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GaussMarbles: Spherical Magnetic Tangibles for Interacting with Portable Physical Constraints Han-Chih Kuo, Rong-Hao Liang, Long-Fei Lin, Bing-Yu Chen National Taiwan University
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Interactive Surface Constructive Assembly Token+Constraint
Token+Constraint Systems for Tangible Interaction with Digital Information (Ullmer et al. TOCHI ‘05)
Tangible User Interfaces
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Interactive Surface Constructive Assembly Token+Constraint
MagGetz (Hwang et al. UIST ’13)
Tangible Magnetic Appcessories (Bianchi et al. TEI ’13)
Tangible Remote Controllers for Wall-size Displays (Jansen et al. CHI ’12)
Tracking Token+Constraint Interactions on Portable PlatformsToken + Strict Constraint
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Tracking Ball+Constraint Interactions on Stationary PlatformsBall + Loose ConstraintinFORM (Follmer et al. UIST ’13)
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Ball + Constraint Interactions on Portable Platforms
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Tracking Ball+Constraint Interactions on Stationary Displays
camera camera
magnetic-field camera
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Paper Session: Tangible UIST’11, October 16–19, 2011, Santa Barbara, CA, USA
349
Better Form Factors
Vision-based Object Tracking Technologies
GaussSense (Liang et al. UIST ’12)
Portico(Avrahami et al. UIST ’11)
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Challenges of Magnetic TrackingOne of the bipolar magnetic field may disappear while rolling
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Solution: Magnetic Regular PolyhedronExpanding magnetic fields in equal dihedral angles to make the bipolar magnetic fields visible at any direction
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Solution: Magnetic Regular PolyhedronExpanding magnetic fields in equal dihedral angles to make the bipolar magnetic fields visible at any direction
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Explorative Study
different sizesdifferent faces
Form factors vs. tracking performances
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Form factors vs. tracking performancesExperimental Apparatus
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servo motor
stabilizeranalog Hall-sensor grid
Form factors vs. tracking performancesExperimental Apparatus
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servo motor
stabilizeranalog Hall-sensor grid
Form factors vs. tracking performancesExperimental Apparatus
single magnet 16mm-radius
6-face 13.5,16,18.5,21mm-radius
4, 6, 8, 12-face 16mm-radius
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servo motor
stabilizeranalog Hall-sensor grid
Form factors vs. tracking performancesExperimental Apparatus
8 (units) × 5 (positions) × 4 (hover heights) × 10 (angles) × 100 (samples) = 160,000 bitmaps of magnetic fields
single magnet 16mm-radius
6-face 13.5,16,18.5,21mm-radius
4, 6, 8, 12-face 16mm-radius
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Form factors vs. tracking performancesData Processing
Bipolar-blob contours North-blob contours South-blob contours
3 types of contour
8 (units) × 5 (positions) × 4 (hover heights) × 10 (angles) × 100 (samples) = 160,000 bitmaps of magnetic fields
(max Intensity M and blob Area A)
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Form factors vs. tracking performancesData Processing
Bipolar-blob contours North-blob contours
1. Centroid of contours
2. Centroid of pixels (in all contours)
3. Centroid of mass (in all contours)
3 types of contour x
8 (units) × 5 (positions) × 4 (hover heights) × 10 (angles) × 100 (samples) = 160,000 bitmaps of magnetic fields
(max Intensity M and blob Area A) 3 types of centroid
South-blob contours
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9 Distributions of centroids
Form factors vs. tracking performancesData Processing
Bipolar-blob contours North-blob contours
1. Centroid of contours
2. Centroid of pixels (in all contours)
3. Centroid of mass (in all contours)
3 types of contour3 types of centroidx d
8 (units) × 5 (positions) × 4 (hover heights) × 10 (angles) × 100 (samples) = 160,000 bitmaps of magnetic fields
(max Intensity M and blob Area A) =
South-blob contours
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9 Distributions of centroids
Form factors vs. tracking performancesData Processing
Bipolar-blob contours North-blob contours
1. Centroid of contours
2. Centroid of pixels (in all contours)
3. Centroid of mass (in all contours)
d
mean(d),std(d): measured dispersion
8 (units) × 5 (positions) × 4 (hover heights) × 10 (angles) × 100 (samples) = 160,000 bitmaps of magnetic fields
3 types of contour3 types of centroidx(max Intensity M and blob Area A) =
South-blob contours
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0
1
2
3
4
5
6
1M P4 6M 8M 12M
IN-OC IN-OP IN-OM IS-OC IS-OP IS-OM IB-OC IB-OP IB-OMOc-IN Op-IN Om-IN Oc-IS Op-IS Om-IS Oc-IB Op-IB Om- IBN
/ A
N /
A
N /
A
0
1
2
3
4
56
(mm)
dist
ance
(d)
1. Bi-polar centroid of mass is the most stable feature for xy-plane tracking.
single magnet 16mm-radius
4-face 16mm-radius
6-face 16mm-radius
8-face 16mm-radius
12-face 16mm-radius
Summary of Findings
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Summary of Findings
0
1
2
3
4
5
6
1M P4 6M 8M 12M
IN-OC IN-OP IN-OM IS-OC IS-OP IS-OM IB-OC IB-OP IB-OMOc-IN Op-IN Om-IN Oc-IS Op-IS Om-IS Oc-IB Op-IB Om- IBN
/ A
N /
A
N /
A
0
1
2
3
4
56
(mm)
dist
ance
(d)
1. Bi-polar centroid of mass is the most stable feature for xy-plane tracking.
single magnet 16mm-radius
4-face 16mm-radius
6-face 16mm-radius
8-face 16mm-radius
12-face 16mm-radius
2. Polyhedrons support z-axis tracking by using the product of south-blob area and intensity (AS × MS), and a single magnet does not.
3 mm
6 mm
9 mm
0
50
100
150
200
0
50
100
150
200
0
50
100
150
200
0
50000
100000
150000
0
50000
100000
150000
0
50000
100000
150000
(gau
ss)
200
150
100
50
0
150000
100000
50000
0
(gau
ss x
mm
2 )
a b4-face 6-face 8-face 12-face
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Summary of Findings
012345678
1 2 3 4
��1 ��2 ��3 ��4
h = 12 mm
h = 9 mm
h = 6 mm
h = 3 mm
012345678
1 2 3 4
��1 ��2 ��3 ��4mm
h = 3 mm h = 12 mmh = 9 mmh = 6 mm
Om- IB24
0
2
4
0
6
8
202020
(mm) (mm)
dist
ance
(d)
dist
ance
(d)
a b
3. More faces yield greater accuracy, but accuracy drops as sensing distance increases.
(cont’d)
4face 6face 8face 12face
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012345678
1 2 3 4
��1 ��2 ��3 ��4
h = 12 mm
h = 9 mm
h = 6 mm
h = 3 mm
012345678
1 2 3 4
��1 ��2 ��3 ��4mm
h = 3 mm h = 12 mmh = 9 mmh = 6 mm
Om- IB24
0
2
4
0
6
8
202020
(mm) (mm)
dist
ance
(d)
dist
ance
(d)
a b
3. More faces yield greater accuracy, but accuracy drops as sensing distance increases.
Summary of Findings
4face 6face 8face 12face 4. Smaller polyhedrons yield slightly greater accuracy.
012345678
1 2 3 4
��1 ��2 ��3 ��4
h = 12 mm
h = 9 mm
h = 6 mm
h = 3 mm
012345678
1 2 3 4
��1 ��2 ��3 ��4mm
h = 3 mm h = 12 mmh = 9 mmh = 6 mm
Om- IB24
0
2
4
0
6
8
202020
(mm) (mm)
dist
ance
(d)
dist
ance
(d)
a b
13.5mm radius
16mm radius
19.5mm radius
21mm radius
(cont’d)
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Designing Ball + Constraint Interactions on Portable PlatformsApplications
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Interacting with Constraints on a DisplayUsing Physical Constraint to Manipulate a Ball
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Interacting with Constraints on a DisplayEmbodied Gestures
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Interacting with Constraints on a DisplayBall+Constraint Interactions on Handheld Displays
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Interacting with Constraints on a Display
conductive rubber
Touch interactions on a magnetic sphere
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Interacting with Constraints on a DisplayClay-made territory as a continuous constraint
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Interacting with Constraints on a DisplayAround-Device Interactions
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Interacting with a Constraint Nearby a DisplayUsing Physical Constraints to Bridge Digital- and Real-world Experiences
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Interacting with a Constraint Nearby a DisplayUsing Physical Constraints to Bridge Digital- and Real-world Experiences
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Interacting with a Constraint Distant from a Display
Velcro strap
High-friction Materials as Physical Constraints
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Interacting with a Constraint Distant from a Display
Velcro strap
High-friction Materials as Physical Constraints
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GaussMarbles: Spherical Magnetic Tangibles for Interacting with Portable Physical Constraints Han-Chih Kuo, Rong-Hao Liang, Long-Fei Lin, Bing-Yu Chen National Taiwan University
Thanks! Questions?
The proposed magnetic regular polyhedron design enables • stable 3D tracking by an analog Hall-sensor grid
without priori knowledge • the explorations of ball+constraint interaction
on portable platforms
Conclusion