Model-Based Tracking Initialization in Ship Building Environment

An augmented reality (AR) device must know observer’s location and orientation, i.e. observer’s pose, to be able to correctly register the virtual content to observer’s view. One possible way to determine and continuously follow-up the pose is model-based visual tracking. It supposes that a 3D model of the surroundings is known and that there is a video camera that is fixed to the device. The pose is tracked by comparing the video camera image to the model. Each new pose estimate is usually based on the previous estimate. However, the first estimate must be found out without a prior estimate, i.e. the tracking must be initialized, which in practice means that some model features must be identified from the image and matched to model features. This is known in literature as model-to-image registration problem or simultaneous pose and correspondence problem. This report reviews visual tracking initialization methods that are suitable for visual tracking in ship building environment when the ship CAD model is available. The environment is complex, which makes the initialization non-trivial. The report has been done as part of MARIN project.

How real is movement in virtual environments ?

Mémoire numérisé par la Division de la gestion de documents et des archives de l'Université de Montréal.

L’utilisation de la réadaptation par la réalité virtuelle pour traiter l’incontinence urinaire mixte de la femme âgée : une étude de faisabilité

But : Cette étude a comme objectif principal d’évaluer la faisabilité d’utiliser une combinaison de renforcement des muscles du plancher pelvien (MPP) et de réadaptation par la réalité virtuelle (RRV) (programme d’entraînement MPP/RRV) pour traiter l’incontinence urinaire mixte (IUM) de la femme âgée. La faisabilité est évaluée par le taux de participation et d’achèvement du programme d’entraînement MPP/RRV et du programme d’exercices à domicile. Les objectifs secondaires de cette étude sont 1) d’évaluer l’effet du programme d’entraînement MPP/RRV sur la sévérité des symptômes urinaires, sur les dimensions de la qualité de vie, sur la fonction musculaire des MPP et sur les fonctions cognitives, plus précisément le processus exécutif de coordination de deux tâches, 2) d’évaluer, suite à l’intervention, la satisfaction des participantes. Le volet qualitatif a, quant à lui, pour objectif d’identifier les facteurs ayant influencé la participation au programme d’entraînement MPP/RRV ainsi que les avantages et les inconvénients associés à l’ajout de la RRV au traitement conventionnel de renforcement des MPP. Méthode : Les participantes ont effectué deux évaluations pré-traitement (pré-1 et pré-2), ont assisté à 12 classes hebdomadaires d’entraînement MPP/RRV et ont effectué une évaluation post-traitement. Elles ont aussi complété un programme d’exercices des MPP à domicile. Finalement, suite à la dernière classe, elles ont participé à un groupe de discussion. Les évaluations pré-1 et pré-2 ont été effectuées à deux semaines d’intervalle et étaient nécessaires pour s’assurer de la stabilité des mesures en l’absence d’une intervention. Résultats : 24 femmes ont participé à l’étude. Les taux de participation aux classes d’exercices hebdomadaires et au programme d’exercices à domicile étaient de 91 % et de 92 % respectivement. Le taux d’achèvement au programme d’entraînement MPP/RRV était de 96 %. Le programme d’entraînement MPP/RRV s’est avéré efficace dans l’amélioration des symptômes urinaires, de la qualité de vie ainsi que de la capacité à coordonner deux tâches simultanées chez les femmes âgées avec de l’IUM; il tend également à améliorer la fonction musculaire du plancher pelvien de ces femmes. L’appréciation de la composante RRV, par les participantes, était de 9.8/10 et ces dernières l’ont identifiée comme un facilitateur à leur participation hebdomadaire au traitement. Conclusion : Ce projet de maîtrise a permis de démontrer qu’une combinaison de renforcement des MPP et de RRV est une approche de traitement acceptable pour les femmes âgées souffrant d’IUM puisqu’elles sont capables de suivre les exigences de ce programme d’entraînement.

El pensamiento sublime en 3D. Proyecto experimental de Instalación Museográfica Virtual

Entre los años 2005 y 2006, se realizaron en Madrid dos interesantes encuentros internacionales denominados Tecnologías para una Museografía Avanzada, promovidos por el Consejo Internacional de Museos (ICOM), donde representantes de diversas instituciones culturales explicaban las influencias enriquecedoras que han aportado a sus exposiciones los nuevos medios tecnológicos en conjunto con la didáctica y la Museografía Interactiva como elementos mediadores de discurso. Representantes y Directores de instituciones como el Museo de Historia de Valencia (MHV), el Museo Arqueológico Provincial de Alicante (MARQ) o el Museo de la Cultura Bizantina de Grecia por ejemplo, han presentado las propuestas que en este contexto les ha permitido comunicar ideas refrescantes y nuevas estrategias para la compresión de diversos tipos de patrimonios. La premisa expuesta por ellos enfatizaba el pensamiento de que las nuevas tecnologías aunadas a la Museografía Interactiva, constituyen un apoyo didáctico a la hora de transmitir significados provenientes de los objetos patrimoniales para desarrollar y ampliar la comprensión del visitante en relación a los contenidos de las exposiciones. A este respecto, llama la atención la ausencia de museos especializados en Arte ante este tipo de discursos innovadores que suelen provocar en los visitantes soluciones educativas in situ, otorgando nuevos enfoques de las cosas, de la historia, de los objetos y de las generaciones pasadas.

A distributed environment for virtual and/or real experiments for underwater robots

This paper presents the distributed environment for virtual and/or real experiments for underwater robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: 1) the onboard AUV computer; 2) a surface computer used as human-machine interface (HMI); and 3) a computer used for simulating the vehicle dynamics and representing the virtual world. The HMI can be transparently linked to the real sensors and actuators dealing with a real mission. It can also be linked with virtual sensors and virtual actuators, dealing with a virtual mission. The aim of DEVRE is to assist engineers during the software development and testing in the lab prior to real experiments

Cozinha Virtual : uma prova de avaliação Neuropsicológica em Realidade Virtual

Esta dissertação surgiu com o intuito de criar uma prova neuropsicológica com todas as características das tradicionais provas de papel e lápis, com o acréscimo de vantagens que as novas tecnologias lhe podem trazer. Desta forma, desenvolveu-se um ambiente virtual com um propósito avaliativo, semelhante ao da prova em papel Trail Making Test e posteriormente ao seu desenvolvimento elaborou-se uma aplicação que foi testada em dois grupos. Compostas por um total de 47 elementos, estas amostras abrangeram população com e sem diagnóstico de problemas de alcoolismo (Síndrome de Dependência Alcoólica), que foram submetidas à execução das provas Cozinha Virtual e Trail Making Test. Os dados daí resultantes comprovam a capacidade desta prova avaliar os défices cognitivos ao nível da flexibilidade cognitiva, da capacidade de sequenciação, de procura visual, velocidade motora e capacidades atencionais e confirmam também a sua correlação com a prova que lhe deu origem.

Evaluation of a large-eddy model simulation of a mixed-phase altocumulus cloud using microwave radiometer, lidar and Doppler radar data

Using the Met Office large-eddy model (LEM) we simulate a mixed-phase altocumulus cloud that was observed from Chilbolton in southern England by a 94 GHz Doppler radar, a 905 nm lidar, a dual-wavelength microwave radiometer and also by four radiosondes. It is important to test and evaluate such simulations with observations, since there are significant differences between results from different cloud-resolving models for ice clouds. Simulating the Doppler radar and lidar data within the LEM allows us to compare observed and modelled quantities directly, and allows us to explore the relationships between observed and unobserved variables. For general-circulation models, which currently tend to give poor representations of mixed-phase clouds, the case shows the importance of using: (i) separate prognostic ice and liquid water, (ii) a vertical resolution that captures the thin layers of liquid water, and (iii) an accurate representation the subgrid vertical velocities that allow liquid water to form. It is shown that large-scale ascents and descents are significant for this case, and so the horizontally averaged LEM profiles are relaxed towards observed profiles to account for these. The LEM simulation then gives a reasonable. cloud, with an ice-water path approximately two thirds of that observed, with liquid water at the cloud top, as observed. However, the liquid-water cells that form in the updraughts at cloud top in the LEM have liquid-water paths (LWPs) up to half those observed, and there are too few cells, giving a mean LWP five to ten times smaller than observed. In reality, ice nucleation and fallout may deplete ice-nuclei concentrations at the cloud top, allowing more liquid water to form there, but this process is not represented in the model. Decreasing the heterogeneous nucleation rate in the LEM increased the LWP, which supports this hypothesis. The LEM captures the increase in the standard deviation in Doppler velocities (and so vertical winds) with height, but values are 1.5 to 4 times smaller than observed (although values are larger in an unforced model run, this only increases the modelled LWP by a factor of approximately two). The LEM data show that, for values larger than approximately 12 cm s(-1), the standard deviation in Doppler velocities provides an almost unbiased estimate of the standard deviation in vertical winds, but provides an overestimate for smaller values. Time-smoothing the observed Doppler velocities and modelled mass-squared-weighted fallspeeds shows that observed fallspeeds are approximately two-thirds of the modelled values. Decreasing the modelled fallspeeds to those observed increases the modelled IWC, giving an IWP 1.6 times that observed.

Dynamic virtual environments using really simple syndication

This paper investigates the use of really simple syndication (RSS) to dynamically change virtual environments. The case study presented here uses meteorological data downloaded from the Internet in the form of an RSS feed, this data is used to simulate current weather patterns in a virtual environment. The downloaded data is aggregated and interpreted in conjunction with a configuration file, used to associate relevant weather information to the rendering engine. The engine is able to animate a wide range of basic weather patterns. Virtual reality is a way of immersing a user into a different environment, the amount of immersion the user experiences is important. Collaborative virtual reality will benefit from this work by gaining a simple way to incorporate up-to-date RSS feed data into any environment scenario. Instead of simulating weather conditions in training scenarios, actual weather conditions can be incorporated, improving the scenario and immersion.

Human-machine symbiosis overview

The interface between humans and technology is a rapidly changing field. In particular as technological methods have improved dramatically so interaction has become possible that could only be speculated about even a decade earlier. This interaction can though take on a wide range of forms. Indeed standard buttons and dials with televisual feedback are perhaps a common example. But now virtual reality systems, wearable computers and most of all, implant technology are throwing up a completely new concept, namely a symbiosis of human and machine. No longer is it sensible simply to consider how a human interacts with a machine, but rather how the human-machine symbiotic combination interacts with the outside world. In this paper we take a look at some of the recent approaches, putting implant technology in context. We also consider some specific practical examples which may well alter the way we look at this symbiosis in the future. The main area of interest as far as symbiotic studies are concerned is clearly the use of implant technology, particularly where a connection is made between technology and the human brain and/or nervous system. Often pilot tests and experimentation has been carried out apriori to investigate the eventual possibilities before human subjects are themselves involved. Some of the more pertinent animal studies are discussed briefly here. The paper however concentrates on human experimentation, in particular that carried out by the authors themselves, firstly to indicate what possibilities exist as of now with available technology, but perhaps more importantly to also show what might be possible with such technology in the future and how this may well have extensive social effects. The driving force behind the integration of technology with humans on a neural level has historically been to restore lost functionality in individuals who have suffered neurological trauma such as spinal cord damage, or who suffer from a debilitating disease such as lateral amyotrophic sclerosis. Very few would argue against the development of implants to enable such people to control their environment, or some aspect of their own body functions. Indeed this technology in the short term has applications for amelioration of symptoms for the physically impaired, such as alternative senses being bestowed on a blind or deaf individual. However the issue becomes distinctly more complex when it is proposed that such technology be used on those with no medical need, but instead who wish to enhance and augment their own bodies, particularly in terms of their mental attributes. These issues are discussed here in the light of practical experimental test results and their ethical consequences.

Perspex machine VII: The universal perspex machine

The perspex machine arose from the unification of projective geometry with the Turing machine. It uses a total arithmetic, called transreal arithmetic, that contains real arithmetic and allows division by zero. Transreal arithmetic is redefined here. The new arithmetic has both a positive and a negative infinity which lie at the extremes of the number line, and a number nullity that lies off the number line. We prove that nullity, 0/0, is a number. Hence a number may have one of four signs: negative, zero, positive, or nullity. It is, therefore, impossible to encode the sign of a number in one bit, as floating-, point arithmetic attempts to do, resulting in the difficulty of having both positive and negative zeros and NaNs. Transrational arithmetic is consistent with Cantor arithmetic. In an extension to real arithmetic, the product of zero, an infinity, or nullity with its reciprocal is nullity, not unity. This avoids the usual contradictions that follow from allowing division by zero. Transreal arithmetic has a fixed algebraic structure and does not admit options as IEEE, floating-point arithmetic does. Most significantly, nullity has a simple semantics that is related to zero. Zero means "no value" and nullity means "no information." We argue that nullity is as useful to a manufactured computer as zero is to a human computer. The perspex machine is intended to offer one solution to the mind-body problem by showing how the computable aspects of mind and. perhaps, the whole of mind relates to the geometrical aspects of body and, perhaps, the whole of body. We review some of Turing's writings and show that he held the view that his machine has spatial properties. In particular, that it has the property of being a 7D lattice of compact spaces. Thus, we read Turing as believing that his machine relates computation to geometrical bodies. We simplify the perspex machine by substituting an augmented Euclidean geometry for projective geometry. This leads to a general-linear perspex-machine which is very much easier to pro-ram than the original perspex-machine. We then show how to map the whole of perspex space into a unit cube. This allows us to construct a fractal of perspex machines with the cardinality of a real-numbered line or space. This fractal is the universal perspex machine. It can solve, in unit time, the halting problem for itself and for all perspex machines instantiated in real-numbered space, including all Turing machines. We cite an experiment that has been proposed to test the physical reality of the perspex machine's model of time, but we make no claim that the physical universe works this way or that it has the cardinality of the perspex machine. We leave it that the perspex machine provides an upper bound on the computational properties of physical things, including manufactured computers and biological organisms, that have a cardinality no greater than the real-number line.

Navigation assistance for wayfinding in the virtual environments: taxonomy and a survey

Efficient Navigation is essential for the user-acceptance of the Virtual Environments (VEs), but it is also inherently, a difficult task to perform. Resulting research in the area provides users with great variety of navigation assistance in VEs however it is still known to be inadequate, complex and suffers through many limitations. In this paper we discuss the task of navigation in the virtual environments and record the wayfinding assistance currently available for the VEs. The paper introduces taxonomy of navigation and categorizes the aids on basis of the functions performed. The paper provides views on current work performed in the area of non-speech auditory aids. Further we conclude by providing views on the important areas that require further investigation and research.

Use of auditory cues for wayfinding assistance in virtual environment: music aids route decision

This paper addresses the crucial problem of wayfinding assistance in the Virtual Environments (VEs). A number of navigation aids such as maps, agents, trails and acoustic landmarks are available to support the user for navigation in VEs, however it is evident that most of the aids are visually dominated. This work-in-progress describes a sound based approach that intends to assist the task of 'route decision' during navigation in a VE using music. Furthermore, with use of musical sounds it aims to reduce the cognitive load associated with other visually as well as physically dominated tasks. To achieve these goals, the approach exploits the benefits provided by music to ease and enhance the task of wayfinding, whilst making the user experience in the VE smooth and enjoyable.

Generic control interface for networked haptic virtual environments

As Virtual Reality pushes the boundaries of the human computer interface new ways of interaction are emerging. One such technology is the integration of haptic interfaces (force-feedback devices) into virtual environments. This modality offers an improved sense of immersion to that achieved when relying only on audio and visual modalities. The paper introduces some of the technical obstacles such as latency and network traffic that need to be overcome for maintaining a high degree of immersion during haptic tasks. The paper describes the advantages of integrating haptic feedback into systems, and presents some of the technical issues inherent in a networked haptic virtual environment. A generic control interface has been developed to seamlessly mesh with existing networked VR development libraries.

Immersive co-operative psychological virtual environments (ICPVE)

Virtual Reality (VR) has been used in a variety of forms to assist in the treatment of a wide range of psychological illness. VR can also fulfil the need that psychologists have for safe environments in which to conduct experiments. Currently the main barrier against using this technology is the complexity in developing applications. This paper presents two different co-operative psychological applications which have been developed using a single framework. These applications require different levels of co-operation between the users and clients, ranging from full psychologist involvement to their minimal intervention. This paper will also discuss our approach to developing these different environments and our experiences to date in utilising these environments.