Lanny S. Smoot

Self locomotion of a spherical rolling robot using a novel deformable pneumatic method

The authors have designed and constructed a new type of actuation for a spherical robot. The proposed actuation system consists of a large number of individually inflatable rubber bladders covering a sphere. Inflation of one or more of these bladders imparts a moment to the sphere and coordinated inflation results in a directed motion. Further, the authors introduce a scheme for steering the robot by correctly selecting the proper bladders to inflate so that motive force is developed in a specified direction. The control scheme utilizes a passively rolling inner vehicle with a directional, remotely positioned light source that causes valves housed within the sphere to inflate the designated bladders through optical commutation.

Multi-Layered Automultiscopic Displays

Our hybrid display model combines multiple automultiscopic elements volumetrically to support horizontal and vertical parallax at a larger depth of field and better accommodation cues compared to single layer elements. In this paper, we introduce a framework to analyze the bandwidth of such display devices. Based on this analysis, we show that multiple layers can achieve a wider depth of field using less bandwidth compared to single layer displays. We present a simple algorithm to distribute an input light field to multiple layers, and devise an efficient ray tracing algorithm for synthetic scenes. We demonstrate the effectiveness of our approach by both software simulation and two corresponding hardware prototypes.

A volumetric display based on a rim-driven varifocal beamsplitter and LED backlit LCD

We demonstrate a volumetric display providing high resolution, full color, real images with 10 addressable depth planes and correct focus and vergence cues for the viewer. The display is centered around a novel optical element; a large-aperture, rim-driven, adjustable-resonance, varifocal beamsplitter.

A fluid-suspension, electromagnetically driven eye with video capability for animatronic applications

We have prototyped a compact, fluid-suspension, electromagnetically-rotated animatronic eye. The eye features extremely low operating power, a range of motion and saccade speeds that can exceed that of the human eye, and an absence of frictional wear points. The design has no external moving parts, easing its installation in new and retrofit animatronic applications. It allows a clear view through the entire structure from front to back, making a rear, stationary video camera possible. The camera view is supported without a large entrance pupil and is stationary even during rotation of the eye. Two of these devices can support stereo viewing. In a special application, the eye can be separated into a hermetically sealable portion that might be used as a human eye prosthesis, along with an extra-cranially-mounted magnetic drive.

LCD masks for spatial augmented reality

One aim of Spatial Augmented Reality is to visually integrate synthetic objects into real-world spaces amongst physical objects, viewable by many observers without 3D glasses, head-mounted displays or mobile screens. In common implementations, using beam-combiners, scrim projection, or transparent self-emissive displays, the synthetic object’s and real-world scene’s light combine additively. As a result, synthetic objects appear low-contrast and semitransparent against well-lit backgrounds, and do not cast shadows. These limitations prevent synthetic objects from appearing solid and visually integrated into the real-world space. We use a transparent LCD panel as a programmable dynamic mask. The LCD panel displaying the synthetic object’s silhouette mask is colocated with the object’s color image, both staying aligned for all points-of-view. The mask blocks the background providing occlusion, presents a black level for high-contrast images, blocks scene illumination thus casting true shadows, and prevents blow-by in projection scrim arrangements. We have several implementations of SAR with LCD masks: 1) beam-combiner with an LCD mask, 2) scrim projection with an LCD mask, and 3) transparent OLED display with an LCD mask. Large format (80” diagonal) and dual layer volumetric variations are also implemented.