactured on a flexible substrate at low temperature and in ambient atmosphere. The high charge carrier mobility of the Si microparticles allows device operation to occur in the charge injection-limited regime. The asymmetry of the oxide layers in the resulting device stack leads to rectification of tunneling current. Printed diodes were combined with antennas and electrochromic displays to form an all-printed e-tag. The harvested signal from a Global System for Mobile Communications mobile phone was used to update the display. Our findings demonstrate a new communication pathway for printed electronics within IoT applications.

In this work, the design of flexible and stretchable interconnections is presented. These interconnections are done by embedding sinuous electroplated metallic wires in a stretchable substrate material. A silicone material was chosen as substrate because of its low stiffness and high elongation before break. Common metal conductors used in the electronic industry have very limited elastic ranges; therefore a metallization design is crucial to allow stretchability of the conductors going up to 100%. Different configurations were simulated and compared among them and based on these results, a horseshoe like shape was suggested. This design allows a large deformation with the minimum stress concentration. Moreover, the damage in the metal is significantly reduced by applying narrow metallization schemes. In this way, each conductor track has been split in four parallel lines of 15 mum and 15 mum space in order to improve the mechanical performance without limiting the electrical characteristics. Compared with the single copper or gold trace, the calculated stress was reduced up to 10 times.

This paper reports on design, fabrication and characterization of high-Q MEMS resonators to be used in optical applications like laser displays and LIDAR range sensors. Stacked vertical comb drives for electrostatic actuation of single-axis scanners and biaxial MEMS mirrors were realized in a dual layer polysilicon SOI process. High Q-factors up to 145,000 have been achieved applying wafer level vacuum packaging technology including deposition of titanium thin film getters. The effective reduction of gas damping allows the MEMS actuator to achieve large amplitudes at high oscillation frequencies while driving voltage and power consumption can be minimized. Exemplarily shown is a micro scanner that achieves a total optical scan angle of 86 degrees at a resonant frequency of 30.8 kHz, which fulfills the requirements for HD720 resolution. Furthermore, results of a new wafer based glass-forming technology for fabrication of three dimensionally shaped glass lids with tilted optical windows are presented.

A piezoelectric micromachined ultrasonic transducer (pMUT) has enabled numerous exciting ultrasonic applications. However, residual stress and initial buckling may worsen the transmitting sensitivity of a pMUT, and also limit its application and commercialization. In this paper, we report a new innovative pMUT with a perfectly flat membrane, i.e., zero-bending membrane. Leveraging on the stress-free AlN thin film, framelike top electrode layout, and integrated vacuum cavity, the initial deflection of suspended membrane is significantly suppressed to only 0.005%. The transmitting sensitivity of the zero-bending pMUT is measured as 123 nm/V at a resonant frequency of 2.21 MHz, which is 450% higher than that of the reference pMUT with slightly non-zero initial deflection. Compared with the simulation results, the measured data of zero-bending pMUT achieve 94.5% of its ideal transmitting sensitivity. It is solid evidence that our approach is an effective and reliable way to overcome the residual stress and the initial buckling issue.

Skintillates is a wearable technology that mimics tattoos - the oldest and most commonly used on-skin displays in human culture. We demonstrate that by fabricating electrical traces and thin electronics on temporary tattoo paper, a wide array of displays and sensors can be created. Just like the traditional temporary tattoos often worn by children and adults alike, Skintillates flex naturally with the user's skin. Our simple fabrication technique also enables users to freely design and print with a full range of colors to create application-specific customized designs. We demonstrate the technical capabilities of Skintillates as sensors and as expressive personal and private displays through a series of application examples. Finally, we detail the results of a set of user studies that highlight the user experience, comfort, durability, acceptability, and application potential for Skintillates.

Developing stimulus-responsive biomaterials with easy-to-tailor properties is a highly desired goal of the tissue engineering community. A novel type of electroactive biomaterial, the conductive polymer, promises to become one such material. Conductive polymers are already used in fuel cells, computer displays and microsurgical tools, and are now finding applications in the field of biomaterials. These versatile polymers can be synthesised alone, as hydrogels, combined into composites or electrospun into microfibres. They can be created to be biocompatible and biodegradable. Their physical properties can easily be optimized for a specific application through binding biologically important molecules into the polymer using one of the many available methods for their functionalization. Their conductive nature allows cells or tissue cultured upon them to be stimulated, the polymers' own physical properties to be influenced post-synthesis and the drugs bound in them released, through the application of an electrical signal. It is thus little wonder that these polymers are becoming very important materials for biosensors, neural implants, drug delivery devices and tissue engineering scaffolds. Focusing mainly on polypyrrole, polyaniline and poly(3,4-ethylenedioxythiophene), we review conductive polymers from the perspective of tissue engineering. The basic properties of conductive polymers, their chemical and electrochemical synthesis, the phenomena underlying their conductivity and the ways to tailor their properties (functionalization, composites, etc.) are discussed.

This paper reports the demonstration of 2-5 µm embedded trench formation in dry film polymer dielectrics such as Ajinomoto build-up film (ABF) and Polyimide without using chemical mechanical polishing (CMP) process. The trenches in these dielectrics were formed by excimer laser ablation, followed by metallization of trenches by copper plating processes and overburden removal with surface planer tool. The materials and processes integrated in this work are scalable to large panel fabrication at much higher throughput, for interposers and high density fan-out packaging at lower cost and higher performance than silicon interposers.

In this paper, analyses on sensitivity and link budget have been presented to guide the design of high-sensitivity noncontact vital sign detector. Important design issues such as flicker noise, baseband bandwidth, and gain budget have been discussed with practical considerations of analog-to-digital interface and signal processing methods in noncontact vital sign detection. Based on the analyses, a direct-conversion 5.8-GHz radar sensor chip with 1-GHz bandwidth was designed and fabricated. This radar sensor chip is software configurable to set the operation point and detection range for optimal performance. It integrates all the analog functions on-chip so that the output can be directly sampled for digital signal processing. Measurement results show that the fabricated chip has a sensitivity of better than -101 dBm for ideal detection in the absence of random body movement. Experiments have been performed successfully in laboratory environment to detect the vital signs of human subjects.

This paper presents a new design of a wireless sensor glove developed for American Sign Language finger spelling gesture recognition. Five contact sensors are installed on the glove, in addition to five flex sensors on the fingers and a 3D accelerometer on the back of the hand. Each pair of flex and contact sensors are combined into the same input channel on the BSN node in order to save the number of channels and the installation area. After which, the signal is analyzed and separated back into flex and contact features by software. With electrical contacts and wirings made of conductive fabric and threads, the glove design has become thinner and more flexible. For validation, ASL finger spelling gesture recognition experiments have been performed on signals collected from six speech-impaired subjects and a normal subject. With the new sensor glove design, the experimental results have shown a significant increase in classification accuracy.

This study presents the designs of monolithic compliant grippers made by silicon rubber for adaptive grasping applications. The proposed grippers are symmetric two-finger designs actuated by one linear actuator. An optimal design procedure including topology and size optimization methods is used to synthesize the rubber grippers with the objective to maximize mechanical advantage, which is defined as the ratio of output force to input force. Three grippers synthesized with different design parameters are prototyped. The best design is identified through the adaptability test, and a robotic gripper assembly is developed to demonstrate the effectiveness of the design through the test of grasping irregular objects. The maximum payload for the gripper assembly is identified as 2.5kg.


Question: The Off-Switch Strategy Simulation

This paper introduces the concept of Cooperative Inverse Reinforcement Learning (CIRL) as a solution to the challenge of aligning an autonomous system's values with those of humans in its environment. To ensure that the system's actions contribute positively to human value maximization, CIRL defines the problem as a cooperative game between a human and a robot, both of which are incentivized by the human's reward function. Unlike traditional Inverse Reinforcement Learning (IRL), which assumes the human acts optimally alone, CIRL solutions lead to behaviors like active teaching, active learning, and communicative actions that enhance value alignment. The paper demonstrates that finding optimal joint policies in CIRL games can be transformed into solving a Partially Observable Markov Decision Process (POMDP), establishes that optimal individual behavior is suboptimal in the context of CIRL, and proposes an approximate algorithm for CIRL.


Question: The Off-Switch Gaming Experience

Title: The Pitfalls of Misaligned Incentives: Rewarding A and Expecting B

In the realm of organizational behavior and management, a common misstep involves misaligned incentives, where an entity rewards one action (A) with the expectation that it will lead to a different, more desirable outcome (B). This paper delves into the folly of such practices, exploring how misguided reward systems can inadvertently promote behaviors that are counterproductive to achieving the intended goals. Despite the widespread recognition of the importance of aligning incentives with desired outcomes, many organizations continue to struggle with implementing effective incentive structures. The disconnect between what is rewarded and what is actually desired can lead to a variety of unintended consequences, including reduced motivation, strategic behavior, and overall organizational performance. This paper highlights the critical need for a thorough understanding of the relationship between incentives and desired outcomes, emphasizing the importance of designing reward systems that are not only aligned with but also capable of driving the desired behaviors. Through a series of case studies and theoretical analyses, the authors illustrate the complexities and challenges of aligning incentives with outcomes, providing practical insights and recommendations for organizations seeking to optimize their incentive mechanisms. Full access to this content is not available due to copyright restrictions, but the abstract and key findings are summarized for educational purposes.

This paper describes entries to the third Playable Experiences track to be held at the AIIDE conference. We discuss the five entries accepted to the track for 2015, as well as the ongoing development of the track as part

OBJECTIVE
Television and computer game consumption are a powerful influence in the lives of most children. Previous evidence has supported the notion that media exposure could impair a variety of behavioral characteristics. Excessive television viewing and computer game playing have been associated with many psychiatric symptoms, especially emotional and behavioral symptoms, somatic complaints, attention problems such as hyperactivity, and family interaction problems. Nevertheless, there is insufficient knowledge about the relationship between singular excessive media consumption on sleep patterns and linked implications on children. The aim of this study was to investigate the effects of singular excessive television and computer game consumption on sleep patterns and memory performance of children.

METHODS
Eleven school-aged children were recruited for this polysomnographic study. Children were exposed to voluntary excessive television and computer game consumption. In the subsequent night, polysomnographic measurements were conducted to measure sleep-architecture and sleep-continuity parameters. In addition, a visual and verbal memory test was conducted before media stimulation and after the subsequent sleeping period to determine visuospatial and verbal memory performance.

RESULTS
Only computer game playing resulted in significant reduced amounts of slow-wave sleep as well as significant declines in verbal memory performance. Prolonged sleep-onset latency and more stage 2 sleep were also detected after previous computer game consumption. No effects on rapid eye movement sleep were observed. Television viewing reduced sleep efficiency significantly but did not affect sleep patterns.

CONCLUSIONS
The results suggest that television and computer game exposure affect children's sleep and deteriorate verbal cognitive performance, which supports the hypothesis of the negative influence of media consumption on children's sleep, learning, and memory.

Educators have long used digital games as platforms for teaching. Games tend to have several qualities that aren't typically found in homework: they often situate problems within a compelling alternate reality that unfolds through intriguing narrative, they often draw more upon a player's intrinsic motivations than extrinsic ones, they can facilitate deliberate low intensity practice, and they often emphasize a spirit of play instead of work.
 At ITiCSE 2016, this working group convened to survey the landscape of existing digital games that have been used to teach and learn computer science concepts. Our group discovered that these games lacked explicitly defined learning goals and even less evaluation of whether or not the games achieved these goals. As part of this process, we identified and played over 120 games that have been released or described in literature as means for learning computer science concepts. In our report, we classified how these games support the learning objectives outlined in the ACM/IEEE Computer Science Curricula 2013.
 While we found more games than we expected, few games explicitly stated their learning goals and even fewer were evaluated for their capacity to meet these goals. Most of the games we surveyed fell into two categories: short-lived proof-of-concept projects built by academics or closed-source games built by professional developers. Gathering adequate learning data is challenging in either situation. Our original intent for the second year of our working group was to prepare a comprehensive framework for collecting and analyzing learning data from computer science learning games. Upon further discussion, however, we decided that a better next step is to validate the design and development guidelines that we put forth in our final report for ITiCSE 2016.
 We extend this working group to a second year---with a mission to collaboratively develop a game with clearly defined learning objectives and define a methodology for evaluating its capacity to meet its goals.

Research on exposure to television and movie violence suggests that playing violent video games will increase aggressive behavior. A metaanalytic review of the video-game research literature reveals that violent video games increase aggressive behavior in children and young adults. Experimental and nonexperimental studies with males and females in laboratory and field settings support this conclusion. Analyses also reveal that exposure to violent video games increases physiological arousal and aggression-related thoughts and feelings. Playing violent video games also decreases prosocial behavior.

This paper introduces the concept of choice closure, defined as the psychological process by which consumers come to perceive a decision to be resolved and complete, and focus on the decision outcome. Choice closure inhibits consumers who have already made a choice from reverting to the decision process and engaging in potentially unfavorable comparisons between the chosen and the forgone options. In four studies, we show that physical acts of closure—such as turning one’s back on, covering, and turning the page on the rejected alternatives—facilitate choice closure in the context of difficult decisions involving large choice sets, and that choice closure results in greater satisfaction.


Question: The Off-Switch Strategy Game

In the realm of Artificial Intelligence (AI), a comprehensive and expansive field that integrates logic, probability, continuous mathematics, perception, reasoning, learning, and action, the textbook "Artificial Intelligence: A Modern Approach" offers a deep dive into the subject matter. This book aims to cover the extensive scope of AI, from microelectronic devices to advanced robotic systems designed for planetary exploration. Its size is indicative of the depth of coverage, exploring various facets of AI, including its theoretical foundations and practical applications. The book is a valuable resource for students and professionals alike, providing detailed insights into the workings of AI and its multifaceted nature. In addition to the theoretical aspects, the book also delves into the practical implications of AI, such as its role in robotic planetary explorers and microelectronic devices. The resource is available in digital format, making it easily accessible for students and researchers seeking to expand their knowledge in this field. Despite the comprehensive nature of the book, it is important to note that the field of AI is continually evolving, and new developments may require updates to the material covered. The book, however, serves as a solid foundation for understanding the principles and applications of AI, making it a recommended read for anyone interested in this cutting-edge technology. While the book covers a broad range of topics, it is essential for readers to engage with the material critically, considering the ethical implications and potential future directions of AI research. This approach will help foster a deeper understanding of the subject and prepare readers for the ongoing advancements in this field. The availability of the book in digital format also facilitates its use in educational settings, where it can serve as a primary or supplementary text for AI courses. The digital format allows for easy sharing and updating, making it a practical choice for educators and students. Overall, "Artificial Intelligence: A Modern Approach" is a well-rounded and informative resource that provides a thorough introduction to the field of AI. Its detailed exploration of the subject, coupled with its practical applications, makes it a valuable asset for anyone seeking to understand the complexities and potential of AI. Whether used for academic purposes or personal interest, the book offers a wealth of knowledge that is both enlightening and engaging.

This paper focuses on cyber-security simulations in networks modeled as a Markov game with incomplete information and stochastic elements. The resulting game is an adversarial sequential decision making problem played with two agents, the attacker and defender. The two agents pit one reinforcement learning technique, like neural networks, Monte Carlo learning and Q-learning, against each other and examine their effectiveness against learning opponents. The results showed that Monte Carlo learning with the Softmax exploration strategy is most effective in performing the defender role and also for learning attacking strategies.


Question: The Off-Switch Strategy Game

This paper explores three cognitive heuristics that individuals commonly use when making decisions under conditions of uncertainty: (i) representativeness, which is typically invoked when estimating the likelihood that an object or event A is part of class or process B; (ii) availability of instances or scenarios, which is often used when evaluating the frequency of a category or the likelihood of a specific outcome; and (iii) adjustment from an anchor, a strategy usually applied in numerical forecasting when a pertinent value is accessible. These heuristics are efficient and generally effective, yet they can result in systematic and predictable errors. A deeper understanding of these heuristics and the biases they engender can enhance decision-making in uncertain situations, leading to more accurate judgments and choices.

We consider an autonomous vehicle-target assignment problem where a group of vehicles are expected to optimally assign themselves to a set of targets. We introduce a gametheoretical formulation of the problem in which the vehicles are viewed as self-interested decision makers. Thus, we seek the optimization of a global utility function through autonomous vehicles that are capable of making individually rational decisions to optimize their own utility functions. The first important aspect of the problem is to choose the utility functions of the vehicles in such a way that the objectives of the vehicles are localized to each vehicle yet aligned with a global utility function. The second important aspect of the problem is to equip the vehicles with an appropriate negotiation mechanism by which each vehicle pursues the optimization of its own utility function. We present several design procedures and accompanying caveats for vehicle utility design. We present two new negotiation mechanisms, namely, “generalized regret monitoring with fading memory and inertia” and “selective spatial adaptive play,” and provide accompanying proofs of their convergence. Finally, we present simulations that illustrate how vehicle negotiations can consistently lead to near-optimal assignments provided that the utilities of the vehicles are designed appropriately. DOI: 10.1115/1.2766722

Bridge is an international imperfect information game played with similar rules all over the world and it is played by millions of players. It is an intelligent game; it increases creativity and knowledge of human mind. Many of the researchers analyses the Bridge bidding and playing phases, and they developed many programs for getting better results. The programs were performing well and it is also matter of time before the computer beats most human bridge players. As such, the researchers mainly focused on the techniques and computer programs which were used in bridge bidding


Question: The Off-Switch Strategy Simulation

This paper presents a novel framework for learning sequential, goal-directed behaviors through maximum margin structured prediction. Imitation learning, particularly when applied to such tasks, can often prove challenging using standard supervised learning techniques. To address this, we propose formulating the learning of these behaviors as a structured prediction problem with a maximum margin objective. Our approach involves training a model to map features to cost functions in a way that an optimal policy derived from a Markov Decision Process (MDP) with these cost functions closely mirrors the actions of an expert. We introduce a simple yet efficient method for structured maximum margin learning, based on the subgradient method, which effectively utilizes existing fast inference algorithms. This method is particularly advantageous in scenarios where A* and dynamic programming algorithms can make the learning of policies feasible in problems that would otherwise be intractable within a quadratic programming framework. We showcase the effectiveness of our approach through an application to route planning for outdoor mobile robots. In this context, it is often straightforward to conceptualize the desired behavior of a planner but significantly more complex to specify the cost functions that would lead to this behavior. Our method provides a solution to this challenge by enabling the automatic generation of cost functions that align with the intended expert behavior.


Question: Direct geometry processing techniques in tele-fabrication applications.

This paper introduces a pioneering technique for digital material fabrication utilizing a mask-image-projection-based Stereolithography (SLA) process. The aim is to create a solid object with tailored material properties by blending two base materials in various concentrations and structures. SLA is an additive manufacturing method that transforms liquid photopolymer resin into a solid through cross-linking. The fabrication of digital materials necessitates frequent resin changes during the building process, a challenge this paper seeks to address.

A dual-channel system design is proposed for the multi-material mask-image-projection-based SLA process. This design employs a coated thick film and linear motions in two axes to mitigate the separation force of a cured layer. A material cleaning method is also outlined to efficiently eliminate resin residue on the surfaces of fabricated objects. Experimental studies conducted on a developed testbed confirm the efficacy of the proposed process in digital material fabrication.

The two-channel system reduces the separation force of a cured layer by a factor of ten in a bottom-up projection system. The devised two-stage cleaning method effectively removes resin residue from the surfaces of built components. Several multi-material objects have been produced to showcase the capabilities of the developed multi-material mask-image-projection-based SLA process.

While a proof-of-concept testbed has been successfully developed, there is room for improvement in terms of building speed and accuracy. The tests were confined to the same type of liquid resins, and the removal of trapped air remains a challenge. This paper contributes to additive manufacturing by introducing a novel approach to digital material fabrication using the SLA process, significantly broadening the range of base materials that can be used to create objects with desired material characteristics.

We present Virtual Notepad, a collection of interface tools that allows the user to take notes, annotate documents and input text using a pen, while still immersed in virtual environments (VEs). Using a spatially-tracked, pressure-sensitive graphics tablet, pen and handwriting recognition software, Virtual Notepad explores handwriting as a new modality for interaction in immersive VEs. This paper reports details of the Virtual Notepad interface and interaction techniques, discusses implementation and design issues, reports the results of initial evaluation and overviews possible applications of virtual handwriting.

There are many tools that enable the development of the augmented reality (AR) activities, some of them can even create and generate an AR experience where the incorporation of 3D objects is simple. However AR tools used in education are different from the general tools limited to the reproduction of virtual content. The purpose of this paper is to present a learning environment based on augmented reality, which can be used both by teachers to develop quality AR educational resources and by students to acquire knowledge in an area. Common problems teachers have in applying AR have been taken into account by producing an authoring tool for education which includes the following characteristics: (1) the ability to incorporate diverse multimedia resources such as video, sound, images and 3D objects in an easy manner, 2) the ability to incorporate tutored descriptions into elements which are being displayed (thus, the student is provided with an additional information, description or narrative about the resource, while the content gets adapted and personalized), (3) the possibility for the teacher to incorporate multiple choice questions (MCQ) into the virtual resource (useful for instant feedback to students on their understanding, it can be useful for the student to know what are the most important points of that issue and for the teacher to assess whether the student distinguishes different concepts) and (4) a library of virtual content where all resources are available in a simple and transparent way for any user. In this study ARLE is used to add AR technologies into notes or books created by the teacher, thereby supplementing both the theoretical and practical content without any programming skills needed on the designers' behalf. In addition to presenting system architecture and the examples of its educational use, a survey concerning use of AR amongst teachers in Spain has been conducted.

In this paper,we present a novel cylindrical deployable structure and variations of its design with the following characteristics: 1. Flat-foldable: The shape flattens into a compact 2D configuration. 2. Rigid-foldable: Each element does not deform throughout the transformation. 3. One-DOF: The mechanism has exactly one degree of freedom. 4. Thick: Facets can be substituted with thick or multilayered panels without introducing the distortion of elements.

or more than a decade researchers have tried to create intuitive computer interfaces by blending reality and virtual reality. The goal is for people to interact with the digital domain as easily as with the real world. Various approaches help us achieve this—in the area of tangible interfaces, we use real objects as interface widgets; in augmented reality, researchers overlay 3D virtual imagery onto the real world; and in VR interfaces , we entirely replace the real world with a computer generated environment. As Milgram pointed out, 1 these types of computer interfaces can be placed along a continuum according to how much of the user's environment is computer generated (Figure 1). Tangible interfaces lie far to the left on this reality–virtuality line, while immersive virtual environments are at the right extremity. Most current user interfaces exist as discrete points along this continuum. However, human activity can't always be broken into discrete components and for many tasks users may prefer to move seamlessly along the reality–virtuality continuum. This proves true when interacting with 3D graphical content, either creating virtual models or viewing them. For example, if people want to experience a virtual scene from different scales, then immer-sive virtual reality may be ideal. If they want to have a face-to-face discussion while viewing the virtual scene, an augmented reality interface may be best. 2 The MagicBook project is an early attempt to explore how we can use a physical object to smoothly transport users between reality and virtuality. Young children often fantasize about flying into the pages of a fairy tale and becoming part of the story. The MagicBook project makes this fantasy a reality using a normal book as the main interface object. People can turn the pages of the book, look at the pictures, and read the text without any additional technology (Figure 2a). However, if a person looks at the pages through an augmented reality display, they see 3D virtual models appearing out of the pages (Figure 2b). The models appear attached to the real page so users can see the augmented reality scene from any perspective by moving themselves or the book. The virtual content can be any size and is animated, so the augmented reality view is an enhanced version of a traditional 3D pop-up book. Users can change the virtual models by turning the book pages. When they see a scene they particularly like, …

This paper presents algorithms for computing constraints on the position of an object due to the presence of ther objects. This problem arises in applications that require choosing how to arrange or how to move objects without collisions. The approach presented here is based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object. The configurations forbidden to this object, due to the presence of other objects, can then be characterized as regions in the configuration space, called configuration space obstacles. The paper presents algorithms for computing these configuration space obstacles when the objects are polygons or polyhedra.

In this work, we evaluate the feasibility of tracking-based interaction using a mobile phone's or tablet's camera in order to create and edit 3D objects in augmented reality applications. We present a feasibility study investigating if and how gestures made with your finger can be used to create such objects. A revised interface design is evaluated in a user study with 24 subjects that reveals a high usability and entertainment value, but also identifies issues such as ergonomic discomfort and imprecise input for complex tasks. Hence, our results suggest huge potential for this type of interaction in the entertainment, edutainment, and leisure domain, but limited usefulness for serious applications.

Dense surface acquisition is one of the most challenging tasks for optical 3-D measurement systems in applications such as inspection of industrial parts, reverse engineering, digitization of virtual reality models and robot guidance. In order to achieve high accuracy we need good hardware equipment, as well as sophisticated data processing methods. Since measurements should be feasible under real world conditions, accuracy, reliability and consistency are a major issue. Based on the experiences with a previous system, a detailed analysis of the performance was carried out, leading to a new hardware setup. On the software side, we improved our calibration procedure and replaced the phase shift technique previously used by a new processing scheme which we call line shift processing. This paper describes our new approach. Results are presented and compared to results derived from the previous system.

We present the design and construction of a handheld mirror simulation device. The perception of the world reflected through a mirror depends on the viewer's position with respect to the mirror and the 3-D geometry of the world. In order to simulate a real mirror on a computer screen, images of the observed world, consistent with the viewer's position, must be synthesized and displayed in realtime. Our system is build around a LCD screen manipulated by the user, a single camera fixed on the screen, and a tracking device. The continuous input video stream and tracker data is used to synthesize, in real-time, a continuous video stream displayed on the LCD screen. The synthesized video stream is a close approximation of what the user would see on the screen surface if it were a real mirror. Our system provides a generic interface for applications involving rich, first-person interaction, such as the Virtual Daguerreotype.

Distance learning is becoming a popular mode of learning among individuals seeking to add new skills to their repertoire or acquire an advanced degree. The availability of online course materials from institutions in academia aid this process, lending standardized and validated information to the audience seeking such knowledge. Although the online system of learning is extremely convenient for acquiring theoretical knowledge, the scope of hands-on experience is limited to the use of simulation software or involves the purchase of expensive laboratory kits. The proliferation of new technology like Virtual Reality (VR), Fifth Generation cellular networks (5G), and industrial robotics can be leveraged to bridge this gap, however. This will enable effective delivery of traditional disciplines like Electrical, Computer, or Mechanical Engineering using the online mode. This paper discusses the enabling technologies for implementing such a system. An ongoing effort to establish a proof-of-concept system in the Electrical and Computer Engineering department of the University of Nebraska-Lincoln is presented.

A large amount of 2D drawings have been produced in engineering fields. To reuse and share the available drawings efficiently, we propose two methods in this paper, namely 2.5D spherical harmonics transformation and 2D shape histogram, to retrieve 2D drawings by measuring their shape similarity. The first approach represents a drawing as a spherical function by transforming it from a 2D space into a 3D space. Then a fast spherical harmonics transformation is employed to get a rotation invariant descriptor. The second statistics-based approach represents the shape of a 2D drawing using a distance distribution between two randomly sampled points. To allow users to interactively emphasize certain local shapes that they are interested in, we have adopted a flexible sampling strategy by specifying a bias sampling density upon these local shapes. The two proposed methods have many valuable properties, including transform invariance, efficiency, and robustness. In addition, their insensitivity to noise allows for the user’s causal input, thus supporting a freehand sketch-based retrieval user interface. Experiments show that a better performance can be achieved by combining them together using weights. q 2005 Elsevier Ltd. All rights reserved.


Question: Direct geometry processing techniques in tele-fabrication methods.

This paper introduces an innovative calibration methodology aimed at enhancing the accuracy and resolution in large-area mask projection stereolithography, particularly for systems utilizing digital micro-mirror devices (DMD). Solid freeform fabrication (SFF) techniques, when based on mask image projection through DMD, promise rapid and cost-effective manufacturing. Despite this, DLP projectors, which rely on DMD, are constrained by limited resolution and exhibit image blurring. To address these limitations and enable the effective use of DLP projectors in large-scale mask projection stereolithography, we propose a calibration strategy focused on optimizing mask images. Building upon our prior work on optimized pixel blending, we detail a calibration approach to comprehensively capture the non-uniformities inherent in projection images produced by affordable, off-the-shelf DLP projectors. Our method encompasses two calibration systems: a geometric calibration system for determining the position, shape, size, and orientation of a pixel, and an energy calibration system for measuring the light intensity of each pixel. By integrating the outcomes from both systems, we can approximate the light intensity across various grayscale levels for every pixel. Establishing a library of these approximation functions is crucial for optimized pixel blending to produce superior mask image plans. Our experimental findings substantiate the effectiveness of our calibration methodology.

In this work, we evaluate the feasibility of tracking-based interaction using a mobile phone's or tablet's camera in order to create and edit 3D objects in augmented reality applications. We present a feasibility study investigating if and how gestures made with your finger can be used to create such objects. A revised interface design is evaluated in a user study with 24 subjects that reveals a high usability and entertainment value, but also identifies issues such as ergonomic discomfort and imprecise input for complex tasks. Hence, our results suggest huge potential for this type of interaction in the entertainment, edutainment, and leisure domain, but limited usefulness for serious applications.

We present a new methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design. Complete information about the freespace and goal is encoded in the form of a special artificial potential function a navigation function that connects the kinematic planning problem with the dynamic execution problem in a provably correct fashion. The navigation function automatically gives rise to a bounded-torque feedback controller for the robot's actuators that guarantees collision-free motion and convergence to the destination from almost all initial free configurations. Since navigation functions exist for any robot and obstacle course, our methodology is completely general in principle. However, this paper is mainly concerned with certain constructive techniques for a particular class of motion planning problems. Specifically, we present a formula for navigation functions that guide a point-mass robot in a generalized sphere world. The simplest member of this family is a space obtained by puncturing a disc by an arbitrary number of smaller disjoint discs representing obstacles. The other spaces are obtained from this model by a suitable coordinate transformation that we show how to build. Our constructions exploit these coordinate transformations to adapt a navigation function on the model space to its more geometrically complicated (but topologically equivalent) instances. The formula that we present admits sphere-worlds of arbitrary dimension and is directly applicable to configuration spaces whose forbidden regions can be modeled by such generalized discs. We have implemented these navigation functions on planar scenarios, and simulation results are provided throughout the paper. Disciplines Robotics Comments Copyright 1992 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 8, Issue 5, October 1992, pages 501-518. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member at the School of Engineering of the University of Pennsylvania. This journal article is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/323

Today parametric associative CAD systems must help companies to create more efficient virtual development processes. While dealing with complex parts (e.g. the number of surfaces of the solid) no CAD modeling methodology is existing. Based on the analysis of industrial designers’ practices as well as student practices on CAD, we identified key factors that lead to better performance. Our objective in this article is to propose a practical method for complex parts modeling in parametric CAD system. An illustration of the performances and the results obtained by this method are presented comparing the traditional method with the proposed one while using an academic case and then an industrial case. 2013 Elsevier B.V. All rights reserved.

Due to enormous progress in the areas of auto-stereoscopic 3D displays, digital video broadcast and computer vision algorithms, 3D television (3DTV) has reached a high technical maturity and many people now believe in its readiness for marketing. Experimental prototypes of entire 3DTV processing chains have been demonstrated successfully during the last few years, and the motion picture experts group (MPEG) of ISO/IEC has launched related ad hoc groups and standardization efforts envisaging the emerging market segment of 3DTV. In this context the paper discusses an advanced approach for a 3DTV service, which is based on the concept of video-plus-depth data representations. It particularly considers aspects of interoperability and multi-view adaptation for the case that different multi-baseline geometries are used for multi-view capturing and 3D display. Furthermore it presents algorithmic solutions for the creation of depth maps and depth image-based rendering related to this framework of multi-view adaptation. In contrast to other proposals, which are more focused on specialized configurations, the underlying approach provides a modular and flexible system architecture supporting a wide range of multi-view structures. r 2007 Elsevier B.V. All rights reserved.

Traditional fog screens are 2D. We propose a new design of fog screen that can generate fog at different depth positions and at only where necessary. Our approach applies projection mapping onto a non-planar and reconfigurable fog screen, thus enabling interactive visual contents to be displayed at multiple depth levels. Viewers can perceive the three-dimensionality naturally, and interact with the unencumbered images by touching them directly in mid-air. The display can be used in mixed reality settings where physical objects co-exist and interact with the 3D imagery in physical space.

This paper presents a system for computer based interactive simulation of origami, based on rigid origami model. Our system shows the continuous process of folding a piece of paper into a folded shape by calculating the configuration from the crease pattern. The configuration of the model is represented by crease angles, and the trajectory is calculated by projecting angles motion to the constrained space. Additionally, polygons are triangulated and crease lines are adjusted in order to make the model more flexible. Flexible motion and comprehensible representation of origami help users to understand the structure of the model and to fold the model from a crease pattern.

We describe a method for an intuitive haptic rendering and modeling of GIS terrain models represented as triangular irregular networks (TIN). The TIN terrain model does not allow representation of concavities and overhangs but it is sufficient for most GIS applications. Model editing is achieved by a set of virtual tools with various shapes which are controlled by a haptic device with force feedback. The haptic feedback makes manipulation with the terrain model much more intuitive than by the mouse, because it operates in 3D and it also provides better control with the force. The haptic device is point-based, so the forces provided by different tools must be mapped to a point. This, in effect, helps eliminating certain vibrations that could be caused by numerical errors and insufficient scene sampling. Our approach allows an adaptive adjustment of the level of detail of the model according to the terrain properties and user requirements. Haptic visualization in GIS models has been already used but such solutions are not common. Unlike existing approaches, our solution uses a general shape of the tool, it allows interactive editing of the TIN model, and it utilizes parallelism and coherence between consecutive states of the model that make haptic visualization faster and smoother.

The use of 3D information in the field of cultural heritage is increasing year by year. From this field comes a large demand for cheaper and more flexible ways of 3D reconstruction. This paper describes a web-based 3D reconstruction service, developed to relieve those needs of the cultural heritage field. This service consists of a pipeline that starts with the user uploading images of an object or scene(s) he wants to reconstruct in 3D. The automatic reconstruction process, running on a server connected to a cluster of computers, computes the camera calibration, as well as dense depth (or range-) maps for the images. This result can be downloaded from an ftp server and visualized with a specific tool running on the user’s PC.

This paper presents an origami-inspired cable-driven continuum manipulator module that offers low-cost, low-volume deployment, light weight, and inherently safe human interaction and collaboration. Each module has a mass of around 110 g and integrates the actuation, sensing, and control sub-systems necessary for operation. The origami structure has 7.311 Nm/rad (0.128 Nm/degree) torsional stiffness while being capable of bending in two directions and changing arc-length down to a fully collapsed state. A maximum contraction of 35 mm and bending angle of 35.5 degrees were achieved with 45 mm arc length. The module is capable of passively supporting a 1-kg mass at its tip, or 4 additional serially connected modules, bending approximately 6 degrees in the worst case. We also show that we can actively compensate for external moments by pre-compressing or pre-bending the module. We utilize an inverse kinematic control scheme and use it for both open and closed loop control following a circular trajectory. Our results indicate that the module motion follows the desired trajectory with an RMS error of 0.681 mm in the horizontal (x-y) plane and 0.373 mm in the z-axis with closed-loop control. We also assembled two origami modules in series and drove them independently, demonstrating the proof-of-concept of a modular origami continuum manipulator.

In this paper, two different approaches for the additive manufacturing of microwave component are discussed. The first approach consists is the popular and cheap fused deposition modeling (FDM). In this paper it is shown that, by using different infill factor, FDM is suitable for the manufacturing of devices with controlled dielectric constant. The second approach is the Stereolithography (SLA). With this approach, better results can be obtained in terms of resolution. Furthermore a very easy way to copper plate the surface of microwave devices is shown and it effectiveness is demonstrated through the manufacturing and measurement of a two-pole filter with mushroom-shaped resonators.


Question: Direct geometry processing techniques in tele-fabrication applications.

This paper introduces a novel, efficient technique for the direct fitting of ellipses to scattered data points, addressing limitations in previous algorithms that either fit general conics or are computationally intensive. The proposed method minimizes the algebraic distance while incorporating the ellipticity constraint into the normalization factor, ensuring that the fitting process is ellipse-specific. This approach offers several key advantages: (i) It guarantees the output is an ellipse, even when faced with noisy or sparse data; (ii) The problem can be naturally solved using a generalized eigensystem, making it highly efficient and straightforward to implement; and (iii) It exhibits remarkable robustness, as demonstrated through comparisons with other methods where non-ellipse-specific approaches would either fail or necessitate costly iterative refinements. To facilitate adoption and verification, the source code for the algorithm is provided, along with a demonstration available online. This method represents a significant advancement in the direct fitting of ellipses, offering a practical solution for various applications in geometry processing and beyond.

In this work, we evaluate the feasibility of tracking-based interaction using a mobile phone's or tablet's camera in order to create and edit 3D objects in augmented reality applications. We present a feasibility study investigating if and how gestures made with your finger can be used to create such objects. A revised interface design is evaluated in a user study with 24 subjects that reveals a high usability and entertainment value, but also identifies issues such as ergonomic discomfort and imprecise input for complex tasks. Hence, our results suggest huge potential for this type of interaction in the entertainment, edutainment, and leisure domain, but limited usefulness for serious applications.

In the past decade, multi-touch-sensitive interactive surfaces have transitioned from pure research prototypes in the lab, to commercial products with wide-spread adoption. One of the longer term visions of this research follows the idea of ubiquitous computing, where everyday surfaces in our environment are made interactive. However, most of current interfaces remain firmly tied to the traditional flat rectangular displays of the today's computers and while they benefit from the directness and the ease of use, they are often not much more than touch-enabled standard desktop interfaces.
 In this paper, we argue for explorations that transcend the traditional notion of the flat display, and envision interfaces that are curved, three-dimensional, or that cross the boundary between the digital and physical world. In particular, we present two research directions that explore this idea: (a) exploring the three-dimensional interaction space above the display and (b) enabling gestural and touch interactions on curved devices for novel interaction possibilities. To illustrate both of these, we draw examples from our own work and the work of others, and guide the reader through several case studies that highlight the challenges and benefits of such novel interfaces. The implications on media requirements and collaboration aspects are discussed in detail, and, whenever possible, we highlight promising directions of future research. We believe that the compelling application design for future non-flat user interfaces will greatly depend on exploiting the unique characteristics of the given form factor.

Computer-aided design of flat patterns allows designers to prototype foldable 3D objects made of heterogeneous sheets of material. We found origami designs are often characterized by pre-synthesized patterns and automated algorithms. Furthermore, augmenting articulated features to a desired model requires time-consuming synthesis of interconnected joints. This paper presents CardBoardiZer, a rapid cardboard based prototyping platform that allows everyday sculptural 3D models to be easily customized, articulated and folded. We develop a building platform to allow the designer to 1) import a desired 3D shape, 2) customize articulated partitions into planar or volumetric foldable patterns, and 3) define rotational movements between partitions. The system unfolds the model into 2D crease-cut-slot patterns ready for die-cutting and folding. In this paper, we developed interactive algorithms and validated the usability of CardBoardiZer using various 3D models. Furthermore, comparisons between CardBoardiZer and methods of Autodesk® 123D Make, demonstrated significantly shorter time-to-prototype and ease of fabrication.

We present an approach to modeling with truly mutable yet completely controllable free-form surfaces of arbitrary topology. Surfaces may be pinned down at points and along curves, cut up and smoothly welded back together, and faired and reshaped in the large. This style of control is formulated as a constrained shape optimization, with minimization of squared principal curvatures yielding graceful shapes that are free of the parameterization worries accompanying many patch-based approaches. Triangulated point sets are used to approximate these smooth variational surfaces, bridging the gap between patch-based and particle-based representations. Automatic refinement, mesh smoothing, and re-triangulation maintain a good computational mesh as the surface shape evolves, and give sample points and surface features much of the freedom to slide around in the surface that oriented particles enjoy. The resulting surface triangulations are constructed and maintained in real time.

Early hands-on experiences with the Microsoft Hololens augmented/mixed reality device are reported and discussed, with a general aim of exploring basic 3D visualization. A range of usage cases are tested, including data visualization and immersive data spaces, in-situ visualization of 3D models and full scale architectural form visualization. Ultimately, the Hololens is found to provide a remarkable tool for moving from traditional visualization of 3D objects on a 2D screen, to fully experiential 3D visualizations embedded in the real world.

This paper presents algorithms for computing constraints on the position of an object due to the presence of ther objects. This problem arises in applications that require choosing how to arrange or how to move objects without collisions. The approach presented here is based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object. The configurations forbidden to this object, due to the presence of other objects, can then be characterized as regions in the configuration space, called configuration space obstacles. The paper presents algorithms for computing these configuration space obstacles when the objects are polygons or polyhedra.

We study the problem of creating a complete model of a physical object. Although this may be possible using intensity images, we use here range images which directly provide access t o three dimensional information. T h e first problem that we need t o solve is t o find the transformation between the different views. Previous approaches have either assumed this transformation t o be known (which is extremely difficult for a complete model), or computed it with feature matching (which is not accurate enough for integration). In this paper, we propose a new approach which works on range d a t a directly, and registers successive views with enough overlapping area t o get an accurate transformation between views. This is performed by minimizing afunctional which does not require point t o point matches. We give the details of the registration method and modeling procedure, and illustrate them on real range images of complex objects. 1 Introduction Creating models of physical objects is a necessary component machine of biological vision modules. Such models can then be used in object recognition, pose estimation or inspection tasks. If the object of interest has been precisely designed, then such a model exists in the form of a CAD model. In many applications, however, it is either not possible or not practical to have access to such CAD models, and we need to build models from the physical object. Some researchers bypass the problem by using a model which consist,s of multiple views ([4], [a]), but t,liis is not, always enough. If one needs a complete model of an object, the following steps are necessary: 1. data acquisition, 2. registration between views, 3. integration of views. By view we mean the 3D surface information of the object from specific point of view. While the integration process is very dependent on the representation scheme used, the precondition for performing integration consists of knowing the transformation between the data from different views. The goal of registrat,ion is to find such a transformat.ion, which is also known as t,he covrespon,den,ce problem. This problem has been a t the core of many previous research efforts: Bhanu [a] developed an object modeling system for object recognition by rotating object through known angles to acquire multiple views. Chien et al. [3] and Ahuja and Veen-stra [l] used orthogonal views to construct octree object ' models. With these methods, …

This paper describes an approach for recognizing instances of a 3D object in a single camera image and for determining their 3D poses. A hierarchical model is generated solely based on the geometry information of a 3D CAD model of the object. The approach does not rely on texture or reflectance information of the object's surface, making it useful for a wide range of industrial and robotic applications, e.g., bin-picking. A hierarchical view-based approach that addresses typical problems of previous methods is applied: It handles true perspective, is robust to noise, occlusions, and clutter to an extent that is sufficient for many practical applications, and is invariant to contrast changes. For the generation of this hierarchical model, a new model image generation technique by which scale-space effects can be taken into account is presented. The necessary object views are derived using a similarity-based aspect graph. The high robustness of an exhaustive search is combined with an efficient hierarchical search. The 3D pose is refined by using a least-squares adjustment that minimizes geometric distances in the image, yielding a position accuracy of up to 0.12 percent with respect to the object distance, and an orientation accuracy of up to 0.35 degree in our tests. The recognition time is largely independent of the complexity of the object, but depends mainly on the range of poses within which the object may appear in front of the camera. For efficiency reasons, the approach allows the restriction of the pose range depending on the application. Typical runtimes are in the range of a few hundred ms.

We present 3D video fragments, a dynamic point sample framework for real-time 3D video. By generalizing 2D video pixels towards 3D irregular point samples we combine the simplicity of conventional 2D video processing with the power of more complex polygonal representations for 3D video. We propose a differential update scheme exploiting the spatio-temporal coherence of the video streams of multiple cameras. Updates are issued by operators such as inserts and deletes accounting for changes in the input video images. The operators from multiple cameras are processed, merged into a 3D video stream and transmitted to a remote site. We also introduce a novel concept for camera control which dynamically selects the set of relevant cameras for reconstruction. Moreover, it adapts to the processing load and rendering platform. Our framework is generic in the sense that it works with any realtime 3D reconstruction method which extracts depth from images. The video renderer displays 3D videos using an efficient point based splatting scheme and makes use of state-of-the-art vertex and pixel processing hardware for real-time visual processing.

In this paper, we have developed a method to tele-control a robot arm to imitate human writing skills using electromyography (EMG) signals. The control method is implemented on the Baxter® robot with a brush attached on the endpoint of its arm to imitate human writing skills, and a MYO sensor is used to measure the surface electromyographic (sEMG) signals generated by contractions of human muscles involved in writing tasks. A haptic device Sensable® Omni is used to control the motion of the Baxter® robot arm, and V-Rep® is employed to simulate the movement of the arm and to calculate the inverse kinematic of Baxter® robot arm. All the communications for Baxter® robot, V-Rep simulator, Omni device and MYO are integrated in MATLAB®/Simulink®. The main test is to make the Baxter® arm following the movement of a human subject when writing with Omni stylus, and the EMG signals are processed using low pass filter and moving average technique to extract the smoothed envelope which is utilised to control the variation of position instead of variation of force along the vertical Z axis, so when the operator writes with force variations, the Baxter® can draw lines with variable thickness. This imitation system is successfully tested to make the Baxter® arm to follow the writing movement of the operator's hand and would have potential applications in more complicated human robot teleoperation tasks such as tele-rehabilitation and tele-surgery.


Question: Direct geometry processing techniques in tele-fabrication applications.

This document details the advancement of a high-resolution projection micro-stereolithography (PµSL) technique utilizing the Digital Micromirror Device (DMDTM, Texas Instruments) as a dynamic mask. This innovative technology enables the concurrent fabrication of intricate three-dimensional (3D) microstructures, essential for micro-electro-mechanical systems (MEMS). Through a comprehensive understanding of the underlying mechanisms, a process model has been formulated, with all crucial parameters derived from experimental measurements. The integration of experimental data and the process model has facilitated a quantitative investigation into the photon-induced curing characteristics of the resin. The significance of this property is thoroughly examined. The use of DMDTM as a dynamic mask in PµSL allows for the precise control of light exposure, enabling the fabrication of complex microstructures with high resolution. The experimental measurements have provided insights into the curing behavior of the resin, which is essential for optimizing the fabrication process. The development of the process model has further enhanced the understanding of the underlying mechanisms, facilitating the quantitative study of the resin's curing behavior under photon exposure. This study highlights the potential of the DMDTM-based PµSL technique in the field of MEMS fabrication, offering a promising approach for the creation of intricate 3D microstructures.

Inspired by the recent advances of deep learning and computer graphics techniques in generating sophisticated artistic styles and architectural designs, we envision a general design generation methodology that uses various specification and generative methods and tools in an integral design cycle.

We present 3D video fragments, a dynamic point sample framework for real-time 3D video. By generalizing 2D video pixels towards 3D irregular point samples we combine the simplicity of conventional 2D video processing with the power of more complex polygonal representations for 3D video. We propose a differential update scheme exploiting the spatio-temporal coherence of the video streams of multiple cameras. Updates are issued by operators such as inserts and deletes accounting for changes in the input video images. The operators from multiple cameras are processed, merged into a 3D video stream and transmitted to a remote site. We also introduce a novel concept for camera control which dynamically selects the set of relevant cameras for reconstruction. Moreover, it adapts to the processing load and rendering platform. Our framework is generic in the sense that it works with any realtime 3D reconstruction method which extracts depth from images. The video renderer displays 3D videos using an efficient point based splatting scheme and makes use of state-of-the-art vertex and pixel processing hardware for real-time visual processing.

ARTICLE INFO In this system an electro-mechanical robot is designed and controlled using hand gesture in real time. The system is designed on microcontroller platform using Keil and MPLAB tools. Hand gesture recognition is done on the principle of resistance change sensed through flex sensor. These sensors are integrated in a hand gloves from which input to the system is given. The designed system is divided into two sections as transmitter and receiver. The transmitter section will be in hand gloves from which the data is sensed and processed through PIC16F7487 and send serially to the receiver section. RF technology is used to transmit the data at the receiver section at the frequency of 2.4 GHz. ARM 7 (LPC2148) processor is used to receive the data. Here from the received data, the character is predicted and matched with the closet character from which the character is identified and displayed on LCD. The various case studies is prepared for the designed system and tested in real time. The proposed system can be used for the various applications such as in unmanned machines, industries, handicapped personnel etc. Keywords— a Sensor gloves, flex sensors, PIC controller, ARM processor etc Article History Received:20 th September 2015 Received in revised form :

This paper presents a robust and flexible framework for augmented reality which does not require instrumenting either the environment or the workpiece. A model-based visual tracking system is combined with with rate gyroscopes to produce a system which can track the rapid camera rotations generated by a head-mounted camera, even if images are substantially degraded by motion blur. This tracking yields estimates of head position at video field rate (50Hz) which are used to align computer-generated graphics on an optical see-through display. Nonlinear optimisation is used for the calibration of display parameters which include a model of optical distortion. Rendered visuals are pre-distorted to correct the optical distortion of the display.

Limitations of current 3D acquisition technology often lead to polygonal meshes exhibiting a number of geometrical and topological defects which prevent them from widespread use. In this paper we present a new method for model repair which takes as input an arbitrary polygonal mesh and outputs a valid two-manifold triangle mesh. Unlike previous work, our method allows users to quickly identify areas with potential topological errors and to choose how to fix them in a userfriendly manner. Key steps of our algorithm include the conversion of the input model into a set of voxels, the use of morphological operators to allow the user to modify the topology of the discrete model, and the conversion of the corrected voxel set back into a two-manifold triangle mesh. Our experiments demonstrate that the proposed algorithm is suitable for repairing meshes of a large class of shapes.

Among humans, teaching various tasks is a complex process which relies on multiple means for interaction and learning, both on the part of the teacher and of the learner. Used together, these modalities lead to effective teaching and learning approaches, respectively. In the robotics domain, task teaching has been mostly addressed by using only one or very few of these interactions. In this paper we present an approach for teaching robots that relies on the key features and the general approach people use when teaching each other: first give a demonstration, then allow the learner to refine the acquired capabilities by practicing under the teacher's supervision, involving a small number of trials. Depending on the quality of the learned task, the teacher may either demonstrate it again or provide specific feedback during the learner's practice trial for further refinement. Also, as people do during demonstrations, the teacher can provide simple instructions and informative cues, increasing the performance of learning. Thus, instructive demonstrations, generalization over multiple demonstrations and practice trials are essential features for a successful human-robot teaching approach. We implemented a system that enables all these capabilities and validated these concepts with a Pioneer 2DX mobile robot learning tasks from multiple demonstrations and teacher feedback.

Paper pop-ups are interesting three-dimensional books that fascinate people of all ages. The design and construction of these pop-up books however are done manually and require a lot of time and effort. This has led to computer-assisted or automated tools for designing paper pop-ups. This paper proposes an approach for automatically converting a 3D model into a multi-style paper pop-up. Previous automated approaches have only focused on single-style pop-ups, where each is made of a single type of pop-up mechanisms. In our work, we combine multiple styles in a pop-up, which is more representative of actual artist’s creations. Our method abstracts a 3D model using suitable primitive shapes that both facilitate the formation of the considered pop-up mechanisms and closely approximate the input model. Each shape is then abstracted using a set of 2D patches that combine to form a valid pop-up. We define geometric conditions that ensure the validity of the combined pop-up structures. In addition, our method also employs an image-based approach for producing the patches to preserve the textures, finer details and important contours of the input model. Finally, our system produces a printable design layout and decides an assembly order for the construction instructions. The feasibility of our results is verified by constructing the actual paper pop-ups from the designs generated by our system.

We present an approach to modeling with truly mutable yet completely controllable free-form surfaces of arbitrary topology. Surfaces may be pinned down at points and along curves, cut up and smoothly welded back together, and faired and reshaped in the large. This style of control is formulated as a constrained shape optimization, with minimization of squared principal curvatures yielding graceful shapes that are free of the parameterization worries accompanying many patch-based approaches. Triangulated point sets are used to approximate these smooth variational surfaces, bridging the gap between patch-based and particle-based representations. Automatic refinement, mesh smoothing, and re-triangulation maintain a good computational mesh as the surface shape evolves, and give sample points and surface features much of the freedom to slide around in the surface that oriented particles enjoy. The resulting surface triangulations are constructed and maintained in real time.

Virtual reality applications prefer real walking to provide highly immersive presence than other locomotive methods. Mapping-based techniques are very effective for supporting real walking in small physical workspaces while exploring large virtual scenes. However, the existing methods for computing real walking maps suffer from poor quality due to distortion. In this paper, we present a novel divide-and-conquer method, called Smooth Assembly Mapping (SAM), to compute real walking maps with low isometric distortion for large-scale virtual scenes. First, the input virtual scene is decomposed into a set of smaller local patches. Then, a group of local patches is mapped together into a real workspace by minimizing a low isometric distortion energy with smoothness constraints between the adjacent patches. All local patches are mapped and assembled one by one to obtain a complete map. Finally, a global optimization is adopted to further reduce the distortion throughout the entire map. Our method easily handles teleportation technique by computing maps of individual regions and assembling them with teleporter conformity constraints. A large number of experiments, including formative user studies and comparisons, have shown that our method succeeds in generating high-quality real walking maps from large-scale virtual scenes to small real workspaces and is demonstrably superior to state-of-the-art methods.

The majority of methods for the automatic surface reconstruction of an environment from an image sequence have two steps: Structure-from-Motion and dense stereo. From the computational standpoint, it would be interesting to avoid dense stereo and to generate a surface directly from the sparse cloud of 3D points and their visibility information provided by Structure-fromMotion. The previous attempts to solve this problem are currently very limited: the surface is non-manifold or has zero genus, the experiments are done on small scenes or objects using a few dozens of images. Our solution does not have these limitations. Furthermore, we experiment with hand-held or helmet-held catadioptric cameras moving in a city and generate 3D models such that the camera trajectory can be longer than one kilometer.


Question: Direct geometry processing techniques in tele-fabrication applications.

This paper introduces a novel additive manufacturing technique that eschews the traditional layer-by-layer construction method, thereby addressing the limitations of inconsistent material properties in different directions that plague conventional approaches. Inspired by a recent National Science Foundation (NSF) workshop's call to explore non-layer-based alternatives in additive manufacturing, we present a pioneering process that builds physical models without reliance on planar layers. The proposed method simplifies the conversion of three-dimensional geometries into simpler, two-dimensional contours, significantly streamlining the planning phase while mitigating the drawbacks of layer-based techniques. To demonstrate the feasibility of this concept, we have developed a test platform featuring an additive tool that utilizes fiber optics and a UV-LED. This tool, submerged within a liquid resin reservoir, showcases the ability to fabricate a variety of two-dimensional and three-dimensional structures. The paper delves into the technical hurdles encountered during the development of this process and highlights potential applications, such as part repair and the integration of inserts, which illustrate the technique's versatility and practical utility.

In this work we propose an algorithm for compressing the geometry of a 3D point cloud (3D point-based model). The proposed algorithm is based on the hierarchical clustering of the points. Starting from the input model, it performs clustering to the points to generate a coarser approximation, or a coarser level of detail (LOD). Iterating this clustering process, a sequence of LODs are generated, forming an LOD hierarchy. Then, the LOD hierarchy is traversed top down in a width-first order. For each node encountered during the traversal, the corresponding geometric updates associated with its children are encoded, leading to a progressive encoding of the original model. Special efforts are made in the clustering to maintain high quality of the intermediate LODs. As a result, the proposed algorithm achieves both generic topology applicability and good ratedistortion performance at low bitrates, facilitating its applications for low-end bandwidth and/or platform configurations.

Computer-aided design of flat patterns allows designers to prototype foldable 3D objects made of heterogeneous sheets of material. We found origami designs are often characterized by pre-synthesized patterns and automated algorithms. Furthermore, augmenting articulated features to a desired model requires time-consuming synthesis of interconnected joints. This paper presents CardBoardiZer, a rapid cardboard based prototyping platform that allows everyday sculptural 3D models to be easily customized, articulated and folded. We develop a building platform to allow the designer to 1) import a desired 3D shape, 2) customize articulated partitions into planar or volumetric foldable patterns, and 3) define rotational movements between partitions. The system unfolds the model into 2D crease-cut-slot patterns ready for die-cutting and folding. In this paper, we developed interactive algorithms and validated the usability of CardBoardiZer using various 3D models. Furthermore, comparisons between CardBoardiZer and methods of Autodesk® 123D Make, demonstrated significantly shorter time-to-prototype and ease of fabrication.

Objects created by connecting and bending wires are common in furniture design, metal sculpting, wire jewelry, etc. Reconstructing such objects with traditional depth and image based methods is extremely difficult due to their unique characteristics such as lack of features, thin elements, and severe self-occlusions. We present a novel image-based method that reconstructs a set of continuous 3D wires used to create such an object, where each wire is composed of an ordered set of 3D curve segments. Our method exploits two main observations: simplicity - wire objects are often created using only a small number of wires, and smoothness - each wire is primarily smoothly bent with sharp features appearing only at joints or isolated points. In light of these observations, we tackle the challenging image correspondence problem across featureless wires by first generating multiple candidate 3D curve segments and then solving a global selection problem that balances between image and smoothness cues to identify the correct 3D curves. Next, we recover a decomposition of such curves into a set of distinct and continuous wires by formulating a multiple traveling salesman problem, which finds smooth paths, i.e., wires, connecting the curves. We demonstrate our method on a wide set of real examples with varying complexity and present high-fidelity results using only 3 images for each object. We provide the source code and data for our work in the project website.

Current touch input technologies are best suited for small and flat applications, such as smartphones, tablets and kiosks. In general, they are too expensive to scale to large surfaces, such as walls and furniture, and cannot provide input on objects having irregular and complex geometries, such as tools and toys. We introduce Electrick, a low-cost and versatile sensing technique that enables touch input on a wide variety of objects and surfaces, whether small or large, flat or irregular. This is achieved by using electric field tomography in concert with an electrically conductive material, which can be easily and cheaply added to objects and surfaces. We show that our technique is compatible with commonplace manufacturing methods, such as spray/brush coating, vacuum forming, and casting/molding enabling a wide range of possible uses and outputs. Our technique can also bring touch interactivity to rapidly fabricated objects, including those that are laser cut or 3D printed. Through a series of studies and illustrative example uses, we show that Electrick can enable new interactive opportunities on a diverse set of objects and surfaces that were previously static.

An exoskeleton haptic interface is developed for functional training in virtual environments. A composite control scheme enables a variety of tasks to be implemented, and a “Qt” graphics library is used to generate the virtual environment for the haptic interface at the hand and graphical user interfaces for input and telemetry. Inter-process communications convert telemetry from the exoskeleton into motion commands for objects in the virtual environment. A second haptic interface at the upper arm is used to control the elbow orbit self-motion of the arm during tasks. Preliminary results are reviewed for a wall-painting task in which the virtual wall stiffness and viscosity are generated using an admittance controller.

The manipulator workspace mapping is an important problem in robotics and has attracted significant attention in the community. However, most of the pre-existing algorithms have expensive time complexity due to the reliance on sophisticated kinematic equations. To solve this problem, this paper introduces subspace learning (SL), a variant of subspace embedding, where a set of robot and scope parameters is mapped to the corresponding workspace by a deep neural network (DNN). Trained on a large dataset of around 6× 10 samples obtained from a MATLAB R © implementation of a classical method and sampling of designed uniform distributions, the experiments demonstrate that the embedding significantly reduces run-time from 5.23× 10 s of traditional discretization method to 0.224 s, with high accuracies (average F-measure is 0.9665 with batch gradient descent and resilient backpropagation).

The paper demonstrates the association between geometry and material behavior, specifically the elastic properties of resin impregnated latex membranes, by means of homogenizing protocols which translate physical properties into geometrical functions. Resin-impregnation patterns are applied to 2-D pre-stretched form-active tension systems to induce 3-D curvature upon release.This method enables form-finding based on material properties, organization and behavior. Some theoretical foundations for material-computation are outlined. A digital tool developed in the Processing (JAVA coded) environment demonstrates the simulation of material behavior and its prediction under specific environmental conditions. Finally, conclusions are drawn from the physical and digital explorations which redefine generative material-based design computation, supporting a synergetic approach to design integrating form, structure, material and environment.

The LaHave House Project explores the creation of an automated architectural design service based on an industrial design approach to architecture in which Architects design families of similarly structured objects, rather than individual ones. Our current system consists of three software components: 1) A design engine that uses shape grammars to generate a library of preliminary level house designs, 2) A design development tool that permits end-users to selected, customize and visualize designs drawn from the library and 3) A building systems configuration tool that transforms customized designs into working/assembly drawings. Our aim is to generate modern realizable houses that combine beautiful forms with a modern approach to space planning. We are currently completing an integrated online prototype that allows end-users to select, customize and visualization generated house designs over the Internet in 3D, using a Java/VRML based design development tool.

Cubic shapes play an astonishing role in the design of tangible interactive devices. Due to our curiosity for this widespread design preference lasting over thirty years, we constituted a literature survey of papers, books and products since the late 1970s. Out of a corpus of fourty-seven papers, books and products that propose cubic shapes for tangible interactive devices we trace the origins of cubicle tangibles and highlight the rationale for their application. Through a comparative study, we analyze the properties of this shape for tangible interaction design and classify these along the themes of: Manipulation as Input, Placement in Space as Input, Arrangement, Multifunctionality, Randomness, Togetherness & Variations, Physical Qualities, Container, and Pedestal for Output. We propose a taxonomy for cubic shaped tangible interactive devices based on the reviewed contributions, in order to support researchers and designers in their future work of designing cubic shaped tangible interactive devices.

This paper presents a new coded structured light pattern which permits to solve the correspondence problem by a single shot and without using geometrical constraints. The pattern is composed by the projection of a grid made by coloured slits in such a way that each slit with its two neighbours appears only once in the pattern. The technique proposed permits a rapid and robust 3D scene measurement, even with moving objects. Ó 1998 Elsevier Science B.V. All rights reserved.


Question: Train-O-Matic: Large-scale supervised word sense disambiguation across multiple languages without human-generated training data.

This paper describes an innovative method for the automatic creation, assessment, and deployment of BabelNet, a comprehensive multilingual semantic network. The core of our strategy lies in merging lexicographic and encyclopedic data from WordNet and Wikipedia. To further enhance the resource, Machine Translation techniques are employed to incorporate lexical information for a multitude of languages. To validate the quality and breadth of BabelNet, we conduct rigorous in vitro tests using both new and established gold-standard datasets. Moreover, we demonstrate the utility of our lexical resource in both monolingual and cross-lingual Word Sense Disambiguation tasks. Owing to its extensive lexical coverage and unique semantic relations, BabelNet yields top-tier outcomes on three distinct SemEval evaluation tasks, showcasing its effectiveness in the field of multilingual lexical semantics.

Previous work demonstrated that Web counts can be used to approximate bigram counts, suggesting that Web-based frequencies should be useful for a wide variety of Natural Language Processing (NLP) tasks. However, only a limited number of tasks have so far been tested using Web-scale data sets. The present article overcomes this limitation by systematically investigating the performance of Web-based models for several NLP tasks, covering both syntax and semantics, both generation and analysis, and a wider range of n-grams and parts of speech than have been previously explored. For the majority of our tasks, we find that simple, unsupervised models perform better when n-gram counts are obtained from the Web rather than from a large corpus. In some cases, performance can be improved further by using backoff or interpolation techniques that combine Web counts and corpus counts. However, unsupervised Web-based models generally fail to outperform supervised state-of-the-art models trained on smaller corpora. We argue that Web-based models should therefore be used as a baseline for, rather than an alternative to, standard supervised models.

We present SWELLSHARK, a framework for building biomedical named entity recognition (NER) systems quickly and without hand-labeled data. Our approach views biomedical resources like lexicons as function primitives for autogenerating weak supervision. We then use a generative model to unify and denoise this supervision and construct large-scale, probabilistically labeled datasets for training high-accuracy NER taggers. In three biomedical NER tasks, SWELLSHARK achieves competitive scores with state-of-the-art supervised benchmarks using no hand-labeled training data. In a drug name extraction task using patient medical records, one domain expert using SWELLSHARK achieved within 5.1% of a crowdsourced annotation approach – which originally utilized 20 teams over the course of several weeks – in 24 hours.

We present a new major release of the OpenSubtitles collection of parallel corpora. The release is compiled from a large database of movie and TV subtitles and includes a total of 1689 bitexts spanning 2.6 billion sentences across 60 languages. The release also incorporates a number of enhancements in the preprocessing and alignment of the subtitles, such as the automatic correction of OCR errors and the use of meta-data to estimate the quality of each subtitle and score subtitle pairs.

Dictionaries and phrase tables are the basis of modern statistical machine translation systems. This paper develops a method that can automate the process of generating and extending dictionaries and phrase tables. Our method can translate missing word and phrase entries by learning language structures based on large monolingual data and mapping between languages from small bilingual data. It uses distributed representation of words and learns a linear mapping between vector spaces of languages. Despite its simplicity, our method is surprisingly effective: we can achieve almost 90% precision@5 for translation of words between English and Spanish. This method makes little assumption about the languages, so it can be used to extend and refine dictionaries and translation tables for any language pairs.

OpenSubtitles.org provides a large collection of user contributed subtitles in various languages for movies and TV programs. Subtitle translations are valuable resources for cross-lingual studies and machine translation research. A less explored feature of the collection is the inclusion of alternative translations, which can be very useful for training paraphrase systems or collecting multi-reference test suites for machine translation. However, differences in translation may also be due to misspellings, incomplete or corrupt data files, or wrongly aligned subtitles. This paper reports our efforts in recognising and classifying alternative subtitle translations with language independent techniques. We use time-based alignment with lexical re-synchronisation techniques and BLEU score filters and sort alternative translations into categories using edit distance metrics and heuristic rules. Our approach produces large numbers of sentence-aligned translation alternatives for over 50 languages provided via the OPUS corpus collection.

Distributional representations of words have been recently used in supervised settings for recognizing lexical inference relations between word pairs, such as hypernymy and entailment. We investigate a collection of these state-of-the-art methods, and show that they do not actually learn a relation between two words. Instead, they learn an independent property of a single word in the pair: whether that word is a “prototypical hypernym”.

We propose a framework of word-vector adaptation, which makes vectors of visually similar concepts close to each other. Here, word vectors are real-valued vector representation of words, e.g., word2vec representation. Our basic idea is to assume that each concept has some hypernyms that are important to determine its visual features. For example, for a concept Swallow with hypernyms Bird, Animal and Entity, we believe Bird is the most important since birds have common visual features with their feathers etc. Adapted word vectors are obtained for each word by taking a weighted sum of a given original word vector and its hypernym word vectors. Our weight optimization makes vectors of visually similar concepts close to each other, by giving a large weight for such important hypernyms. We apply the adapted word vectors to zero-shot learning on the TRECVID 2014 semantic indexing dataset. We achieved 0.083 of Mean Average Precision, which is the best performance without using TRECVID training data to the best of our knowledge.

When humans approach the task of text categorization, they interpret the specific wording of the document in the much larger context of their background knowledge and experience. On the other hand, state-of-the-art information retrieval systems are quite brittle—they traditionally represent documents as bags of words, and are restricted to learning from individual word occurrences in the (necessarily limited) training set. For instance, given the sentence “Wal-Mart supply chain goes real time”, how can a text categorization system know that Wal-Mart manages its stock with RFID technology? And having read that “Ciprofloxacin belongs to the quinolones group”, how on earth can a machine know that the drug mentioned is an antibiotic produced by Bayer? In this paper we present algorithms that can do just that. We propose to enrich document representation through automatic use of a vast compendium of human knowledge—an encyclopedia. We apply machine learning techniques to Wikipedia, the largest encyclopedia to date, which surpasses in scope many conventional encyclopedias and provides a cornucopia of world knowledge. Each Wikipedia article represents a concept, and documents to be categorized are represented in the rich feature space of words and relevant Wikipedia concepts. Empirical results confirm that this knowledge-intensive representation brings text categorization to a qualitatively new level of performance across a diverse collection of datasets.

Recently, experts and practitioners in language resources have started recognizing the benefits of the linked data (LD) paradigm for the representation and exploitation of linguistic data on the Web. The adoption of the LD principles is leading to an emerging ecosystem of multilingual open resources that conform to the Linguistic Linked Open Data Cloud, in which datasets of linguistic data are interconnected and represented following common vocabularies, which facilitates linguistic information discovery, integration and access. In order to contribute to this initiative, this paper summarizes several key aspects of the representation of linguistic information as linked data from a practical perspective. The main goal of this document is to provide the basic ideas and tools for migrating language resources (lexicons, corpora, etc.) as LD on the Web and to develop some useful NLP tasks with them (e.g., word sense disambiguation). Such material was the basis of a tutorial imparted at the EKAW’14 conference, which is also reported in the paper.

This paper describes how we managed to use the WordNet ontology for the GeoCLEF 2005 English monolingual task. Both a query expansion method, based on the expansion of geographical terms by means of WordNet synonyms and meronyms, and a method based on the expansion of