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  1. Table of contents Communications & Multimedia Lab
  2. 虛擬實境 In Chinese   虛擬實境的基本原理在於利用電腦產生並控制一個虛擬的世界,在此虛擬世界中,可以感受到如同處於一個真實的環境。 TextbookDefinition a medium composed of interactive computer simulations that sense the participant's position and actions and replace or augment the feedback to one or more senses, giving the feeling of being mentally immersed or present in the simulation (a virtual world). The Ultimate Display The ultimate display would be a room within which the computer can control the existence of matter. Such a display could literally be the Wonderland into which Alice walked. Ivan E. Sutherland [1965] 電腦繪圖之父 Cyberspace a location that exists only in the minds of the participants, often as a result of technology that enablesgeographically distant people to interactively communicate. Augmented Reality a type of virtual reality in which synthetic stimuli are registered with and superimposed on real-world objects; often used to make information otherwise imperceptible to human senses perceptible. Communications & Multimedia Lab
  3. Terminologies Used Virtual Environment Micro Worlds Virtual Worlds Telepresence Virtual Reality Communications & Multimedia Lab
  4. V.R. Conditions to Meet I. Sutherland[1965] Look real Move realistically Feels real Sounds/Smells real Real-time Response What is "Digital Content" industry? Communications & Multimedia Lab
  5. 3D TV and Animation 所謂3d影像,也就是影像除了平面的x和y軸之外,還要有明顯的深度。最真實的3d影像是全像式3d投影,就如電影星際大戰中所看到的方式。不過此種技術目前發展仍然有相當大的困難,所以一般所採用的乃是利用人類左右眼所視角度略有不同,因而所接收影像有小幅差異的視差效果,在大腦中自動相互補償融合而形成的立體影像,並且在靜止以及移動的狀況下均能維持。也就是說技術的基本要求是要能讓左、右眼所看到的影像能有些許的不同。目前的3d技術大致可區分為眼鏡式和裸視3d技術: ◇眼鏡式技術(stereoscopic ◇偏光眼鏡(polarizing glasses ◇快門眼鏡(shutter glasses ◇裸視3d技術(autostereogram ◇光柵式(parrallax barrier ◇柱狀透鏡式(lenticular lens Communications & Multimedia Lab
  6. Virtual RealityResearch Directions and Future Trend Few Technologies in recent years have evoked such fiery discussions in thetechnical community, and fewer still have sparked such passionate involvement ofthe humanities and the cultural sector. --- Carl Machover. VR: The quality of the experience is crucial. To stimulate creativity and productivity, the virtual experience must be credible. The "reality" must both react to the human participants in physically and perceptually appropriate ways, and confirm to their personal cognitive representations of the micro world in which they are engrossed. --- Carl Machover CG&A 1994. Ivan Sutherland at the console of the TX-2- Sketchpad Project, MIT, 1963 In 1963, his Ph.D. thesis, "Sketchpad: A Man-machine Graphical Communications System," used the lightpen to create engineering drawings directly on the CRT. Communications & Multimedia Lab
  7. Basic Equipment visual display helmet-mounted display see-through helmet mounted display liquid-shutter glasses  acoustic display 3D sound  haptic display force-feedback joystick or arm force feedback data-glove 6D tracker & data-glove  robot camera Ivan Sutherland, Born:1938, Hastings, Nebraska Profession:Engineer, Entrepreneur, Capitalist, Professor Position:V.P. and Fellow, Sun Microsystems, Inc. Education:Ph.D. Massachusetts Institute of TechnologyM.S. EE California Institute of TechnologyB.S. EE Carnegie Institute of Technology (now Carnegie Mellon University) Patents & Publications:See list Honors & Professional Societies (partial list):Smithsonian Computer World Award, 1996AM Turing Award, Association for Computing Machinery, 1988First Zworykin Award, National Academy of Engineering, 1972 Member, National Academy of Sciences, since 1978Member, National Academy of Engineering, since 1973Member, Institute of Electrical and Electronic Engineers (IEEE)Fellow, Association for Computing Machinery Latest Accomplishment:Became a historical relic in the Smithsonian Proudest Accomplishment: Four Grandchildren Communications & Multimedia Lab
  8. Scientific Visualization Evolution 2D display 3D display stereoscopic display stereoscopic display with haptic display Visualization of planetary surfaces(NASA) Virtual wind tunnel (NASA NAS project) Molecular synthesis (UNC, GMD, U.York) Communications & Multimedia Lab
  9. Medical applications Virtual stereotactic surgery from CTs from MRIs Ultrasonic imaging: A virtual environment perspective Pathological tremor investigation Radiation treatment planning Communications & Multimedia Lab
  10. Virtual Cockpits Virtual Coupled Airborne System Simulator (USAF)  Virtual Environment configurable training aid(Brough, British Aerospace)  Real and virtual environment configurable training aid(Brough) mix a virtual world with a real world. concept:  mount a color TV camera onto a HMD and couple the result into HMD via a chroma processing system. The Stewart Motion Platform, Consists of a fixed base and a moving platform connected by six extensible actuators. Provide sensation of motion by tracking desired trajectory. Currently in Professor L C Fu’s lab. Communications & Multimedia Lab
  11. Telepresence control a robot by remote control especially in hazardous environments Virtual environment remote driving experiment(ARRL) Man in virtual space (ESA) Astronaut simulation (TNO-FEL, NASA) Conduction robots (Fujita) connect overseas construction sites via ISDN control in Japan, action in America problem: long-distance communication's delay Communications & Multimedia Lab
  12. CAD/CAM Rover 400 car interior design(Brough) 3D CAD shape model(NEC) Operations with virtual aircraft(Boeing VSX) Positioning clothing in 3D(Switzerland) Hair style design(NTU CML) Software analysis(Tepco) Maintenance systems(Brough) Communications & Multimedia Lab
  13. Entertainment Star Wars, Lucasfilm (USA) Sega, Nintendo (Japan) W Industries (UK) Evans & Sutherland (USA) Virtual DOOM (id Software & CML) Communications & Multimedia Lab
  14. Virtual RealityResearch Directions and Future Trend Market Now: (BusinessWeek 2005, February 28)   Games: US24.5 billions revenue in 2004, larger than the movie box-office business Game software sales: 7.3 billion,            EA (Electronic Art): $3 billion, and top five game developers accounted for 56% of the revenue. Likely winners:  SONY, EA  (Consoles, games, movies, only Sony has it all) At risk: Nintendo, Activision (second largest independent game developer), Walt Disney  2004: game consoles: Sony (56.4%), Microsoft (24.9%), Nitendo(18.7%)    39% of video gamers are women. Compared to past predictions:$250 million worth of VR products and services will be shipped in 1994.  One billion dollars by 1997 (IEEECG&A, p15, Vol 14, No 1, Jan 1994) S.E.Tice, President of S.E.Tice Consulting, Inc. Carl Machover, President of Machover Associates.  VR is growing at annual rates on the order of 60% (twice the growth rate graphics experienced 25 years ago) Communications & Multimedia Lab
  15. Three company’s revenue and profits in 1994:  Nintendo has $3.2B in sales, approximately $850M net(1/4)  Sun Microsystems has $2.47B in sales, approximately $110M net(1/24). Intel has $3.92B in sales, approximately $650M net 1/6). Communications & Multimedia Lab
  16. Virtual RealityResearch Directions and Future Trend Entertainment SEGA. David Rosen started SEGA in 1954 in Japan.(4 billion 1993; 2.2 billion 1992; 1.2 billion 1991)  SEGA will exploit the efficiency of electronics over iron and steel to creat a new entertainment form: virtual-reality theme parks. Parks packed with VR will occupy perhaps 3% of the land area of Florida's Disney World, so they can be put in densely populated areas. Nintendo(任天堂) Market share in Japan 78%, in US 51%, in Europe 41% Revenue distribution:(SEGA) 1/6 for ARCADES 1/6 for Home-use software 1/3 for Home-use game machines VR related games are already approaching 1/2 of ARCADES. Communications & Multimedia Lab
  17. Virtual RealityResearch Directions and Future Trend 3D graphics & VR games worth 2/3 of 8 billion dollars business => (Nintendo + SEGA) Data from Business Week. Feb 21, p38-44 Nintendo & SEGA plus others expect to make 40 million video-game machines over the next five years Communications & Multimedia Lab
  18. Virtual RealityResearch Directions and Future Trend Related areas of technology: multimedia, HDTV, information superhighway, 3D graphics, video games, arcade, theme parks. America's entertainment economy (Business Week, March 14, 1994) As consumers spend big bucks on fun, companies are plowing billions into theme parks, casinos, sports, and interactive TV. The result: Entertainment is reshaping the U.S. economy. Communications & Multimedia Lab
  19. Virtual RealityResearch Directions and Future Trend A prediction made in 1994, Future trends:  The applications market will dominate the technology and research directions. Low cost high performance graphics engine, even reaching 1 million Gouround or Phong shaded polygons per second. High precision body suit/sensors, 6D trackers, 3D mouse, data glove. Low cost force feedback joystick, tactile glove. Authoring tools for VR packages. Light weight HMD, eyeglasses, stereo LCD. Communications & Multimedia Lab
  20. Force Feedback Joystick  (1995),   patented in Taiwan Molecular visualization Virtual Drum Communications & Multimedia Lab
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  22. In Epcot Center, Disney Worlds, Florida, USA, 1996 In Pasteur Research Center, Strasbourg, France, 2005 Communications & Multimedia Lab
  23. Remote Robot Surgery Laparoscope(內視鏡顯微手術) Large number of medical doctors were trained in this way in France Sewing simulation: tie knots Communications & Multimedia Lab
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  26. Just Noticeable Difference To estimate the Details Visibility Change between two images of signifcantly different dynamic range, knowledge of the hypothetical HVS response to given physical contrasts under given adaptation conditions is required. A reasonable prediction for a full range of contrast values is given by the following transducer function that is derived and approximated by Mantiuk et al. [MMS06]: T(G) = 54:09288 G0:41850; (6) with the following properties: T(0) = 0 and T(Gthreshold ) = 1;(7) The transducer function estimates the HVS response to physical contrast in Just Noticeable Difference (JND) units. Thus for a given contrast threshold, Gthreshold, a transducer value equals 1 JND. It is important to note that this measure holds for suprathreshold measurements, since it not only estimates the detection, but also the magnitude of change. Communications & Multimedia Lab
  27. Just Noticeable Difference The approximation given by Equation (6) has been derived with the assumption of 1% contrast detection threshold, i.e. Gthreshold=log10(1:01). Although such an assumption is often made in image processing for LDR, the detection threshold depends on an adapting luminance level and is described by the Threshold Versus Intensity (TVI) function [CIE81]. Communications & Multimedia Lab
  28. NTU CML Tape Demo 藥劑分子模型結合測試:在此系統中,使用者可以看到放大的立體分子模型,並藉著調整位置與視角,來測試結合的可行度。 力回饋搖桿:沒有力回饋的搖桿,無法表現出實際操作時的力量感,如拿起重物的重量感,或射擊的後座力。這次所展現出的力回饋搖桿,配合射擊遊戲,可以讓玩者感受到開槍時的後座力,及遭受攻擊的震動 夢幻鼓手:一套虛擬樂器演奏系統。當使用者拿著鼓棒在空中敲擊時,經由音源產生器可以產生真正的鼓聲,再配合立體眼鏡和繪圖工作站產生的影像,會讓使用者產生正在使用一套打擊樂器的幻覺。 Communications & Multimedia Lab
  29. VR Game in an Arcade Communications & Multimedia Lab
  30. SEGA SATURN by SEGA SEGA Saturn was shipping in Nov. , 1994. It is the next generation of SEGA TV-game machine. Its existence acclaims the new age of 3DCG, and brought this age into your house ! Let's see what it is : CPU : Sega Saturn uses a pair of SH2 , a kind of 32-bit RISC processor by Hitachi, for computing and video output, and one M68000 for audio output. The total computing ability is about 56 MIPS. RAM : Sega Saturn uses 2MB as main RAM, 1.5 MB as V-RAM, 512 KB as Audio Output and another 512 MB as CD-ROM buffer. Total RAM used is 4 MB! 3DCG : Sega Saturn has build-in hardware supporting 3DCG, of course. It is able to display ( compute ) about 200,000 polygons, including flat-shading, gouraud-shading, and texture-mapping. It uses Z-sort to solve the problem of Z value, and about 3 light sources. 2DCG : Sega Saturn also supports 2D image processing. It can display 1 layer of sprite in front of 5 layers of BG, including scaling, stretching, and rotating (by 3 axis). In addition, SS could support animation of its own format (about 2/3 screen sized). CD-ROM : Double-speed CD-ROM driver. Of course it can be used to display normal CD(usually used as BGM), Photo CD, CD-G, and video CD(MPEG1,optional). Communications & Multimedia Lab
  31. Sony PLAYSTATION Specifications Graphics Synthesizer Emotion Engine'128bit CPU' 音聲處理 (SPU2+CPU) I/O Processor 儲存媒介 Communications & Multimedia Lab
  32. SEGA SATURN 主機性能介紹 Communications & Multimedia Lab
  33. Nintendo 64 Specs 聲音: ‧ Stereo 16-bit ‧ ADPCM Compression ‧ 100 PCM channels possible 。Each PCM channel takes 1% of the CPU time ▪Average 16-24 channels ‧ Wavetable Synthesis ‧ Sampled at 48 KHz max ‧ Internal Special Effects 。Voice (w/ Pitch Shifting) 。Gain and Pan 。Reverb and Chorus ‧ External (software) Effects Supported 影像: ‧ Video Output 。RF、Stereo A/V、S-Video、HDTV ‧ Video and Resolution: 。256 x 224 to 640 x 480 ▪Limited by TV Standards ▪Flicker Free Interlace Mode 。21-bit color output 。32-bit RGBA Pixel Color Frame Buffer Controller Ports: ‧ Four Controller Ports ‧ Three-prong Feed Controllers: ‧ Digital joypad at left ‧ Analog stick in middle ‧ Six buttons on the right 。'B' and 'A' buttons 。Four "C Group" buttons 。'L' and 'R' buttons on top 。One "Z Trigger" button on the bottom ‧ Memory card port on back 。Initial controller paks start out at 256k 。Paks(up to 2 MB) will be available 。Supports other 'paks' such as a "Jolt Pak" 擴充槽: ‧ Cartridge Slot ‧ Controller Ports ‧ Extension Port (bottom) ‧ Memory Expansion option (top front) N64 Console Games: ‧ Games begin at 32-128 Megabits ‧ Uses JPEG image format for pre-rendered images ‧ Produces polygon graphics on the fly ‧ On-board hardware decompression; software optional ‧ 256 Megabit carts max; (four 64 meg ROMs)Downward Compatible 實體體積: ‧10.25" x 7.5" x 2.57“ ‧ 2.42 lbs Custom CPU: ‧ Custom 64-bit MIPS R4300i-class RISC CPU (93.75 MHz)    。64-bit data path, registers, buffer 。5-stage pipeline ‧ CPU Benchmarks 。125 Dhrystone MIPS (93 million operations/sec) 。60 SPECint92 。45 SPECfp92 Co-Processor: ‧ Custom 64-bit MIPS RISC "Reality Immersion" RCP (62.5 MHz) Built-in Audio/Video Vector Processor (RSP) ‧ RCP Benchmarks 。Over half a billion (500,000,000) vector operations/sec       ▪10 times more than some Pentium engines 。Built-in Pixel Drawing Processor (RDP) takes care of: ▪Advanced Texture-Mapping - Detail Texturing - Tri-linear Mip Map Interpolation - Perspective Correction - Environment Mapping - Depth Buffering ▪Color Combiner       ▪Anti-Aliasing and Blending       ▪Rasterizing       ▪Z-Buffering       ▪Automatic LOD Management       ▪Vertex positioning and transformations       ▪Depth, color and texture clipping       ▪Transparency (256 levels max)       ▪GouraudShading Processor/Co-Processor Engine: ‧ Contains Over 4 Million Transistors Total ‧ Manufactured by NECBased on .35 Micron Process Memory: ‧ 4 Megabytes (36 megabits) total RAM ‧ Rambus DRAM subsystem 。Transfers up to 562.5 MBytes/sec ‧ Custom 9-bit Rambus Bus (to the DRAM) 。Runs at 500 MHz max ‧ Internal data bus to the RCP is 128-bit Communications & Multimedia Lab
  34. Nintendo Wii Specs System specs Central Processing Unit (CPU) IBM Broadway 729MHzGraphics Processing Unit (GPU) ATI Hollywood 243MHzSupported Resolution Up to 480pSystem Memory 88MBInternet Connectivity WiFi 802.11 b/g Media Internal Storage 512MB Flash Memory Optical Drive 12cm Wii Disc & 8cm GameCube Disc. Discs will self-load into the bay.12cm Disc Capacity 4.7Gb (or 8.5Gb Dual Layer)Memory Expansion 1 x SD Memory Backward Compatibility Downloadable Games NES, SNES, N64, Genesis, Neo-Geo, TurboGrafix16 (and CD)Disc Compatibility GameCube Connectivity Wii Controller Ports 4 x WirelessGameCube Controller Ports 4 PortsGameCube Memory Expansion 2 PortsUSB 2.0 2 PortsInternet Wireless IEEE802.11b/g or a USB LAN adaptor. WiiConnect 24 persistant connection, even when powered off.Output ports AV Multi-output port, allowing Composite, S-Video and Component. Controller Connection method Bluetooth (wireless)Wiimote Buttons 3 axis motion sensor, + Direction pad, A, B, Minus, Home, Power button, 1 and 2Nunchuck Buttons 3 axis motion sensor, Analog stick, C and ZForce feedback (rumble) YesOther features Wiimote has a speaker and an expansion port Communications & Multimedia Lab
  35. Nintendo Wii First six weeks of sales volume in Japan: PS3: 310K, Xbox360: 110K,Wii: 1130K Why is it successful? Human Computer Interface breakthrough VS. Graphics rendering power Make the player pie bigger: including the traditional non-game players: such as grandparents and grandchildren, not just youth groups. Traditional game players are usually lonely in one room, with networking connected to outside world only, while the Wii includes everyone in one game in one room (a social medium). Single-handed remote control, much less buttons and control. Good to "PLAY" vs. Good to "LOOK“ 3D orientation and location control, added force feedback: vibration and sound, My own experience: DEMO SIGGRAPH2006_EmergingTech: 3D_DDR VR: The quality of the experience is crucial. To stimulate creativity and productivity, the virtual experience must be credible. The "reality" must bothreact to the human participants in physically and perceptually appropriate ways, and confirm to their personal cognitive representations of themicroworldinwhich they are engrossed.--- CarlMachoverCG&A 1994. Communications & Multimedia Lab
  36. Nintendo Wii Communications & Multimedia Lab
  37. Microsoft Xbox 360 Communications & Multimedia Lab
  38. Microsoft Xbox 360 Specs Communications & Multimedia Lab
  39. Microsoft Xbox Kinect Kinect is a motion sensing input device by Microsoft for the Xbox 360 video game console and Windows PCs. Based around a webcam-style add-on peripheral for the Xbox 360 console, it enables users to control and interact with the Xbox 360 without the need to touch a game controller, through a natural user interface using gestures and spoken commands. The project is aimed at broadening the Xbox 360's audience beyond its typical gamer base. Kinect competes with the Wii Remote Plus and PlayStation Move with PlayStation Eye motion controllers for the Wii and PlayStation 3 home consoles, respectively. A version for Windows was released on February 1, 2012. Microsoft released a non-commercial Kinect software development kit for Windows 7 on June 16, 2011, with a commercial version following at a later date. This SDK will allow .NET developers to write Kinecting apps in C++/CLI, C#, or Visual Basic .NET. Communications & Multimedia Lab
  40. Microsoft Xbox Kinect Specs SensorColour and depth-sensing lensesVoice microphone arrayTilt motor for sensor adjustmentFully compatible with existing Xbox 360 consoles Field of ViewHorizontal field of view: 57 degreesVertical field of view: 43 degreesPhysical tilt range: ± 27 degreesDepth sensor range: 1.2m - 3.5m Data Streams320×240 16-bit depth @ 30 frames/sec640×480 32-bit colour@ 30 frames/sec16-bit audio @ 16 kHz Skeletal Tracking SystemTracks up to 6 people, including 2 active playersTracks 20 joints per active playerAbility to map active players to Live Avatars Audio SystemLive party chat and in-game voice chat (requires Xbox Live Gold Membership)Echo cancellation system enhances voice inputSpeech recognition in multiple Communications & Multimedia Lab
  41. Microsoft Xbox Kinect Communications & Multimedia Lab
  42. Microsoft Xbox Kinect Communications & Multimedia Lab
  43. Sony PlayStation 3 PlayStation 3 slim (PS3 CECH-2000 model) is the revamped version of Sony's seventh generation video game console - PS3, which was launched by Sony Computer Entertainment in 2009. Other than the new sleek design, these PS3 slim console also boasts of potent mix of new (such as the removable hard drive) and old features (such as online gaming, a high-definition optical disc format and Blu-ray Disc technology), which make gaming easier and interesting. While the first two consoles of these series were armed with 120GB and 250GB HDD, they were eventually discontinued to make way for the two existing models - the 160GB slim and the 320GB slim in 2010. (The 320GB PS3 slim though, is only available as a part of the PS3 bundle.) As with their predecessors, both models come with a Blu-ray drive which can be used for multimedia purposes as well. Some of the most popular PS3 games include Medal of Honor - Frontline, Far Cry 2, Demon's Souls, MAG, inFamous, Resident Evil, Kill Zone 2, etc. At the same time, the addition of PlayStation Move which facilitates motion gaming has also added to the popularity of PS3 slim console. Communications & Multimedia Lab
  44. Sony PlayStation 3 Specs CompactFlash:(Type I, II) x 1 Communication:Ethernet (10BASE-T, 100BASE-TX, 1000BASE-T) x3 (input x 1 + output x 2) Wi-Fi:IEEE 802.11 b/g Bluetooth:Bluetooth 2.0 (EDR) Controller: Bluetooth (up to 7) USB2.0 (wired) Wi-Fi (PSP®) Network (over IP) AV Output: Screen size:480i, 480p, 720p, 1080i, 1080p HDMI:HDMI out x 2 Analog:AV MULTI OUT x 1 Digital audio:DIGITAL OUT (OPTICAL) x 1 CD Disc media (read only): PlayStation CD-ROM PlayStation 2 CD-ROM CD-DA (ROM), CD-R, CD-RW SACD Hybrid (CD layer), SACD HD DualDisc (audio side), DualDisc (DVD side) DVD Disc media (read only): PlayStation 2 DVD-ROM PLAYSTATION 3 DVD-ROM DVD-Video: DVD-ROM, DVD-R, DVD-RW, DVD+R, DVD+RW Blu-ray Disc media (read only): PLAYSTATION 3 BD-ROM BD-Video: BD-ROM, BD-R, BD-RE CPU:CellProcessor PowerPC-base Core @3.2GHz 1 VMX vector unit per core 512KB L2 cache 7 x SPE @3.2GHz 7 x 128b 128 SIMD GPRs 7 x 256KB SRAM for SPE * 1 of 8 SPEs reserved for redundancy total floating point performance: 218 GFLOPS GPU:RSX @550MHz 1.8 TFLOPS floating point performance Full HD (up to 1080p) x 2 channels Multi-way programmable parallel floating point shader pipelines Sound:Dolby 5.1ch, DTS, LPCM, etc. (Cell-base processing) Memory: 256MB XDR Main RAM @3.2GHz 256MB GDDR3 VRAM @700MHz System Bandwidth: Main RAM: 25.6GB/s VRAM: 22.4GB/s RSX: 20GB/s (write) + 15GB/s (read) SB: 2.5GB/s (write) + 2.5GB/s (read) System Floating Point Performance:2 TFLOPS Storage: HDD Detachable 2.5" HDD slot x 1 I/O: USB:Front x 4, Rear x 2 (USB2.0) Memory Stick:standard/Duo, PRO x 1 SD:standard/mini x 1 Communications & Multimedia Lab
  45. Sony PlayStation Move The PlayStation Move combines a video camera with a physical controller packed with motion-sensing electronics, making it the technological cross between Kinect and the Nintendo Wii. The Move Motion Controller, or "wand," combines a gyroscope, accelerometer, and magnetic sensor (a sort of digital "compass" that uses the Earth's magnetic field to determine the controller's orientation) to track the controller in three dimensions, while the glowing ball at the end gives the PlayStation Eye camera a visual reference for handling aiming, cursor movement, and other motion. Like Kinect, PlayStation Move requires room to function; Sony recommends 5 to 9 feet between the player and the PlayStation Eye, but you can play anywhere from 2 to 10 feet of the camera. Communications & Multimedia Lab
  46. Sony PlayStation Move Specs PlayStation Move Specifications and Details Features"The latency for the Playstation Move is under one frame" - Scott Rohde, vice president of product development, SCEA. PlayStation®Move motion controllerThree-axis gyroscopeThree-axis accelerometerTerrestrial megnetic field sensorColour-changing sphere for Playstation Eye trackingBluetooth® technologyVibration feedback PlayStation®Move sub-controllerBuilt-in lithium-ion rechargeable batteryBluetooth® technology2 DUALSHOCK® or SIXAXIS® Wireless Controller replacement capability. PlayStation® EyeBuilt-in four-capsule microphone arrayEcho cancellationBackground noise suppression Price"Under $100" (£47) Communications & Multimedia Lab
  47. -The System Comparism Communications & Multimedia Lab
  48. -The Deal Comparism Communications & Multimedia Lab
  49. -The Games Comparism Communications & Multimedia Lab
  50. -pros and cons Comparism Communications & Multimedia Lab
  51. -Initial Sales Comparism Communications & Multimedia Lab
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  54. Illumination model Ambient light (漫射) Diffuse reflection (散射) Light source attenuation Communications & Multimedia Lab
  55. Illumination model Specular reflection (似鏡面反射) Phong illumination model Communications & Multimedia Lab
  56. Faster specular reflection calculation:Halfway vector approximation halfway vector Communications & Multimedia Lab
  57. Polygon shading : linear interpolation flat shading : constant surface shading. Gouraud shading: color interpolation shading. Phong shading: vertex normal interpolation shading Communications & Multimedia Lab
  58. Phong Shading Use a big triangle, light shot in the center, as an example! The function is really an approximation to Gaussian distribution macroscopic  The distribution of microfacets is Gaussian. [Torrance, 1967] (Beckmann distribution func.)  Given normal direction Na and Nb, Nm = ?  interpolation in world or screen coordinate? in practice  Communications & Multimedia Lab
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  63. Pixel-Planes Communications & Multimedia Lab
  64. Bit operation Binary representation:   for easy hardware architecture/realization Right most significant bit, and shift left at each clock! Eg.:   011 equals 6 in Decimal 01100 equals 6 0101 equals 10 01111000  equals 30 in Decimal   (all zeros at the right ends: redundant, for pipeline operations) Communications & Multimedia Lab
  65. Space Tracing System Magnetic tracking system Widely used Inexpensive and readily available Limited range of operation Acoustic tracking system Good accuracy, responsiveness and registration Time-of-flight Suffer from acoustic noise Phase coherent Higher data rate => better performance Suffer from cumulative error Mechanical tracking system Good accuracy, responsiveness and registration Easy to integrate force feedback Limited range of operation Do not allow multiple users to work in the same working space Optical tracking system Fixed transducer, pattern recognition Trade off between accuracy and range of operation Communications & Multimedia Lab
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  67. Critical Parameter in Tracker Static accuracy the ability of a tracker to determine the coordinates of a position in space Dynamic accuracy Relates to the system accuracy as the tracker's sensor is moved Latency Is the time lag between when the acquisition portion of the system can acquire new data and the time when the image is updated. Display Jitter Jitter Can be observed as burring of an image (two or more images may be seen) reduces the perceived resolution has a long delay or persistence time can be extremely detrimental may strongly contribute to simulation sickness Communications & Multimedia Lab
  68. Reduce the Latency The latency with and without latency using an SGI Indigo XS24Z R4000 plus a 6D tracker (Ascension, “flock-of-birds”) Figure 2 shows the measured data and predicted data using (a) two-point (line) extrapolation and (b) 6-point Grey System Model (GM) prediction. The X-axis means number of sampling Intervals (frame update time). And Y-axis means one element (position x) of tracker location. Communications & Multimedia Lab
  69. 3D SOUND SERVEY To strive, to seek, to find, and not to yield Tennyson That the powerful play goes on and you might contribute a verse Walt Whitman 4 cues relative to distance First power law for stimulus pressure Selective attenuation of high frequency due to absorption by the atmosphere 0.1 dB per meter(only high frequency) proportion of direct to reverberant sound absolute motion parallax as an observer passes by a source with unchanging head orientation, the azimuth of the source change see fig. 2. result 2/15 intracranial (頭蓋) 13/14 external Communications & Multimedia Lab
  70. Simulation Near Eardrum(1989) Ref: "Headphone simulation of free-field listening. I: Stimulus synthesis", Frederic L. Wightman, Doris J. Kistler, pp. 858-865, J. Accoust. Soc. Am., 85(2), February 1989. Goal: Given x1(t), produce x2(t) s.t. y2(t) equals to y1(t) - x1(t): electrical signal from a loudspeaker· -x2(t): electrical signal from a earphone·  - y1(t): resultant electrical signal at eardrum from x1(t) - y2(t): resultant electrical signal at eardrum from x2(t)   → Fourier Transform : Y1 = X1 L F M -L: Loudspeaker transfer function -F: the free-field-to-eardrum transfer function (Head Related Transfer Function, HRTF)    -M: microphone transfer function -H: headphone-to-eardrum transfer function Y2 = X2 H M Let Y1 = Y2 → X1LFM = X2HM → X2 = X1 L F/H Desired filter transfer function T = L F/H. measurements were made at all elevations except +72 and + 90 deg, and at all azimuths around the circle in 15-deg steps.Thus transfer functions were measured from both ears at 144 source positions.10 subjects were measured. Communications & Multimedia Lab
  71. Active Localization of Visual Sound(1990) Goal: to achieve effective localization of virtual sounds thatwould enable an observer to walk quickly and effortlessly to the position of a simulated sound.    see fig.1  Approximation head shadow crossover frequency 1.8kHz sinusoidallys.t. Left is attenuated 16dB to Right at 90 deg Pinnae shadow azimuth = 0, minimum azimuth = 180, maximum 3dB Communications & Multimedia Lab
  72. Sources On the Difference Between Localization and Lateralization(1972) G. Plenge(West Germany) Headphone Simulation of Free-field ListeningI : Stimulus Synthesis(1989) Headphone Simulation of Free-field ListeningII: Psychophysical Validation(1989) Frederic L. Wightman and Doris J. Kistier J. Acoustical society of America 85, p858-67 Active Localization of Virtual Sounds(1990) Jack M. Loomis, Chick Hebert, Joseph G. Cicinelli Localization Using Nonindividualized Head-Related Transfer Function(1993) Elizabeth M Wenzel, Marianne Arruda, Doris Kistler, Federic L. Wightman SIGCHI'89, Presence 1(1), 80-107 Communications & Multimedia Lab
  73. Simulation History Evolution Dummy Head -> Pinnae -> Canal -> eardrum 1972(Dummy Head Record) Conclusion: whether lateralization or localization does not depend upon whether the sound is conveyed by earphone or not InterauralIntensity Difference(IID) InterauralTime of Arrival Difference(ITD) Communications & Multimedia Lab
  74. Experiments: measure Y1, X1, Y2, X2(可測量) LFM = Y1/X1, and HM = Y2/X2 T = LFM/(HM) = LF/M Transfer function were measured from both ears at 144 source positions elevation -36, -18, 0, 18, 36, 54 degrees(6 divisions) azimuth - 15 degree each step(24 divisions) so 6 * 24 = 144 See Fig. 1, 2, 3, 4 and 6. 補充: L: loudspeaker transfer function F: free-field-to-eardrum transfer function H: headphone-to-eardrum transfer function X1(t): 揚聲器信號 X2(t): 耳機信號 Y1(t): 耳膜收到 X1(t) 之結果信號 Y2(t): 耳膜收到 X2(t) 之結果信號 Nonindividual HRTF(1993) Goal: use a good localizer's HRTF as a universal HRTF need not to customize HRTF for every individual Result: an increase in rate of front-back confusion slightly degraded for good localizer using HRTF from another good localizer large errors made for good localizer using HRTF from a poor localizer poor anyway for a poor localizer Solving: Y1 = Y2 X2 = X1LF/H define T = LF/H Goal: measure T for every subject in 144 source positions given x1(t), then X2 = X1T, and x2(t) is available Communications & Multimedia Lab
  75. Communications & Multimedia Lab
  76. Fourier Transform, Discrete Fourier Transform:  Introduction eit = cos(t) + i sin(t) Theory: Continuous For a continuous function of one variable f(t), the Fourier Transform F(f) will be defined as: and the inverse transform as: where j is the square root of -1 and e denotes the natural exponent Discrete Consider a complex series x(k) with N samples of the form … … where x is a complex number + Further, assume that that the series outside the range 0, N-1 is extended N-periodic, that is, xk = xk+N for all k. The FT of this series will be denoted X(k), it will also have N samples. The forward transform will be defined as The inverse transform will be defined as x Communications & Multimedia Lab
  77. Convolution Convolution in time domain equals multiplication in frequency domain. The behavior of a linear, time-invariant discrete-time system with input signal x[n] and output signal y[n] is described by the convolution sum The signal h[n], assumed known, is the response of the system to a unit-pulse input. For longer sequences, convolution may pose a problem of processing time; it is often preferred to perform the operation in the frequency domain: if X, Y and Z are the Fourier transforms of x, y and z, respectively, then: Z=XY Normally one uses a fast Fourier transform (FFT), so that the transformation becomes For the FFT, sequences x and y are padded with zeros to a length of a power of 2 of at least M + N - 1 samples. DEMO:   http://www.srslabs.com/Demonstrations.asp Communications & Multimedia Lab
  78. Communications & Multimedia Lab
  79. Molecular binding problem (1) Communications & Multimedia Lab
  80. Trimethoprim (an anti-bacterial drug) and methotrexate (MTX, an anti-cancer drug) binds to DHFR much easier than folate.Therefore, analogues of trimethoprim and methotrexate becomes good candidates for binding tests. 科普導讀:天下文化所出版《基因聖戰》 (Jerry Bishop 著,楊玉齡 譯),1994, 10Where to obtain the molecules?from Brook heaven Protein Databank(US. $70, one CD)available from ftp.csie.ntu.edu.tw(台大資訊系), including X-ray, CT, MRI, Ultrasound data. Communications & Multimedia Lab
  81. Communications & Multimedia Lab
  82. Communications & Multimedia Lab
  83. Two ways to solve the molecular binding problem Man-in-the-loop design (Human Computer Interface) Algorithms (searching & global optimization)if 5 degrees in rotation, 0.2 angstrom in translationsearch range = 10 angstrom(), a drug molecule with 6 single bands,→cardinality of search space Energy calculation on SUN SparcStation 10 0.1ms (fast method)Brute force search will take 200 years Communications & Multimedia Lab
  84. Molecular binding problem (2) Problem definition Given 2 molecules Energy minimization problem Quantitative analysis Electrostatic force van der Waals force Communications & Multimedia Lab
  85. Computational Complexity Quantum mechanics O(n^4) where n = number of orbitals Eg. In Gaussian 82, 38 Cray hours for dimethyl phosphate, which contains less than 50 atoms Molecular mechanics O(M*N) where M is the number of atoms in protein, N is the number of atoms in a drug molecule Grid tabulation O(n) Molecular Dynamics Molecular mechanics solution as a function of time Communications & Multimedia Lab
  86. Annealing genetic algorithm (1) Objective Automatic and efficient Solution Simulated annealing + Genetic algorithm Communications & Multimedia Lab
  87. Annealing genetic algorithm (2) Simulated annealing(SA) S..Kirkpatrick, Science, Vol 220, No 4598, pp671-680, 1983 Guided random search : cost difference T : temperature Algorithm: after perturbation, the cost difference is , Get random number [0, 1] if ( random number < prob ) accept; else try another perturbation Communications & Multimedia Lab
  88. Annealing genetic algorithm (4) F.T. Lin, C.Y. Kao, C.C. Hsu, "Applying the Genetic Approach to Simulated Annealingin Solring Some NP-Hard Problems", IEEE tr. System, Man, Cybernetics, Nov 1993. L.H. Wang, C.Y. Kao, M. Ouhyoung, W.C. Chen, Proc. Tools with AI(TAI' 94), Nov 1994. Communications & Multimedia Lab
  89. Annealing genetic algorithm (5) Concept Population-based SA Boltzmann type selection operator Communications & Multimedia Lab
  90. Result (2) Parameter setting population size = 50 Precision of Search Space 0.2 angstrom in translation 5 degrees in rotation Communications & Multimedia Lab
  91. Communications & Multimedia Lab
  92. Figure 6: The stereo image of the binding structure of inhibitor 91 with DHFR. Figure 7: The stereo image binding structure of inhibitor 309 with DHFR.  Communications & Multimedia Lab
  93. Conclusion AG is stable and powerful Algorithm-only approach can obtain reasonable solutions Based on AG, drug design tool can be developed Communications & Multimedia Lab
  94. Optical TrackersEnvironment setup Outside-in vs Inside-out optical trackers Environment Communications & Multimedia Lab
  95. Algorithms: Inferring 3D position Inferring 3D position from 2D image 12 unknowns in M, each 3D point provides 2 independent constrains => 6 points  Communications & Multimedia Lab
  96. Algorithms: Inferring 3D position Church(1945) method: modified by iterative converging. Communications & Multimedia Lab
  97. How to implement the Church’s algorithm? (1) With Math background: partial differential (derivatives) calculation (2) Without enough Math background: Steepest descent algorithm + random walk F(U) = a F(U + delta U ) + ? Let delta U be (1, 3, 5) U + delta U = (1,3,5) +/- 0.01 in X,Y,and Z directions, for instance, then RANDOM WALK , and locate the smaller F(U + delta U)! Communications & Multimedia Lab
  98. Algorithms: System errors Communications & Multimedia Lab
  99. Algorithms: System errors Result In camera coordinate long focal length large separation between image points high resolution of photodiode In world coordinate large separation between beacons Communications & Multimedia Lab
  100. Algorithms: Multiple views Communications & Multimedia Lab
  101. Performance Evaluation Communications & Multimedia Lab
  102. Update Rate One receiver:       120 updates/second/receiver Two receivers:       60 updates/second/receiver Three receivers:     40 updates/second/receiver Four receivers:      30 updates/second/receiver Carrier Frequency The FASTRAK may be configured with any one of four discrete carrier frequencies to allow simultaneous operation of up to four instruments in close proximity. Carrierfrequencies are selected via color coded Frequency Select Modules (FSM). These frequencies are: The color dot can be found on the FSM, on the end closest to the connector. Interfaces IEEE-488 parallel port at 100k Bytes/second maximum, and RS-232C serial port with software selectable baud rates of 300, 1200, 2400, 4800, 9600, 19200, 38400, 58600 and 115200; ASCII or Binary format.  The factory standard for RS-232C is 9600 baud.  An RS-422 port is available as an optional serial port in lieu of the RS-232 at the same baud rates.  Position Coverage  The instrument will provide the specified accuracy when receivers are located within 30"(76cm.) of the transmitter. Operation with separations up to 120"(305cm.) is possible with reduced accuracy. Negative Coverage: The receivers are all-attitude. Static Accuracy 0.03"(0.08cm) RMS fro the X, Y, or Z receiver position, and 0.15° RMS for receiver orientation. Resolution 0.0002 inches/inch of range(0.0005 cms/cm of range), and .025 deg. Latency 4.0 milliseconds from center of receiver measurement period to beginning of transfer from output port. Output Software selectable including extendedprecision. Cartesian coordinates of position and Euler orientation angles are standard. Direction cosines and quaternions are selectable. English or metric units are also selectable. Communications & Multimedia Lab
  103. The Development of a Force Feedback Joystick and Its Use in the Virtual Environment Communications & Multimedia Lab
  104. Overview Motivation Implementation How to simulate behaviors of objects theory and experiments VR prototype(Virtual Reality) Conclusion and future work Communications & Multimedia Lab
  105. Mechanical Structure Communications & Multimedia Lab
  106. Why implementing a force feedback joystick Correctly and efficiently manipulate 3D objects on a 2D screen Virtual environment visual, audio, and haptic information Enhance the illusion of virtual environment Commercially available (Microsoft, etc.) Communications & Multimedia Lab
  107. A simple flight simulator X-wing like game Communications & Multimedia Lab
  108. Flow Control Communications & Multimedia Lab
  109. How to simulate the behavior of objects ---Theory Impedance Control Theory Communications & Multimedia Lab
  110. viscosity : Newton-sec/m, stiffness : Newton/m, sampling period : msec a magic that fooled everyone! Condition 1 : stable in vertical moving, unstable in horizontal collision with a wall Condition 2 : stable in both vertical and horizontal moving Communications & Multimedia Lab
  111. VR 設計理念之探討: 乘三角翼 飛越太平山 Virtual Reality Entertainment System 歐陽明教授台大資訊所多媒體實驗室 Communications & Multimedia Lab
  112. 構想 目的為模擬出乘坐三角翼飛越太平山原始森林與翠峰湖風景區的真實感覺 藉由 digital video 的播放, 配合電動椅之轉動來製造與景觀相同的視角以及動作, 而讓使用者產生身歷其境的感覺 Communications & Multimedia Lab
  113. 系統架構 Communications & Multimedia Lab
  114. 硬體 Digital Video Card: 為digital video display card (ex.Parallex)或MPEG decorder card 電動椅: 為可對兩軸產生轉動之椅子 控制用電腦: 處理數位影像播放及電動椅轉動 Communications & Multimedia Lab
  115. 軟體 Display: 產生digital video 電動椅控制: 計算各瞬間必須提供的力與方向, 並興digital video同步. 興電動椅作communication, 傳送commands與接收目前的位置資料 Communications & Multimedia Lab
  116. 應用 教育: Flight Simulator, 各種交通工具駕駛訓練 娛樂: Star War(Disneyland), Arcade Games, Racing Car... 觀光導遊: 雪車(瑞典), 三角翼 Communications & Multimedia Lab
  117. 乘三角翼飛越太平山   曾經幻想乘著三角翼飛越太平山鳥瞰蘭陽平原嗎?或許你會因為安全的因素而放此棄你的行程,但是在此系統之下,你可以很容易的達成這個壯舉。  當你坐上電動椅時,目視前方的螢光幕,隨著螢光幕影像的改變,動椅會隨著影像的節奏而前後左右搖擺。而電動椅中的你會覺得彷彿置身於螢光幕的世界中,而達到虛擬實境的效果,在歷時三分多鐘的展示中, 你可以怠受到俯衝,劇升,急轉…等不同的經驗,而你的心情也會隨著為之改變。  本系統採用二台個人電腦,一台個人電腦負責影像的播放和控制命令的傳遞,另外一台電腦則是負責接收控制命令並且負責驅動電動椅下方的二個馬達。二台個人電腦是透過RS-232來傳遞溝通。影像部分的來源。由於尚未至太平山拍攝實景,暫時以國內代理的MAGIC CARPET為主,從此遊戲中攫取一段精華壓縮成VIDEO CD的格式,透過MPEG影像卡放出來,同時將控制信號透過RS-232送到另外一端。接收的一端在命令到達時,立刻解釋命令,並且控制電動椅馬達的轉速與方向。 工研院電通所委託 台灣大學資訊工程系通訊及多媒體實驗室及 台灣大學機械工程系精密系統控制實驗室共同研製 Communications & Multimedia Lab
  118. 暢遊過台大椰林大道  曾經暢遊過台大的椰林大道嗎? 在本系展示中, 你可以在椰林大道從頭走至尾, 還可向四面八方 觀看風景!  本系統主要是將攝影機率(V8)所攝得的影像輸入電腦, 而後使用者可以在芋限定範圍內任意變換視點及視角, 由電腦將影像作特殊的影像處理, 如貼圖技術一般, 讓使用者彷彿置身其中一般. (效果和 Apple公司的"Quick-time VR"類似, 但為本實驗室自行研發).   以下的展示中, 將台大椰林大道分為數個區段, 在各區段之內, 顯像速度在Pentium-90上可達每秒20張以上 升每張為320x120 pixels, 65536nau ino high-color影像)唯跨越兩個區段時需等待4秒左右的時方能見到 新的畫面, 且剛進入一個新的區段時顥像速度會變慢, 這是因為電腦在作資料處理的緣故.   本系統無特殊硬體需求, 一般IBM PC 486以上機型即可, 唯CPU以486DX2-66以上為直, 記憶體以8MB以上 為宜. 控制可用鍵盤或滑鼠. 目前本系統只支援ET-4000卡介(其它VGA卡只能顯示256色灰階影像). 資料方面, 由於使用了JPEG影像壓縮技術, 以下椰林大道的展示只佔用了不到4MB不到的硬碟空間. 由於每次自磁碟讀取的資量僅400KB至500KB左右, 故將來應用時可將資料儲存於光碟. PS:光系統可興電動椅之技術結合, 提供虛擬實境的影像部分 操作方式: 按住滑鼠左鍵, 將滑鼠向前或向後拉, 即自動向前或向後移動. 將滑鼠向左右移, 即自動向左右 旋轉. 放開滑鼠左鍵即停止. 按下滑鼠中鍵即可向前跳過一段距離. 按住滑鼠右鍵, 將滑鼠向前或向後拉, 即可仰視或俯瞰. 將滑鼠向左右移, 即可傾斜. 放開 滑鼠右鍵即自動恢復水平. 台灣大學資訊工程系通訊及多媒體實驗室研製 Communications & Multimedia Lab
  119. x’’ The Rendering Equation [Kajiya86] global illumination idea: where x’ x Communications & Multimedia Lab
  120. A simple recursive ray tracing Whether L1 = R1 + T1 ? or f(L1) = f(R1) + f(T1) ? or Color = f(L1,R1,T1) ? Communications & Multimedia Lab
  121. RadiosityMethods Equation Simplified equation from (1) ( Energy Balance ) where Communications & Multimedia Lab
  122. 2.1 Gathering vs. shooting Reconsider the equation Communications & Multimedia Lab
  123. 1.2 Form-factor viewing direction surface normal Communications & Multimedia Lab
  124. Communications & Multimedia Lab
  125. 2.3 Hemi-cube method for each face do: Transformation Clipping Scan conversion Depth-buffering 2.4 Solving in sorted order During each iteration, always find the patch which has maximal unshot energy. Those concepts cause a progressive refinement algorithm. Communications & Multimedia Lab
  126. 3.1 Single plane algorithm: 3.2 modified hemi-cube algorithm: When the lost energy ( caused by single plane algorithm ) accumulated exceeds its delta radiosity, it shots through the four sides beneath the plane. In effect, the lost energy becomes "delayed" energy. Communications & Multimedia Lab
  127. rearranging terms a set of simultaneous equations key: progressive Refinement [M. Cohen] Communications & Multimedia Lab
  128. 2.2 Shooting algorithm ( iteration ) Communications & Multimedia Lab
  129. Raster Graphics Term Projects Image generation using "Fractal" technique.This will generate mountain, ocean forest, clouds etc, and the pictures are usually very beautiful. Deformable surface animation and calculation.For example, to show the national flag waving in the wind or to throw a stone at the virtual face. The other topic is to "deform" a virtual face so that he or she can laugh, cry, and speaks. The real human being face pictures can be used as the texture maps. Other effects include parameterizing these effects (laugh, cry), so that communication band can be extremely low. Virtual reality project. Head-mounted display implementation. A force-feedback joystick on a PC. Develop texture mapping techniques for a marble vase (solid texture), a cloth(soft tissue) , or a human face ( arbitrary surface ). The other one is the so called reaction-diffusion technique for the pattern and spots of a dog, a giraffe, or a zebra. High-speed graphics engine architecture design After surveying papers, this person should study graphics algorithms and convert these algorithms into parallel form. Furthermore, he or she should DESIGN a virtual machine that can run these parallel/pipelined algorithms. This virtual machine should follow VLSI constraints. Develop algorithms to implement "radiosity" method and try to speed up the algorithm. Develop algorithms to implement "volume rendering" method and try to visualize "abstract data" as well. This is for scientific visualization. PS. Please select one as your own term project. Ming Ouhyoung Communications & Multimedia Lab