| 1. |
- Khan, Muhammad Sikandar Lal, 1988-
(author)
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Presence through actions : theories, concepts, and implementations
- 2017
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Doctoral thesis (other academic/artistic)abstract
- During face-to-face meetings, humans use multimodal information, including verbal information, visual information, body language, facial expressions, and other non-verbal gestures. In contrast, during computer-mediated-communication (CMC), humans rely either on mono-modal information such as text-only, voice-only, or video-only or on bi-modal information by using audiovisual modalities such as video teleconferencing. Psychologically, the difference between the two lies in the level of the subjective experience of presence, where people perceive a reduced feeling of presence in the case of CMC. Despite the current advancements in CMC, it is still far from face-to-face communication, especially in terms of the experience of presence.This thesis aims to introduce new concepts, theories, and technologies for presence design where the core is actions for creating presence. Thus, the contribution of the thesis can be divided into a technical contribution and a knowledge contribution. Technically, this thesis details novel technologies for improving presence experience during mediated communication (video teleconferencing). The proposed technologies include action robots (including a telepresence mechatronic robot (TEBoT) and a face robot), embodied control techniques (head orientation modeling and virtual reality headset based collaboration), and face reconstruction/retrieval algorithms. The introduced technologies enable action possibilities and embodied interactions that improve the presence experience between the distantly located participants. The novel setups were put into real experimental scenarios, and the well-known social, spatial, and gaze related problems were analyzed.The developed technologies and the results of the experiments led to the knowledge contribution of this thesis. In terms of knowledge contribution, this thesis presents a more general theoretical conceptual framework for mediated communication technologies. This conceptual framework can guide telepresence researchers toward the development of appropriate technologies for mediated communication applications. Furthermore, this thesis also presents a novel strong concept – presence through actions - that brings in philosophical understandings for developing presence- related technologies. The strong concept - presence through actions is an intermediate-level knowledge that proposes a new way of creating and developing future 'presence artifacts'. Presence- through actions is an action-oriented phenomenological approach to presence that differs from traditional immersive presence approaches that are based (implicitly) on rationalist, internalist views.
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| 2. |
- Shafiq, ur Réhman, 1978-, et al.
(author)
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Using Vibrotactile Language for Multimodal Human Animals Communication and Interaction
- 2014
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In: Proceedings of the 2014 Workshops on Advances in Computer Entertainment Conference, ACE '14. - New York, NY, USA : Association for Computing Machinery (ACM). - 9781450333146 ; , s. 1:1-1:5
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Conference paper (peer-reviewed)abstract
- In this work we aim to facilitate computer mediated multimodal communication and interaction between human and animal based on vibrotactile stimuli. To study and influence the behavior of animals, usually researchers use 2D/3D visual stimuli. However we use vibrotactile pattern based language which provides the opportunity to communicate and interact with animals. We have performed experiment with a vibrotactile based human-animal multimodal communication system to study the effectiveness of vibratory stimuli applied to the animal skin along with audio and visual stimuli. The preliminary results are encouraging and indicate that low-resolution tactual displays are effective in transmitting information.
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| 3. |
- Ortiz Morales, Daniel, 1984-, et al.
(author)
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Path-constrained motion analysis : an algorithm to understand human performance on hydraulic manipulators
- 2015
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In: IEEE Transactions on Human-Machine Systems. - 2168-2291. ; 45:2, s. 187-199
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Journal article (peer-reviewed)abstract
- We propose a novel method to analyze how human operators use hydraulic manipulators of heavy-duty equipment. The approach is novel in the sense that it applies knowledge of motion planning and optimization techniques used in robotics. As an example, we consider the case of operating a forestry crane. To that end, we use motion data that has been recorded during standard operation with the help of sensors and a data acquisition unit. The data backs up the notion that operators work by performing repeatable patterns observed in the trajectories of the manipulator's joints. We show how this nominal behavior is computed, and consequently this allow us to present the following: 1) an analytical procedure to analyze motions, 2) how to represent the "performance" of the operator in a 2D plot, 3) an example of how to use this information to suggest customized control settings, and 4) some complementary ideas needed for improving efficiency through automation.
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| 4. |
- Khan, Muhammad Sikandar Lal, 1988-, et al.
(author)
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Face-off : A face reconstruction technique for virtual reality (VR) scenarios
- 2016
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In: 14th European Conference on Computer Vision, ECCV 2016. - Cham : Springer. - 9783319466033 - 9783319466040 ; , s. 490-503
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Conference paper (peer-reviewed)abstract
- Virtual Reality (VR) headsets occlude a significant portion of human face. The real human face is required in many VR applications, for example, video teleconferencing. This paper proposes a wearable camera setup-based solution to reconstruct the real face of a person wearing VR headset. Our solution lies in the core of asymmetrical principal component analysis (aPCA). A user-specific training model is built using aPCA with full face, lips and eye region information. During testing phase, lower face region and partial eye information is used to reconstruct the wearer face. Online testing session consists of two phases, (i) calibration phase and (ii) reconstruction phase. In former, a small calibration step is performed to align test information with training data, while the later uses half face information to reconstruct the full face using aPCAbased trained-data. The proposed approach is validated with qualitative and quantitative analysis.
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| 5. |
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| 6. |
- Ortiz Morales, Daniel, 1984-, et al.
(author)
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Generating Periodic Motions for the Butterfly Robot
- 2013
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In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. - : IEEE conference proceedings. - 2153-0858. - 9781467363587 ; , s. 2527-2532
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Conference paper (peer-reviewed)abstract
- We analyze the problem of dynamic non-prehensile manipulation by considering the example of thebutterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering theframework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.
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| 7. |
- ur Réhman, Shafiq, 1978-, et al.
(author)
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Vibrotactile TV for immersive experience
- 2014
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In: Signal and Information Processing Association Annual Summit and Conference (APSIPA), 2014 Asia-Pacific. - : IEEE conference proceedings. - 9786163618238
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Conference paper (peer-reviewed)abstract
- Audio and video are two powerful media forms to shorten the distance between audience/viewer and actors or players in the TV and films. The recent research shows that today people are using more and more multimedia contents on mobile devices, such as tablets and smartphones. Therefore, an important question emerges - how can we render high-quality, personal immersive experiences to consumers on these systems? To give audience an immersive engagement that differs from `watching a play', we have designed a study to render complete immersive media which include the `emotional information' based on augmented vibrotactile-coding on the back of the user along with audio-video signal. The reported emotional responses to videos viewed with and without haptic enhancement, show that participants exhibited an increased emotional response to media with haptic enhancement. Overall, these studies suggest that the effectiveness of our approach and using a multisensory approach increase immersion and user satisfaction.
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| 8. |
- Filieri, Antonio, et al.
(author)
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Control Strategies for Self-Adaptive Software Systems
- 2017
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In: ACM Transactions on Autonomous and Adaptive Systems. - : Association for Computing Machinery (ACM). - 1556-4665 .- 1556-4703. ; 11:4
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Journal article (peer-reviewed)abstract
- The pervasiveness and growing complexity of software systems are challenging software engineering to design systems that can adapt their behavior to withstand unpredictable, uncertain, and continuously changing execution environments. Control theoretical adaptation mechanisms have received growing interest from the software engineering community in the last few years for their mathematical grounding, allowing formal guarantees on the behavior of the controlled systems. However, most of these mechanisms are tailored to specific applications and can hardly be generalized into broadly applicable software design and development processes.This article discusses a reference control design process, from goal identification to the verification and validation of the controlled system. A taxonomy of the main control strategies is introduced, analyzing their applicability to software adaptation for both functional and nonfunctional goals. A brief extract on how to deal with uncertainty complements the discussion. Finally, the article highlights a set of open challenges, both for the software engineering and the control theory research communities.
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| 9. |
- Karlsson, Johannes, 1977-
(author)
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Low-Complexity Encoding in Block-Based Hybrid Video Codecs by Moving Motion Estimation to Decoder Side
- 2014
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In: International Journal of Adaptive, Resilient and Autonomic Systems. - : IGI Global. - 1947-9220 .- 1947-9239. ; 5:1, s. 19-29
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Journal article (peer-reviewed)abstract
- In this paper the authors present an approach to provide efficient low-complexity encoding for the block-based video coding scheme. The authors present a method based on removing the most time-consuming task, that is motion estimation, from the encoder. Instead the decoder will perform motion prediction based on the available decoded frame and send the predicted motion vectors to the encoder. The results presented are based on a modified H.264 implementation. The results show that this approach can provide rather good coding efficiency even for relatively high network delays.
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| 10. |
- Augustian, Midhumol, et al.
(author)
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EEG Analysis from Motor Imagery to Control a Forestry Crane
- 2018
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In: Intelligent Human Systems Integration (IHSI 2018). - Cham : Springer. - 9783319738871 - 9783319738888 ; , s. 281-286
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Conference paper (peer-reviewed)abstract
- Brain-computer interface (BCI) systems can provide people with ability to communicate and control real world systems using neural activities. Therefore, it makes sense to develop an assistive framework for command and control of a future robotic system which can assist the human robot collaboration. In this paper, we have employed electroencephalographic (EEG) signals recorded by electrodes placed over the scalp. The human-hand movement based motor imagery mentalization is used to collect brain signals over the motor cortex area. The collected µ-wave (8–13 Hz) EEG signals were analyzed with event-related desynchronization/synchronization (ERD/ERS) quantification to extract a threshold between hand grip and release movement and this information can be used to control forestry crane grasping and release functionality. The experiment was performed with four healthy persons to demonstrate the proof-of concept BCI system. From this study, it is demonstrated that the proposed method has potential to assist the manual operation of crane operators performing advanced task with heavy cognitive work load.
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