collaborative telepresence ken goldberg uc berkeley Students and Colleagues Dezhen Song Anthony Levandowski Annamarie Ho Mikin Faldu Judith Donath David Pescovitz Eric Paulos Supported by the National Science Foundation, Intel, Microsoft, and.
Download ReportTranscript collaborative telepresence ken goldberg uc berkeley Students and Colleagues Dezhen Song Anthony Levandowski Annamarie Ho Mikin Faldu Judith Donath David Pescovitz Eric Paulos Supported by the National Science Foundation, Intel, Microsoft, and.
collaborative telepresence ken goldberg uc berkeley Students and Colleagues Dezhen Song Anthony Levandowski Annamarie Ho Mikin Faldu Judith Donath David Pescovitz Eric Paulos Supported by the National Science Foundation, Intel, Microsoft, and UC Berkeley’s Center for IT Research in the Interest of Society alpha laboratory ieor and eecs, uc berkeley telerobots collaborative control cinematrix tele-actor sharecam Nikola Tesla (1898) IROBOT: x10 Internet-based Recommender Systems Jester: Eigentaste Algorithm (1998) Collaborative Control telerobots collaborative control cinematrix tele-actor sharecam cinematrix® R. and L. Carpenter (1992) Formal model of Cinematrix Cursor on Shared Screen: Audience (2 groups): x y (x,y) Simulator: Audience Diversity: • • • • Drop outs Malicious Agents Random Agents Time Delayed Agents Performance 100% 63% 0% 0% 50% 100% % drop-outs, % malicious agents Performance 100% 63% 0% 0% 50% % random agents 100% % Time Delayed Agents telerobots collaborative control cinematrix tele-actor sharecam participants server tele-actor Education Journalism Entertainment System Architecture • Version 3.0 (Jul. 18, 2001) • Version 9.0 (Jul. 26, 2002) Spatial Dynamic Voting (SDV) Interface Version 3.0 •VOTEL: VOTing ELement •Color = Voter Identity • 2D Spatial placement • Dynamic placement • Voter sees all votels • 60-second election cycle • 6-second votel refresh SDV Interface Version 5.0 SDV Interface Version 9.0 Query Types Navigational Yes/No Binary Field Tests July 18th, 2001 SF Opera House 5th Annual Webby Awards Nov. 8, Dec. 19, 2001 UC Berkeley Micro Laboratory Field Tests Feb 13, 2002, SF Exploratorium Jul. 26, 2002, Michael Eisen's Biotechnology lab at Lawrence Berkeley National Laboratory Field Test: Entertainment The Thin Blue Wire • Mission: • A dangerous device was placed somewhere in the courtyard outside Etcheverry Hall. • It is set to go off at 3:30pm. • Tele-Actor Mission: – Locate the device – Retrieve and open it – Cut the Thin Blue Wire Should we accept this mission? NO YES Where is the device? Who should we ask for help? Which tool should we use first? Should we cut this wire? NO YES Great Work Team ! Research Agenda • • • • • • Formal Models Algorithms Hardware Design Interface Design Internet 2 Interactive TV Votel Pattern Analysis Leadership Metric Voter’s ability to anticipate majority opinion Shall we open the furnace? 60 30 t (sec) 60 30 t (sec) ti Ii T 1 If vote is in selected goal region Ii otherwise 0 Leadership Metric Voter’s ability to anticipate majority opinion 60 30 ti 55 I i .92 T 60 Shall we open the furnace? ti 32 I i .53 T 60 t (sec) Hardware Design Experience Design Studio Course Pasadena Art Center College of Design Steve Montgomery, Ken Goldberg, Brenda Laurel Low Latency Video Broadcasting Windows Media Encoder 7.1 MPEG-4 Compression Internet 2 telerobots collaborative control cinematrix tele-actor sharecam sharecam Example input: 7 requested frames: One Optimal Frame ShareCam Problem: Given n requests, find optimal frame telerobots collaborative control cinematrix tele-actor sharecam [email protected] www.ieor.berkeley.edu/~goldberg Challenging Fitts’ Law "The problem is to find a form of association which will defend and protect with the whole common force the person and goods of each associate, and in which each, while uniting himself with all, may still obey himself alone, and remain as free as before." - Jean Jacques Rousseau, The Social Contract, 1762 Simulating Needle Insertion and Radioactive Seed Implantation for Prostate Brachytherapy Group Dynamics • Pressures toward Uniformity – Bandwagon Effects – Underdog Effects • Scoring metric based on leadership Differential Games – joint actions on common state variables with payoff values – Nash equilibrium: when no player would benefit from a change in strategy (control) J u1 ,..., u n 1 t1 t0 f 1 t , x1 t ,..., xn t , u1 t ,..., u n t dt J n u1 ,..., un t t1 f n t , x1 t ,..., xn t , u1 t ,..., un t dt 0 subject to : xit g i t , x1 t ,..., xn t , u1 t ,..., u n t : xi t 0 xi 0 , xi ti free, i 1,2,..., n