Human-swarm interaction is an important milestone for the introduction of swarm-intelligence based solutions into real application scenarios. One of the main hurdles towards this goal is the creation of suitable interfaces for humans to convey the correct intent to multiple robots. As the size of the swarm increases, the complexity of dealing with explicit commands for individual robots becomes intractable. This brings a great challenge for the developer or the operator to drive robots to finish even the most basic tasks. In our work, we consider a different approach that humans specify only the desired goal rather than issuing individual commands necessary to obtain this task. We explore this approach in a collaborative transport scenario, where the user chooses the target position of an object, and a group of robots moves it by adapting themselves to the environment. The main outcome of this thesis is the design of integration of a collaborative transport behavior of swarm robots and an augmented reality human interface. We implemented an augmented reality (AR) application in which a virtual object is displayed overlapped on a detected target object. Users can manipulate the virtual object to generate the goal configuration for the object. The designed centralized controller translate the goal position to the robots and synchronize the state transitions. The whole system is tested on Khepera IV robots through the integration of Vicon system and ARGoS simulator.

La réalité augmentée (RA) mobile consiste à faire coexister en temps-réel des mondes virtuel et réel. La mobilité est facilitée par l'utilisation de nouveaux dispositifs de types smartphones, et mini-PC embarquant un certain nombre de capteurs (visuels, inertiels,…). Ces dispositifs disposent toutefois d'une puissance de calcul limitée, qui peut s'avérer critique au vu des applications envisagées. L'une des solutions est de recourir à des mécanismes de distributions pour répartir les calculs sur un ensemble hétérogène de machines (serveurs ou autre terminaux mobiles). L'objectif de cette thèse est de concevoir une architecture logicielle dédiée à la réalité augmentée distribuée et plus particulièrement aux applications distribuées capable de fonctionner sur des réseaux ad-hoc constitués de terminaux hétérogènes déployées au travers d'un réseau dans un premier temps. Dans un deuxième temps, il conviendra de démontrer l'applicabilité de la solution proposée à des applications concrètes et d'explorer différentes possibilités d'exploitation originales de la distribution dans les applications de Réalité Augmentée en mettant l'accent sur la plus value apportée en terme de fonctionnalités ou d'opérations possibles en comparaison avec une solution de Réalité Augmentée classique (non distribuée) et en comparaison avec les performances des environnements dédiés à la RA existants offrant la possibilité de créer des applications distribuées. / Mobile Augmented Reality (AR) consists in achieving to make co-existing virtual and real worlds in real time. Mobility is made easier by the use of new devices such as smartphones and wearable computers or smart objects (ex. Glasses) involving sensors (inertial, visual...). These devices have lower computation capabilities that can be critical to some Augmented Reality applications. One of the solutions is to use distribution mechanisms to distribute processing on several and heterogeneous machines. The goal of this thesis is to design a software architecture dedicated to distributed Augmented Reality and more precisely to distributed applications that can run on ad-hoc networks including heterogeneous terminals deployed in a network. The second part of the thesis is to prove the feasibility and the efficiency of the proposed architecture on real AR applications and explore different original uses of distribution for AR applications. Focusing on the added value in terms of features and possible opérations compared to non-distributed AR applications and compared to existing frameworks offering distributed AR components.

In AR systems, registration is one of the most difficult problems currently limiting their applications. In this paper, we proposed a simple registration method using projective reconstruction. This method consists of two steps: embedding and tracking. Embedding involves specifying four points to build the world coordinate system on which a virtual object will be superimposed. In tracking, a projective reconstruction technique in computer vision is used to track the four specified points to compute the modelview transformation for augmentation. This method is simple as only four points need to be specified at the embedding stage, and the virtual object can then be easily augmented in a real video sequence. In addition, it can be extended to a common scenario using a common projective matrix. The proposed method has three advantages: (1) It is fast because the linear least square method can be used to estimate the related matrix in the algorithm and it is not necessary to calculate the fundamental matrix in the extended case; (2) A virtual object can still be superimposed on a related area even if some parts of the specified area are occluded during the augmentation process; and (3) This method is robust because it remains effective even when not all the reference points are detected during the augmentation process (in the rendering process), as long as at least six pairs of related reference point correspondences can be found. Several projective matrices obtained from the authors’ previous work, which are unrelated with the present AR system, were tested on this extended registration method. Experiments showed that these projective matrices can also be utilized for tracking the specified points. / Singapore-MIT Alliance (SMA)

The technologies and methodologies of assembly design and evaluation in the early design stage are highly significant to product development. This paper looks at a promising technology to mix real components (e.g. physical prototypes, assembly tools, machines, etc.) with virtual components to create an Augmented Reality (AR) interface for assembly process evaluation. The goal of this paper is to clarify the methodologies and enabling technologies of how to establish an AR assembly simulation and evaluation environment. The architecture of an AR assembly system is proposed and the important functional modules including AR environment set-up, design for assembly (DFA) analysis and AR assembly sequence planning in an AR environment are discussed in detail. / Singapore-MIT Alliance (SMA)

For successful collaboration to occur, a workspace must support inter-referential awareness - or the ability for one participant to refer to a set of artifacts in the environment, and for that reference to be correctly interpreted by others. While referring to objects in our everyday environment is a straight-forward task, the non-tangible nature of digital artifacts presents us with new interaction challenges. Augmented reality (AR) is inextricably linked to the physical world, and it is natural to believe that the re-integration of physical artifacts into the workspace makes referencing tasks easier; however, we find that these environments combine the referencing challenges from several computing disciplines, which compound across scenarios. This dissertation presents our studies of this form of awareness in collaborative AR environments. It stems from our research in developing mixed reality environments for molecular modeling, where we explored spatial and multi-modal referencing techniques. To encapsulate the myriad of factors found in collaborative AR, we present a generic, theoretical framework and apply it to analyze this domain. Because referencing is a very human-centric activity, we present the results of an exploratory study which examines the behaviors of participants and how they generate references to physical and virtual content in co-located and remote scenarios; we found that participants refer to content using physical and virtual techniques, and that shared video is highly effective in disambiguating references in remote environments. By implementing user feedback from this study, a follow-up study explores how the environment can passively support referencing, where we discovered the role that virtual referencing plays during collaboration. A third study was conducted in order to better understand the effectiveness of giving and interpreting references using a virtual pointer; the results suggest the need for participants to be parallel with the arrow vector (strengthening the argument for shared viewpoints), as well as the importance of shadows in non-stereoscopic environments. Our contributions include a framework for analyzing the domain of inter-referential awareness, the development of novel referencing techniques, the presentation and analysis of our findings from multiple user studies, and a set of guidelines to help designers support this form of awareness.

This study described the effect of a non-augmented (Spoken Communication, SC) and two augmented language interventions (Augmented Communication-Input, AC-I or Augmented Communication-Output, AC-O) on the upper-body, gross and fine motor skills of toddlers at the onset and conclusion of the intervention. The data presented are from a longitudinal study by Romski, Sevcik, Adamson, Cheslock, Smith, Barker, & Bakeman (2010). Three standardized assessments and five observational measures examined the participants' motor skills used to activate the speech generating device (SGD), language abilities and outcomes. The AC-O intervention decreased physical prompting, increased error-free symbol activations, and increased developmentally appropriate gross and fine motor use. An augmented intervention that utilizes a SGD may facilitate both language and motor development through the combination of the communicative goals and increased motor learning opportunities when accessing the SGD device.

Geographical image data efficiently help people with wayfinding when in an unfamiliar environment. However, since the display modes of geographical image data such as 2D and 3D virtual reality could not meet with users' needs anymore, the new technique augmented reality (AR) has then become a better and effective solution to graphics Augmented reality is a kind of 3D display technique by computer vision, in which 3D virtual objects are combined with 3D real environment interactively, dynamically, and in real-time. It will bring more advantages especially to the display of building spatial data. The research aims to find out more spatial information by seeing-through buildings when we stay outside it. The approach is firstly to use a single camera to capture building features with serial images, and secondly to do building recognition and tracking between reference images and serial images by Speeded-Up Robust Features (SURF) algorithm. Thirdly, the relationship of points correspondence between serial images are then applied to estimate camera parameters via computer vision technique. Finally, the 3D model map of buildings can augment to building images according to the camera parameters.

This project investigated a miniature, hourglass-shaped actuator (MHA) and how its geometry affects performance. A custom, self-contained, finite-element simulation code predicts how each MHA deforms when pressurized internally. This analysis describes the MHA geometry's effects on four characteristics: a) work density b) mechanical advantage, c) work advantage and d) percent elongation. The first three characteristics are compared to a traditional actuator operating at the same pressure and elongation. A finite-element modeling code was tailored to study the MHA at 5 MPa internal pressure when 1) MHA height and side-wall thickness are constant and side-wall arc length varies; 2) MHA side-wall arc length and thickness are constant and the height varies; and 3) MHA side-wall thickness varies while height and side-wall arc length are fixed. Case 3 was studied using the MHA geometry with the highest work density found in either condition 1 or 2. Peak mechanical advantage, 6.47, occurs in a constant height MHA-Case 1-when the side-wall arc length is shortest. Highest elongation, 8.67%, occurs in the Case 1 MHA with the longest side-wall arc length. Finally, under Case 3, work density reaches 0.434 MJ/m3 when the side-wall thickness is 1.9 mm. The MHA has potential for active structures because its work density is high-higher than traditional actuators with the same elongation. Their small elongations limit their use; however, much work remains to determine how MHAs might be arranged in a useful array. Never the less, morphing airfoils and other active structures might benefit from embedded MHAs.

This study explores if augmented reality can be used to get a better feedback for usability testing. Augmented reality is being used in various fields like entertainment, medicine, etc., but this technology’s use for product development has been very limited. This study specifically explores if it could be used for product usability testing. For this study, a product that is already in the market will be used. First, the usability of the product was tested using traditional method, i.e., asking user to accomplish a specific task using that product and then gaining feedback using a questionnaire asking them about their opinions. Then the same product was modeled for augmented reality environment and then a different set of users were asked to accomplish the same task in AR environment. Same questionnaire was provided to these users for feedback. After that, the feedback received using the two methods was compared. The hypothesis presented in this thesis says that using augmented reality can help get a better or similar usability feedback as compared to traditional usability testing. This method might help reduce the cost of usability testing conducted on a large scale by reducing the need to have a fully developed product for testing. It will help in identifying usability issues before a product has been fully developed and thus, reducing the development cost.

Context. Augmented Reality (AR) is a technique that provides additional and varied information to a real environment. The compatibility to smartphones makes AR applications suitable for location based, social, advertisement as well as education oriented applications. Objectives. This study explores if AR is a suitable method of information visualization that can enhance User Experience(UX) comparedto more traditional methods. The information this project focuses on is 3D model and animation information. Methods. This work utilizes a comparative experiment where subjects get to test and evaluate two prototypes, one consisting of static, rendered images and a video and the other being an interactive mobileAR application. Results. Results were gathered with the Attrakdiff™ User Experience questionnaire and an interview. Conclusions. The experiment showed that there is a possibility to enhance user experience when visualizing 3D model and animation information with the help of mobile AR applications.