1. Integrating Active Tangible Devices with a Synthetic Environment for Collaborative Engineering Sandy Ressler Brian Antonishek Qiming Wang Afzal Godil National Institute of Standards and Technology Jared Freeland DAS FA CIS 4930

2. Abstract of the Abstract This paper describes the creation of an environment for collaborative engineering in which the goal is to improve the user interface by using haptic manipulation with synthetic environments. The system to be outlined combines some of what Dr. Fishwick discussed on Wednesday, as well as Scott’s presentation on “Real Reality”.

3. Introduction The immediate goal: to determine the feasibility of using a tangible interface with a multiuser VRML environment as applied to collaborative engineering. By “tangible” we refer to the ability to pick up and interact with actual physical objects represented in the virtual environment

4. Introduction A secondary goal of the project was to use as much off-the-shelf software and hardware as possible, to facilitate transfer of the technology into the commercial world. The mediation hub is run by Java The VE uses a commercial system, the blaxxun Community Platform The tangible devices are off-the-shelf configurable robots by LEGO Mindstorms

5. System Overview The overall environment is conceptually simple. Two collaborating engineers in geographically separate areas wish to manipulate and discuss a construction project Recent work at NIST has demonstrated that VRML can be used to represent rich construction environments, but manipulation of elements such as a virtual excavator is awkward.

6. System Overview Control panels with many buttons and sliders are functional but can be difficult to manipulate. The answer: direct haptic manipulation should be more intuitive for interaction. Users move the tangible excavator and adjust the rotatable arm, causing the virtual “mirror” to update.

7. System Overview The core of the system is the Java based Virtual Environment Device Integration server, or JVEDI, which acts as a hub between all the system’s components. The server runs as a stand-alone Java application on the host computer.

8. System Overview The Real Environment The Real Environment Two work surfaces (A.K.A. tables) A LEGO Mindstorm robot on each surface Above each surface is a video camera looking down at the surface, providing 2D position/orientation

9. System Overview The Virtual Environment The Virtual Environment A multi-user blaxxun environment displays the sum of both (or all) physical environments A simplified user interface consisting of buttons and arrows is included for collaborators without access to an actual robot

10. Interesting Points of the System Unlike “graspable” interfaces, this system does not use a haptic glove or data glove of any kind. Instead, by using a camera to track the movement of robots, the user is given complete unrestricted control of the robots

11. Interesting Points of the System The virtual and real environments are kept synchronized. They always mirror each other. This is accomplished by always using position values reported by the video system.

12. Integration Issues The most challenging aspect in creating the work environment was integrating all the processing elements. Functionality for controlling robots and reading and writing data from a position tracking device had to be built for VRML’s External Authoring Interface. A fully configured version of the environment requires up to six separate computers.

13. Major Components Vision Processing Vision Processing The position and orientation of the LEGO robots are computed in real time using a computer vision method based on color tracking. The vision program uses an inexpensive camera and can track multiple robots at 10 frames/sec

14. Major Components Vision Processing Vision Processing To track the LEGO robots, two differently colored cards were attached to the robot. The computer vision program uses probability distribution to find the centers of the two squares, the mean of which is the robot’s position. The orientation is the arctangent of the difference of the centers

15. Major Components Speech Input Speech Input A user who is moving robots cannot easily access a keyboard. It can also be necessary to move robots on two surfaces simultaneously. Voice commands were built in such as “forward”, “backward”, “left”, “right”, “select red”, “select blue”, etc.

16. Major Components Multiuser VRML Multiuser VRML The multiuser aspect of the VRML world was accomplished with commercially available software from blaxxun Community. The first part is the virtual world which includes the two lego robots (red and blue), the floor, and a cylinder. The second part is the control panel

17. Auxiliary Processing Collision Detection Collision Detection Suppose the robots on two separate work surfaces collide virtually The collision detection is performed by the VRML world, and knowledge of it exists only in the VE. The robots light up and beep when they hit something in the virtual world.

18. Auxiliary Processing Task Commands and Recording Task Commands and Recording Small programmatic tasks were created for the robots, such as movement patterns. Additionally, functionality was added that allows users to record the movements of the robots, to be played back and repeated later.

19. Links The JVEDI code is publicly available at http://ovrt.nist.gov/jvedi More on robots at legomindstorms.com More on the blaxxun Community at blaxxun.com

20. Discussion How does this project relate or compare to what Scott discussed Wednesday? What are the advantages/disadvantages? What can and needs to be improved?