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Microsoft Patent | Hand gesture-based emojis
Patent: Hand gesture-based emojis
Examples are disclosed that relate to hand gesture-based emojis. One example provides, on a display device, a method comprising receiving hand tracking data representing a pose of a hand in a coordinate system, based on the hand tracking data, recognizing a hand gesture, and identifying an emoji corresponding to the hand gesture. The method further comprises presenting the emoji on the display device, and sending an instruction to one or more other display devices to present the emoji.
On a display device, a method comprising: receiving hand tracking data representing a pose of a hand in a coordinate system, the hand tracking data comprising data regarding a spatial position of each of a plurality of joints of a hand model; based on the hand tracking data, recognizing a hand gesture; identifying an emoji corresponding to the hand gesture; presenting the emoji on the display device; and sending an instruction to one or more other display devices to present the emoji.
The method of claim 1, wherein the one or more other display devices comprises a targeted display device identified via one or more of gaze tracking and head tracking.
The method of claim 1, wherein the instruction is sent to all display devices sharing the coordinate system.
The method of claim 1, further comprising determining the one or more display devices to which the instruction is sent based upon a setting for the emoji.
The method of claim 1, wherein the instruction specifies an object with which to associate the emoji when presenting the emoji.
The method of claim 5, wherein the object comprises a second display device in the coordinate system, a physical object in the coordinate system, the hand, or a virtual object in the coordinate system.
The method of claim 1, wherein the hand tracking data further indicates a rotation of each of the plurality of joints of the hand model.
The method of claim 1, wherein the instruction instructs the one or more other display devices to present the emoji with a multichannel audio signal that acoustically encodes a spatial origin of the emoji in the coordinate system.
The method of claim 1, further comprising disabling recognition of the hand gesture in response to detecting a user interaction with an object.
The method of claim 1, wherein the display device comprises one or more of an augmented reality display and a virtual reality display.
The method of claim 1, further comprising determining the hand tracking data from depth image data.
A display device, comprising: a logic subsystem; a communication subsystem; a display subsystem; a sensor subsystem; and a storage subsystem comprising instructions executable by the logic subsystem to receive from the sensor subsystem first articulated hand tracking data representing a pose of a first hand of a first user in a coordinate system, the first articulated hand tracking data comprising data regarding a spatial position of each of a plurality of joints of a hand model; receive, from a remote device via the communication subsystem, second hand tracking data representing a second hand of a second user in the coordinate system; compare the first articulated hand tracking data and the second hand tracking data; and when a condition is met based on the comparing, output an emoji via the display subsystem.
The display device of claim 12, wherein the second hand tracking data indicates one or more finger positions and a palm pose.
The display device of claim 12, wherein the condition includes a collision between a collider associated with the first hand and a collider associated with the second hand.
The display device of claim 12, further comprising instructions executable to display via the display subsystem a representation of the second hand.
The display device of claim 12, further comprising instructions executable to receive eye tracking data indicating a gaze direction of the second user, and to display via the display subsystem a representation of the second user, the representation being animated based on the eye tracking data.
The display device of claim 12, further comprising instructions executable to output a ray representing a pointing direction of the second hand.
The display device of claim 12, further comprising instructions executable to send an instruction to the remote device to present the emoji.
The display device of claim 18, wherein the instruction instructs the remote device to present the emoji with a multichannel audio signal that acoustically encodes a spatial origin of the emoji in the coordinate system.
A display device, comprising: a logic subsystem; a communication subsystem; a sensor subsystem; and a storage subsystem comprising instructions executable by the logic subsystem to receive from the sensor subsystem articulated hand tracking data representing a pose of a hand in a coordinate system, the articulated hand tracking data comprising data regarding a spatial position of each of a plurality of joints of a hand model; based on the articulated hand tracking data, recognizing a hand gesture; identifying an emoji corresponding to the hand gesture; determining a display device to which to send an instruction to present the emoji; and send via the communication subsystem the instruction to present the emoji to the display device with a multichannel audio signal that acoustically encodes a spatial origin of the emoji.
[0001] Emojis provide a mechanism to express emotion on a computing device. Emojis may take the form of a static or animated graphic, and often appear as a face or other imagery that conveys emotion. Emojis may be shared among users through various communication media such as email, chat, or text message.
[0002] Examples are disclosed that relate to hand gesture-based emojis. One example provides, on a display device, a method comprising receiving hand tracking data representing a pose of a hand in a coordinate system, recognizing a hand gesture based on the hand tracking data, and identifying an emoji corresponding to the hand gesture. The method further comprises presenting the emoji on the display device, and sending an instruction to one or more other display devices to present the emoji.
[0004] FIG. 1 shows a shared virtual space as viewed via example HMD devices.
[0005] FIG. 2 depicts an example in which an emoji is shared with a remote HMD device.
[0006] FIG. 3 schematically shows an example pipeline for implementing articulated hand tracking.
[0007] FIGS. 4A-4B illustrate an example hand gesture performed by two users.
[0008] FIG. 5 illustrates an example in which an emoji is associated with a target object via gaze tracking.
[0009] FIG. 6 illustrates an example in which an emoji includes a multichannel audio signal.
[0010] FIG. 7 shows another example HMD device.
[0011] FIG. 8 shows a flowchart illustrating an example method of presenting emojis based on hand gestures.
[0012] FIG. 9 shows a flowchart illustrating an example method of outputting an emoji at a display device based on comparing first and secondhand tracking data.
[0014] As mentioned above, computing device users may convey emotions through emojis, which often take the form of faces or other imagery that convey the desired emotions. Emojis may be shared among users through various communication media such as email, chat, or text message.
[0015] Emojis may be shared in other settings as well, such as virtual spaces in which users participate via head-mounted display (HMD) devices. In some such virtual spaces, a user may use a handheld controller to interact with a user interface presented on an HMD device to share emojis. However, navigating the user interface may distract a user's attention away from the shared virtual space, and reduce the user's sense of immersion in the shared virtual space. Some HMD devices may allow emojis to be displayed using gestures, but may recognize only a limited set of gestures due to limitations on the poses that may be recognized.
[0016] Accordingly, examples are disclosed that relate to recognizing hand gestures based on articulated hand tracking data, and in response presenting emojis that corresponding to the recognized hand gestures. Articulated hand tracking data includes positional and rotational data for a plurality of joints of a user's hand, which allows the accurate detection of a wide range of hand gestures that may be mapped to a wide variety of emojis. Examples are also disclosed that relate to recognizing hand gestures performed by multiple users and the sharing of emojis among those users. Further, examples are disclosed that relate to associating emojis with objects, including physical objects and virtual objects presented in a shared virtual space. Additionally, examples are disclosed that relate to an emoji comprising multichannel audio signals that acoustically encode a spatial origin of the emoji, enabling a user receiving the emoji to locate the emoji, even when the emoji is located outside of the receiving user's field of view. Hand gestures may provide a natural and intuitive mechanism for users to share a wide variety of emojis with others in a virtual space and express emotion, without involving input device manipulation and user interface navigation.
[0017] FIG. 1 shows a shared virtual space 100 presented on an HMD device 102 via an integrated display 104, and illustrates the virtual space from two different perspectives, one shown on the left side of the figure and one on the right. Referring first to the left side, display 104 presents virtual imagery within a field of view 106 as part of a mixed reality experience provided on HMD device 102. Display 104 and the mixed reality experience may take any suitable form. For example, display 104 may comprise an augmented reality display that overlays imagery on or otherwise augments a view of a surrounding physical environment 108 with virtual imagery rendered on the display to provide an augmented reality experience. In such examples, the augmented reality display may be at least partially transparent to provide a view of physical environment 108 through display 104. In other examples, display 104 may comprise a virtual reality display that substantially obscures a view of physical environment 108 and provides an immersive virtual reality experience. In some examples, the opacity of display 104 is adjustable (e.g. via a dimming filter), enabling the display to function both as a substantially opaque display for virtual reality experiences and as a see-through display for augmented reality experiences.
[0018] In the depicted example, a user 110 wearing HMD device 102 performs a thumbs-up hand gesture with their right hand 112. Based on hand tracking data representing hand 112, HMD device 102 recognizes the thumbs-up hand gesture and identifies an emoji 114 corresponding to the hand gesture. As described in further detail below, HMD device 102 may include a sensor subsystem (e.g. including an image sensor) for detecting the pose of hands and formulating hand tracking data representing the poses of detected hands. HMD device 102 then presents emoji 114 via display 104, which includes the display of a graphical icon representing a hand making a thumbs-up gesture.
[0019] Another user 116 occupying physical environment 108 participates in shared virtual space 100 via an HMD device 118. HMD device 118 includes a display 120 on which a mixed reality experience is presented, including a view of user 102. In addition to presenting emoji 114 on display 104, HMD device 102 sends an instruction to HMD device 118 to present the emoji, and may specify a location in shared virtual space 100 at which to display the emoji. Any suitable channel may be used to send the instruction, such as a direct communication channel (e.g. Bluetooth, WiFi, optical, or acoustic channel) between HMD devices 102 and 118, or an indirect network connection. In response to receiving the instruction, HMD device 118 presents emoji 114, potentially at a specified location, on display 120. In this example, emoji 114 is shown on display 120 in proximity to right hand 112 of user 102. In other examples, emoji 114 may be displayed at any other suitable location. Further, as discussed in more detail below, a target icon 122 may be displayed for user 116 to allow an emoji to be presented to that specific user, rather than all users in the shared virtual space (e.g. to user 116 but not to user 124).
[0020] Hand tracking data representing the pose of hands as tracked by HMD devices 102 and 118 may be referenced to a shared coordinate system established for shared virtual space 100 and the HMD devices participating therein. In FIG. 1, this shared coordinate system is represented by coordinate axes 121. Any suitable mechanism may be used to establish the shared coordinate system. in one example, users optically scanning a code placed in the environment and thereby join a shared experience at a known location within the shared coordinate system. As another example, one or more physical objects or locations in a physical environment can be pre-designated as spatial anchors recognized by an HMD device, and a user may join a shared experience at a known location in the shared coordinate space based upon a detected spatial anchor. As another option, a user may join a shared experience by navigating to a selected server address via an application running on an HMD device and joining a server at the address. In such an example, the user may join the experience at a preselected initial location. The shared coordinate system provides a shared reference frame with which multiple devices can share commonly displayed virtual content, including but not limited to emojis as described herein, such that the virtual content may be perceived by multiple users from different perspectives with the same spatial properties (e.g. position and rotation) relative to the shared coordinate system. In some examples where different HMD devices are at different physical locations, one or more physical objects in one location may be displayed as virtual objects by an HMD device in another location.
[0021] In the example of FIG. 1, users 110 and 116 are in a common physical environment. In other examples, emojis may be sent between HMD devices that share a same shared virtual space but are located in different physical environments. FIG. 2 depicts an example in which an emoji is shared by an HMD device 200 worn by a user 202 in a first physical environment 208 with an HMD device 204 worn by a remote user 206 in a second, different physical environment 210. In the depicted example, user 202 performs a thumbs-up gesture with their right hand 212. HMD device 200 recognizes this hand gesture, for example via an on-board image sensing subsystem. In response, an emoji 216 associated with the thumbs-up gesture is presented on HMD device 200 via display 214. HMD device 200 further sends an instruction (e.g. over a network such as the Internet) to remote HMD device 204 instructing the remote HMD device to present the emoji at a specified location in the shared virtual space, which may be the same location or a different location than that used by display 214 to display the emoji. Upon receiving the instruction, remote HMD device 204 presents emoji 216 via a display 218.
[0022] In some examples, each HMD device 200 and 204 also may present representations of the users of the respective other HMD device. In this example, HMD device 200 presents hand representations 220 of the hands of remote user 206, and a head representation 222 of the remote user. Similarly, remote HMD device 204 presents hand representations 224 of the hands of user 202, and a head representation 226 of the user. In some examples, one or more of the representations may be animated based on sensor data. For example, hand representations 220 and/or 224 may be animated to track the motion of the hands of the user represented as determined from image data–e.g. as sensed by an on-board image sensing subsystem at HMD devices 200 and/or 204. Hand representations 214 and/or 220 further may be displayed in an idle state when the represented hands are outside of the field of view of a sensor subsystem. Likewise, head representations 222 and 226 may be animated based on a head pose and/or gaze direction of the represented users. In some examples, eyes of the head representations 222 and 226 may be animated to reflect the gaze direction of the represented users. User head pose may be determined via an on-board motion sensing subsystem (e.g. including an inertial measurement unit) at HMD devices 200 and/or 204, and gaze direction may be determined via an on-board gaze-tracking subsystem at one or both of the HMD devices, as examples. Additional detail regarding example hardware configurations of HMD devices 200 and 204 is described below with reference to FIG. 7.
[0023] As described above, HMD devices 200 and 204 share a coordinate system established for the shared virtual space in which they participate, as represented by coordinate axes 228. The shared coordinate system provides a reference frame in which emojis and representations of remote users may be exchanged in a spatially consistent manner. Users 202 and 206 thus may experience a sense of presence in a shared virtual experience, even though HMD devices 200 and 204 occupy different physical environments.
[0024] The HMD devices described herein may recognize hand gestures based on articulated hand tracking data. As used herein, "articulated hand tracking data" refers to data indicating one or more kinematic or spatial properties of each of plurality of joints of a hand model. FIG. 3 shows a high-level schematic depiction of an example pipeline 300 with which articulated hand tracking data may be formulated. At 302, a sequence of image frames is received including a frame 304 that captures a human hand 306. In some examples, the sequence of frames may be captured by an HMD device via an on-board image sensing subsystem. In other examples, an off-board image sensing subsystem may acquire the sequence of frames, such as an image sensor (e.g. webcam) arranged in a fixed location within a physical environment. The image sensing subsystem may include any suitable type of image senor(s), including but not limited to a depth senor, a color image sensor (e.g. configured to produce RGB image data), and stereo image sensors.
[0025] The image data captured in frame 304, and potentially image data from other frames in the sequence of frames, may be used to generate articulated hand tracking data. FIG. 3 shows an example hand model 308 that may be associated with articulated hand tracking data. Hand model 308 includes a plurality of joints 310 represented by dots, where one or more joints are each associated with a three-dimensional position and a three-dimensional rotation in a coordinate system, represented by coordinate axes 312. The coordinate system may be that of a virtual space that is shared with other HMDs, for example. In this example, the coordinate system is a Cartesian coordinate system. However, any suitable coordinate system, as well as any suitable representation of joints, may be used.
[0026] The articulated hand tracking data may be derived from frame 304 and potentially other frame(s) in any suitable manner. In some examples, joint positions and rotations may be determined by inputting frame 304 into a trained machine learning classifier, such as a neural network, decision tree, or other suitable trained function, that is configured to classify a probable state of each joint. In other examples, joint positions and rotations may be determined using a geometric fitting process that fits a detected hand (which may be detected and segmented via a classifier, as described above) to hand model 308 and then adjusts the model using a cost function to fit the model to frame 304. In some examples, constraints regarding the kinematic and physical properties of human hands–e.g. ranges of possible joint positions and rotations–may be used to inform the fitting process. Further, various image processing on frame 304 may be carried out during or prior to the fitting process, including but not limited to segmenting pixels that capture hand 306 from other pixels that do not capture the hand.
[0027] Collectively, the positions and rotations of joints 310 represent a pose of hand 306. Based on the pose of hand 306 derived from frame 304, and potentially other poses of the hand derived from other frame(s), a gesture performed by the hand may be recognized. The term "gesture recognition" as used herein may refer to recognizing a gesture based on a single hand pose or multiple hand poses. Any suitable method of gesture recognition may be utilized. For example, a recognizer may use a geometric approach in which gestures are recognized based on the position and/or rotation of one or more joints 310 of hand model 308. In some such examples, the recognizer may evaluate the distance between one or more joints 310, may consider the curl of one or more fingers of hand model 308, (as represented by a distance between a finger joint (e.g. joint 310a) and a wrist joint (e.g. joint 310b)), and/or may consider other suitable geometric factors when identifying a gesture. As another example, a thumbs-up gesture may be recognized based on identifying that a thumb is pointing in an upward direction, with the other four fingers being curled. The direction of the thumb may be determined by computing a vector between a thumb joint 310c and wrist joint 310b, and comparing the vector to a world-up vector, for example. The world-up vector may be determined by computing a gravity vector (e.g. via an accelerometer), for example.
[0028] In other examples, a recognizer may utilize a trained machine learning function to recognize gestures based on features of the articulated hand data. Any suitable machine learning function may be used to detect hand gestures, including neural network-based recognizers such as generative adversarial networks and/or deep neural networks. In such examples, the machine learning function may output a probability for each of a plurality of gestures that the frame of image data, from which the articulated hand data is derived, represents that gesture.
[0029] In other examples, a deep neural network may be used to map image data (e.g. derived from RGB image frames) directly to gestures without first determining articulated hand data. In yet other examples, a multi-layer perceptron may be used to recognize hand gestures, for example by evaluating hand joints over a sequence of frames and evaluating joint positions relative to a head joint (e.g. of a skeletal model representing a user's body) or wrist joint 310b.
[0030] Other methods of gesture recognition may match hand pose to a template associated with a gesture. For example, a template representing a gesture may be determined by computing the position and/or rotation of each joint 310 of hand model 308 relative to a reference joint (e.g. wrist joint 310b). For a given hand pose, a distance between each joint representing the hand pose and a corresponding joint of the template may be determined. This process may be carried out for different templates to identify a template that most closely matches the hand pose. The gesture corresponding to the identified template may then be recognized. In some examples, multiple templates may be determined for a common gesture. The multiple templates may represent variations of the common gesture, for example.
[0031] Further, in some examples, gesture recognition may consider a velocity of a hand (e.g. an average velocity of the joints of the hand) over a sequence of frames, potentially combined with a particular pose being held during the motion (e.g. the hand facing away from user).
[0032] FIG. 3 further shows a schematic representation of the output of a gesture 320 by a recognizer. Following the recognition of gesture 320, an emoji corresponding to the gesture may be identified and presented on a display device. As one example, or more of the HMD devices described above with reference to FIGS. 1 and 2 may implement aspects of pipeline 300 to recognize a thumbs-up gesture depicted therein and in response present a corresponding emoji. As also described above, upon identifying an emoji corresponding to hand gesture 320, an instruction 322 may be sent from a display device that identifies the gesture to one or more other display devices. The instruction 322 instructs the other display device(s) to present the emoji. In some examples, the instruction may be accompanied by image data (e.g. a graphical icon or animation to be displayed during presentation of the emoji), audio data (e.g. to be played back during presentation of the emoji), location data specifying a location at which to display the emoji in a shared coordinate space, an identification of a target (e.g. user, display device, hand, physical object, virtual object) to be associated with the emoji, and/or other data.
[0033] FIG. 3 also depicts the output of hand tracking data 324, which may be shared by a display device with other display device(s). For example with reference to FIG. 2, HMD device 200 may share hand tracking data with remote HMD device 204, enabling the remote HMD device to render representations 224 of the hands of user 202 based on the actual pose of that user's hands. In some examples, hand tracking data 324 that is shared may comprise all of the articulated hand tracking data, whereas in other examples the hand tracking data may represent a simplified version of the articulated hand tracking data–for example, the hand tracking data may include data indicating the respective positions of one or more fingertips and a palm.
[0034] In some examples, a display device may present an emoji based on recognizing a hand gesture performed by multiple users. FIGS. 4A-4B show an example hand gesture performed by two users in the form of a high-five gesture. In FIG. 4A, a user 400 wearing an HMD device 402 initiates, using their right hand 404, a high-five gesture with a remote user who is shown via a head representation 406 presented on the HMD device. The right hand of the remote user is also shown via a hand representation 407 presented on HMD device 402, where the hand representation may be animated based on the pose of the remote user's hand (e.g. based on image data capturing the remote user's hand acquired by an HMD device worn by the remote user). A collider 408 is associated with the right hand 404 of user 400, and a collider 410 is associated with the right hand of the remote user. In this example, a high-five gesture between user 400 and the remote user is recognized based on identifying an intersection between colliders 408 and 410. In FIG. 4B, this intersection is identified at HMD device 402, prompting the presentation of an emoji 412 at the HMD device. The intersection detection may be performed by either or both HMD devices, and the HMD devices may communicate with one another regarding the detection of the gesture. In some examples, colliders 408 and 410 may be selectively enabled and disabled. For the illustrated high-five gesture, in some examples the colliders 408 and 410 may be enabled when the corresponding hands are held up, and otherwise disabled.
[0035] In some examples, a setting may be established for an emoji indicating display devices to which to send the emoji. For example, one setting (e.g. a default setting) may indicate that an emoji, such as the thumbs-up emoji illustrated in FIGS. 1 and 2, is to be shared with all other display devices in a shared virtual space. Other example emojis that can be shared among all users according to a default setting may include a waving gesture and a pointing gesture. In other examples, a setting may indicate that an emoji is to be shared with the devices of users that participated in the gesture. For example, such a setting may be associated with the high-five gesture illustrated in FIGS. 4A-4B, such that the corresponding emoji is shared from HMD device 400 to the HMD device associated with the remote user, and not other HMD device(s) in the shared virtual space. As a result, emoji 412 may be displayed on HMD device 400 and the remote user's HMD device, and not on other HMD devices in the shared virtual sp ace.
[0036] In some examples, an emoji may be displayed at location determined by a setting. In other examples, an emoji may be displayed at a location determined by a user, e.g. by a user making an input that establishes a target location to display an emoji. Returning to FIG. 1, HMD device 102 may present target icon 122 in proximity to user 116 of HMD device 118. If a gaze or head direction of user 110 of HMD device 102 intersects target icon 122 within a threshold interval of performing the thumbs-up gesture, the corresponding emoji may be shared with HMD device 118 and not other display devices within shared virtual space 100 such as an HMD device 124. In some examples, the intersection of user gaze direction with target icons may override a setting established for an emoji that identifies other display devices with which the emoji should be shared.
[0037] In some examples, a user may target a physical or virtual object to share an emoji by associating the emoji with the object. FIG. 5 depicts an example in which a user targets a physical clock 500 based on a gaze direction 502 intersecting the clock to associate an emoji with the clock. As one example, the emoji may include a "like" emoji 508, whose presentation includes the display of a graphical icon indicating that the clock has been liked, and the display of a counter 510 indicating the number of times the clock has been liked (e.g. by users in the shared virtual space associated with the clock). An emoji may be associated with a virtual object in a similar manner. In some examples a virtual object may be viewable only by designated users, rather than all users in the shared virtual space.
[0038] As yet another example of a target with which to associate an emoji, FIG. 5 shows a physical display 514 presenting an image 516. An emoji, such as a like emoji, may be associated with image 516 based on gaze direction 502 intersecting the displayed location of the image. In this example, image 516 is hosted on a website, such that the like emoji causes a like to be sent to the website to thereby increment a like counter associated with the image.
[0039] Mechanisms other than gaze intersection may be used to identify targets for association with emojis. As another example, FIG. 5 illustrates user interaction with clock 500 in the form of a pointing direction 518 of a hand 520 of user 506 intersecting the clock. In response to this intersection, a like emoji may be associated with clock 500. HMD device 506 may output a ray representing pointing direction 518 to help target the pointing direction. Such a ray also may be communicated to other devices so that other users can find an object to which user 506 is pointing. Yet other mechanisms for identifying targets for associating with emojis may be employed, including but not limited to speech input.
[0040] In some examples, gesture detection may be disabled when a user is detected to be interacting with an object, such as a mobile phone, handheld controller, or virtual object. Gesture detection then may be enabled after the user ceases interacting with the object.
[0041] An emoji as described herein may include any suitable content, including but not limited to static imagery, animated imagery, video, and/or sound. FIG. 6 illustrates an example in which the presentation of an emoji includes sound that helps a receiving user to locate the spatial origin of the emoji. In this example, a remote user performs a hand gesture in the form of a wave, resulting in the reception at HMD device 602 of an instruction to present an emoji corresponding to the wave. The instruction further includes an indication to present the emoji with a multichannel audio signal that acoustically encodes a spatial origin of the emoji (e.g. in a shared coordinate system represented by a coordinate axis 604). The multichannel audio signal may encode binaural audio, for example. The multichannel audio signal may assist user 600 in locating the spatial origin of the emoji and the remote user, particularly at times in which a representation 606 of the remote user is outside of a field of view 608 of a display 610 of HMD device 602.
[0042] Any suitable hand gestures may be detected according to the approaches described herein. Other example hand gestures include a heart gesture in which the shape of a heart is formed by two hands of one user or by the hands of two users, a pointing gesture, a pinch gesture in which a hand opens and then pinches, an open hand gesture in which a user opens a hand, and a handshake gesture performed by two hands of two users. Further, hand gestures are contemplated that are sketched out by hand motion–for example, a smiley face emoji may be presented in response to hand motion tracing the approximate shape of a smiley face (e.g. tracing a circle outlining the face and an arc representing a mouth). Moreover, examples are contemplated in which hand gestures are performed by a hand manipulating an input device such as a handheld controller. In such examples, input applied to the input device may be considered part of the hand gesture–for example, actuation of a button on the input device may initiate and/or end input of a hand gesture, or while actuated may designate input as tracing a shape to be interpreted as a hand gesture. Further, the approaches described herein may be implemented at any suitable display device including but not limited to HMD devices. As one example, recognized hand gestures may cause the input of an emoji to a mobile computing device, where the emoji may be shared with another device via text message. In another example, an emoji may be sent to a mobile phone, laptop, or other computing device participating in a meeting (e.g., via a meeting or collaboration application) with an HMD device or other computing device that sends the emoji. In one such example, the emoji may be sent as a chat message in the meeting. Still further, hand gestures may be recognized in any suitable manner including via mechanisms other than the use of image data. For example, a wearable device such as a glove or forearm device may be used to detect the pose of a hand for the purpose of recognizing hand gestures.
[0043] FIG. 7 shows another example HMD device 700. HMD device 700 includes a near-eye display 702 configured to present any suitable type of visual experience. In some examples, display 702 is substantially opaque, presenting virtual imagery as part of a virtual reality experience in which a wearer of HMD device 700 is completely immersed in the virtual reality experience. In other implementations, display 702 is at least partially transparent, allowing a user to view presented virtual imagery along with a real-world background viewable through the display to form an augmented reality experience, such as a mixed reality experience. In some examples, the opacity of display 702 is adjustable (e.g. via a dimming filter), enabling the display to function both as a substantially opaque display for virtual reality experiences and as a see-through display for augmented reality experiences. HMD device 700 may represent any of the HMD devices in FIGS. 1-6, as examples.
[0044] In augmented reality implementations, display 702 may present augmented reality objects that appear display-locked and/or world-locked. A display-locked augmented reality object may appear to move along with a perspective of the user as a pose (e.g. six degrees of freedom (DOF): x/y/z/yaw/pitch/roll) of HMD device 700 changes. As such, a display-locked, augmented reality object may appear to occupy the same portion of display 702 and may appear to be at the same distance from the user, even as the user moves in the surrounding physical space. A world-locked, augmented reality object may appear to remain in a fixed location in the physical space, even as the pose of HMD device 700 changes. In some examples, a world-locked object may appear to move in correspondence with movement of a real, physical object. In yet other examples, a virtual object may be displayed as body-locked, in which the object is located to an estimated pose of a user's head or other body part.
[0045] HMD device 700 may take any other suitable form in which a transparent, semi-transparent, and/or non-transparent display is supported in front of a viewer's eye(s). Further, examples described herein are applicable to other types of display devices, including other wearable display devices and non-wearable display devices such as a television, monitor, and mobile device display. In some examples, a display device including a non-transparent display may be used to present virtual imagery. Such a display device may overlay virtual imagery (e.g. representations of hand motion and/or objects) on a real-world background presented on the display device as sensed by an imaging system.
[0046] Any suitable mechanism may be used to display images via display 702. For example, display 702 may include image-producing elements located within lenses 706. As another example, display 702 may include a liquid crystal on silicon (LCOS) device or organic light-emitting diode (OLED) microdisplay located within a frame 708. In this example, the lenses 706 may serve as, or otherwise include, a light guide for delivering light from the display device to the eyes of a wearer. In yet other examples, display 702 may include a scanning mirror system (e.g. a microelectromechanical display) configured to scan light from a light source in one or more directions to thereby form imagery. In some examples, eye display 702 may present left-eye and right-eye imagery via respective left-eye and right-eye displays.
[0047] HMD device 700 includes an on-board computer 704 operable to perform various operations related to receiving user input (e.g. voice input and gesture recognition, eye gaze detection), capturing hand motion and the surrounding physical space, processing data obtained from capturing hand motion and the physical space, presenting imagery (e.g. representations of hands, representations of users, and/or virtual objects) on display 702, and/or other operations described herein. In some implementations, some to all of the computing functions described above may be performed off-board. Example computer hardware is described in more detail below with reference to FIG. 10.
[0048] HMD device 700 may include various sensors and related systems to provide information to on-board computer 704. Such sensors may include, but are not limited to, one or more inward facing image sensors 710A and 710B and/or one or more outward facing image sensors 712A, 712B, and 712C of an imaging system 712, an inertial measurement unit (IMU) 714, and one or more microphones 716 such as a directional microphone array. The one or more inward facing image sensors 710A, 710B may acquire gaze tracking information from a wearer's eyes (e.g. sensor 710A may acquire image data for one of the wearer's eye and sensor 710B may acquire image data for the other of the wearer's eye). One or more such sensors may be used to implement a sensor system of HMD device 700, for example.
[0049] Where gaze-tracking sensors are included, on-board computer 704 may determine gaze directions of each of a wearer's eyes in any suitable manner based on the information received from the image sensors 710A, 710B. The one or more inward facing image sensors 710A, 710B, and on-board computer 704 may collectively represent a gaze detection machine configured to determine a wearer's gaze target or gaze direction on display 702. In other implementations, a different type of gaze detector/sensor may be employed to measure one or more gaze parameters of the user's eyes. Examples of gaze parameters measured by one or more gaze sensors that may be used by on-board computer 704 to determine an eye gaze sample may include an eye gaze direction, head orientation, eye gaze velocity, eye gaze acceleration, and/or change in angle of eye gaze direction. In some implementations, gaze tracking may be recorded independently for both eyes.
[0050] Imaging system 712 may collect image data (e.g. images, video) of a surrounding physical space in any suitable form. Image data collected by imaging system 712 may be used to measure physical attributes of the surrounding physical space. While the inclusion of three image sensors 712A-712C in imaging system 712 is shown, the imaging system may implement any suitable number of image sensors. As examples, imaging system 712 may include a pair of greyscale cameras (e.g. arranged in a stereo formation) configured to collect image data in a single color channel. Alternatively or additionally, imaging system 712 may include one or more color cameras configured to collect image data in one or more color channels (e.g. RGB) in the visible spectrum. Alternatively or additionally, imaging system 712 may include one or more depth cameras configured to collect depth data. In one example, the depth data may take the form of a two-dimensional depth map having a plurality of depth pixels that each indicate the depth from a corresponding depth camera (or other part of HMD device 700) to a corresponding surface in the surrounding physical space. A depth camera may assume any suitable form, such as that of a time-of-flight depth camera or a structured light depth camera. Alternatively or additionally, imaging system 712 may include one or more infrared cameras configured to collect image data in the infrared spectrum. In some examples, an infrared camera may be configured to function as a depth camera. In some examples, one or more cameras may be integrated in a common image sensor–for example, an image sensor may be configured to collect RGB color data and depth data.
[0051] Data from imaging system 712 may be used by on-board computer 704 to detect movements, such as gesture-based inputs or other movements performed by a wearer, person, or physical object in the surrounding physical space. In some examples, HMD device 700 may capture hand motion performed by a wearer by acquiring image data via imaging system 712 that captures the hand motion. In some example, HMD device 700 may formulate articulated hand tracking data based on image data acquired via imaging system 712, which may be used for emoji presentation as described herein. HMD device 700 may also image objects manipulated by hand motion via imaging system 712. Data from imaging system 712 may be used by on-board computer 704 to determine direction/location and orientation data (e.g. from imaging environmental features) that enables position/motion tracking of HMD device 700 in the real-world environment. In some implementations, data from imaging system 712 may be used by on-board computer 704 to construct still images and/or video images of the surrounding environment from the perspective of HMD device 700. In some examples, HMD device 700 may utilize image data collected by imaging system 712 to perform simultaneous localization and mapping (SLAM) of the surrounding physical space.
[0052] IMU 714 may be configured to provide position and/or orientation data of HMD device 700 to on-board computer 704. In one implementation, IMU 714 may be configured as a three-axis or three-degree of freedom (7 DOF) position sensor system. This example position sensor system may, for example, include three gyroscopes to indicate or measure a change in orientation of HMD device 700 within three-dimensional space about three orthogonal axes (e.g. roll, pitch, and yaw).
[0053] In another example, IMU 714 may be configured as a six-axis or six-degree of freedom (6 DOF) position sensor system. Such a configuration may include three accelerometers and three gyroscopes to indicate or measure a change in location of HMD device 700 along three orthogonal spatial axes (e.g. x/y/z) and a change in device orientation about three orthogonal rotation axes (e.g. yaw/pitch/roll). In some implementations, position and orientation data from imaging system 712 and IMU 714 may be used in conjunction to determine a position and orientation (or 6 DOF pose) of HMD device 700. In yet other implementations, the pose of HMD device 700 may be computed via visual inertial SLAM.
[0054] HMD device 700 may also support other suitable positioning techniques, such as GPS or other global navigation systems. Further, while specific examples of position sensor systems have been described, it will be appreciated that any other suitable sensor systems may be used. For example, head pose and/or movement data may be determined based on sensor information from any combination of sensors mounted on the wearer and/or external to the wearer including, but not limited to, any number of gyroscopes, accelerometers, inertial measurement units, GPS devices, barometers, magnetometers, cameras (e.g. visible light cameras, infrared light cameras, time-of-flight depth cameras, structured light depth cameras, etc.), communication devices (e.g. WIFI antennas/interfaces), etc.
[0055] The one or more microphones 716 may be configured to collect audio data from the surrounding physical space. Data from the one or more microphones 716 may be used by on-board computer 704 to recognize voice commands provided by the wearer to control the HMD device 700. In some examples, HMD device 700 may record audio data via the one or more microphones 716 by capturing speech uttered by a wearer. The speech may be used to annotate a demonstration in which hand motion performed by the wearer is recorded, to identify a target with which to associate an emoji, or for any other suitable purpose.
[0056] While not shown in FIG. 7, on-board computer 704 may include a logic subsystem and a storage subsystem holding instructions executable by the logic subsystem to perform any suitable computing functions. For example, the storage subsystem may include instructions executable to implement one or more of image data acquisition, gesture recognition, emoji identification, emoji presentation, and instruction transmission. Example computing hardware is described below with reference to FIG. 10.
[0057] FIG. 8 shows a flowchart illustrating an example method 800 of presenting emojis based on hand gestures. Aspects of method 800 may be implemented at one or more of the HMD devices described herein, for example.
[0058] At 802, method 800 includes, while a user is not interacting with an object, enabling recognition of a hand gesture. At 806, method 800 includes receiving articulated hand tracking data representing a hand in a coordinate system. The articulated hand tracking data may indicate 808 the position and/or rotation of each joint of different fingers of a hand model.
[0059] At 810, method 800 includes, based on the articulated hand tracking data, recognizing a hand gesture. In response, at 812, method 800 includes identifying an emoji corresponding to the hand gesture, and at 814, presenting the emoji on a display device. The display device may comprise 816 one or more of an augmented reality display device and a virtual reality display device.
[0060] In other examples, a neural network-based function may be used to recognize the hand gesture based on image data (e.g. RGB image data) without first determining articulated hand tracking data to recognize the hand gesture.
[0061] At 818, method 800 includes determining one or more other display devices to which to send an instruction to present the emoji. In some examples, determining the one or more other display devices may include 820 identifying a targeted display device via gaze tracking and/or head tracking. In other examples, the one or more other display devices may be identified based on a setting 822 for the emoji.
[0062] At 824, method 800 includes sending the instruction to the one or more other display devices sharing the coordinate system to present the emoji. The one or more other display devices may include an HMD device, a mobile computing device (e.g. smartphone, laptop), a television, a monitor, and/or any other suitable display device. The instruction may specify 826 an object with which to associate the emoji when presenting the emoji. The object may comprise 828 a second display device, a physical object, the hand, or a virtual object. The instruction may instruct 830 the one or more other display devices to present the emoji with a multichannel audio signal that acoustically encodes a spatial origin of the emoji. The instruction further may specify a location in a shared coordinate system at which to display the emoji.
[0063] FIG. 9 shows a flowchart illustrating a method 900 of outputting an emoji at a display device based on comparing first articulated hand tracking data and second hand tracking data. Aspects of method 900 may be implemented at one or more of the HMD devices described herein, for example.
[0064] At 902, method 900 includes receiving first articulated hand tracking data representing a pose of a first hand of a first user in a coordinate system. At 904, method 900 includes receiving, from a remote device via a communication subsystem of the display device, second hand tracking data representing a second hand of a second user in the coordinate system. The second hand tracking data may indicate 906 one or more finger positions and a palm pose, or may represent a full set of articulated hand tracking data. In some examples, e.g. where the second user is located in a different physical environment, method 900 may include, at 908, displaying a representation of the second hand. Further, in some examples, where the second hand is performing a pointing gesture, method 900 may comprise, at 910, outputting a ray indicating a pointing direction of the second hand. A pointing direction of a first hand may similarly be output.
[0065] Further, in some examples, a representation of a head (or other suitable body part) of the second user may be output, as indicated at 912. In such examples, the representation of the head (or other suitable body part) of the second user may be animated based upon motion tracking data, such as head tracking data and/or eye tracking data, as indicated at 914.
[0066] At 916, method 900 includes comparing the first articulated hand tracking data and the second hand tracking data. At 918, method 900 includes, when a condition is met based on the comparing, outputting an emoji via a display subsystem of the display device. The condition may include, at 920, an intersection between a collider associated with the first hand and a collider associated with the second hand.
[0067] At 922, method 900 includes sending an instruction to the remote device to present the emoji. The instruction may instruct 924 the remote device to present the emoji with a multichannel audio signal that acoustically encodes a spatial origin of the emoji.
[0070] Computing system 1000 includes a logic subsystem 1002 and a storage subsystem 1004. Computing system 1000 may optionally include a display subsystem 1006, input subsystem 1008, communication subsystem 1010, and/or other components not shown in FIG. 10.
[0071] Logic subsystem 1002 includes one or more physical devices configured to execute instructions. For example, the logic machine may be configured to execute instructions that are part of one or more applications, services, programs, routines, libraries, objects, components, data structures, or other logical constructs. Such instructions may be implemented to perform a task, implement a data type, transform the state of one or more components, achieve a technical effect, or otherwise arrive at a desired result.
[0073] Storage subsystem 1004 includes one or more physical devices configured to hold instructions executable by the logic machine to implement the methods and processes described herein. When such methods and processes are implemented, the state of storage subsystem 1004 may be transformed–e.g. to hold different data.
[0074] Storage subsystem 1004 may include removable and/or built-in devices. Storage subsystem 1004 may include optical memory (e.g. CD, DVD, HD-DVD, Blu-Ray Disc, etc.), semiconductor memory (e.g. RAM, EPROM, EEPROM, etc.), and/or magnetic memory (e.g. hard-disk drive, floppy-disk drive, tape drive, MRAM, etc.), among others. Storage subsystem 1004 may include volatile, nonvolatile, dynamic, static, read/write, read-only, random-access, sequential-access, location-addressable, file-addressable, and/or content-addressable devices.
[0075] It will be appreciated that storage subsystem 1004 includes one or more physical devices. However, aspects of the instructions described herein alternatively may be propagated by a communication medium (e.g. an electromagnetic signal, an optical signal, etc.) that is not held by a physical device for a finite duration.
[0076] Aspects of logic subsystem 1002 and storage subsystem 1004 may be integrated together into one or more hardware-logic components. Such hardware-logic components may include field-programmable gate arrays (FPGAs), program- and application-specific integrated circuits (PASIC/ASICs), program- and application-specific standard products (PSSP/ASSPs), system-on-a-chip (SOC), and complex programmable logic devices (CPLDs), for example.
[0077] When included, display subsystem 1006 may be used to present a visual representation of data held by storage subsystem 1004. This visual representation may take the form of a graphical user interface (GUI). As the herein described methods and processes change the data held by the storage machine, and thus transform the state of the storage machine, the state of display subsystem 1006 may likewise be transformed to visually represent changes in the underlying data. Display subsystem 1006 may include one or more display devices utilizing virtually any type of technology. Such display devices may be combined with logic subsystem 1002 and/or storage subsystem 1004 in a shared enclosure, or such display devices may be peripheral display devices.
[0080] Another example provides, on a display device, a method comprising receiving hand tracking data representing a pose of a hand in a coordinate system, based on the hand tracking data, recognizing a hand gesture, identifying an emoji corresponding to the hand gesture, presenting the emoji on the display device, and sending an instruction to one or more other display devices to present the emoji. In such an example, the one or more other display devices may comprise a targeted display device identified via one or more of gaze tracking and head tracking. In such an example, the instruction alternatively or additionally may be sent to all display devices sharing the coordinate system. In such an example, the method alternatively or additionally may comprise determining the one or more display devices to which the instruction is sent based upon a setting for the emoji. In such an example, the instruction alternatively or additionally may specify an object with which to associate the emoji when presenting the emoji. In such an example, the object may comprise a second display device in the coordinate system, a physical object in the coordinate system, the hand, or a virtual object in the coordinate system. In such an example, the hand tracking data may indicate one or more of a position and a rotation of each of a plurality of joints of a plurality of different fingers of a hand model in a coordinate system. In such an example, the instruction alternatively or additionally may instruct the one or more other display devices to present the emoji with a multichannel audio signal that acoustically encodes a spatial origin of the emoji in the coordinate system. In such an example, the method alternatively or additionally may comprise disabling recognition of the hand gesture in response to detecting a user interaction with an object. In such an example, the display device may comprise one or more of an augmented reality display and a virtual reality display. In such an example, the hand tracking data alternatively or additionally may comprise articulated hand tracking data.
[0081] Another example provides a display device, comprising a logic subsystem, a communication subsystem, a display subsystem, a sensor subsystem, and a storage subsystem comprising instructions executable by the logic subsystem to receive from the sensor subsystem first articulated hand tracking data representing a pose of a first hand of a first user in a coordinate system, receive, from a remote device via the communication subsystem, second hand tracking data representing a second hand of a second user in the coordinate system, compare the first articulated hand tracking data and the second hand tracking data, and when a condition is met based on the comparing, output an emoji via the display subsystem. In such an example, the second hand tracking data may indicate one or more finger positions and a palm pose. In such an example, the condition may include a collision between a collider associated with the first hand and a collider associated with the second hand. In such an example, the display device alternatively or additionally may comprise instructions executable to display via the display subsystem a representation of the second hand. In such an example the display device alternatively or additionally may comprise instructions executable to receive eye tracking data indicating a gaze direction of the second user, and to display via the display subsystem a representation of the second user, the representation being animated based on the eye tracking data. In such an example, the display device alternatively or additionally may comprise instructions executable to output a ray representing a pointing direction of the second hand. In such an example, the display device alternatively or additionally may comprise instructions executable to send an instruction to the remote device to present the emoji. In such an example, the instruction alternatively or additionally may instruct the remote device to present the emoji with a multichannel audio signal that acoustically encodes a spatial origin of the emoji in the coordinate system.
[0082] Another example provides a display device, comprising a logic subsystem, a communication subsystem, a sensor subsystem, and a storage subsystem comprising instructions executable by the logic subsystem to receive from the sensor subsystem articulated hand tracking data representing a pose of a hand in a coordinate system, based on the articulated hand tracking data, recognizing a hand gesture, identifying an emoji corresponding to the hand gesture, determining a display device to which to send an instruction to present the emoji, and send via the communication subsystem the instruction to present the emoji to the display device with a multichannel audio signal that acoustically encodes a spatial origin of the emoji.
Microsoft Patent | Authoring Content In Three-Dimensional Environment
Microsoft Patent | Holographic interaction device
Microsoft Patent | Object illumination in a virtual environment


text:
Q: R: last argument in elipsis I have a function f that takes three arguments, and returns the last one. For example:
f <- function(x,y,z){
    return(z)
}
f(11,22,33) #yields 33

However, later on I may have more/less than three arguments, so I want to create a function g that returns the last argument of ...
g <- function(...){
    #return final argument in '...'
}

g(11,22) #should yield 22
g(11,22,33,44,'abc') #should yield 'abc'

Is there any simple way to do this?
I've looked at existing posts on using ..., but they all seem to use it to pass all the arguments to another function (which is not what I'm trying to do).
I could just make the argument into a vector, and return the last element, but I'd like to avoid that if possible.

A: Use ...length and ...elt like this:
f <- function(...) ...elt(...length())
f(11, 12, 13)
## [1] 13

A: g <- function(...) {
  dots <- list(...)
  if (length(dots)) dots[[length(dots)]]
}

g(11,22)
# [1] 22

g(11,22,33,44,'abc')
# [1] "abc"

g()  # returns nothing, NULL invisibly

I often choose to assign to dots or similar in the function and then deal with it, though that can be both good and bad. If you want to pass the args on to other functions, then you can still use ... as before (or you can use do.call(..), though that's not your question). One side-effect is that by doing this, the ... are evaluated, which though generally fine, in some corner-cases this evaluation may be too soon.
A demonstration:
g(stop("quux"), "abc")
# Error in g(stop("quux"), "abc") : quux

If you want to avoid early evaluation of other args, you can use match.call:
g <- function(...){
  cl <- match.call(expand.dots = TRUE)
  if (length(cl) > 1) cl[[length(cl)]]
}

g()  # nothing

g(1)
# [1] 1

g(stop("quux"), "abc")
# [1] "abc"

redpajama_set_name: RedPajamaStackExchange


As Giles has already indicated, I have been enjoying a lecture tour over the last week in Australia and New Zealand. Originally catalysed by the Faith and Wisdom in Science book (which does have some Grosseteste stuff in it), and an invitation from the Theology department of Otago University here in Dunedin – particularly their Centre for Theology and Public Issues (CTPI), it grew into a series of visits to departments of physics, chemistry as well as interdisciplinary centres and theology departments in Melbourne, Aldelaide, Brisbane, Sydney, Queenstown, Dunedin and Wellington. In Australia my host organisation was ISCAST, a network supporting thinking and public engagement of Christianity and science.
So to prove that I really am 'down under' here are some kangaroos spotted on arrival in Melbourne with my genial host Alan Gijsbers, president of ISCAST. We also saw, at close range, and in the wild, a Platypus (swimming just below us in the Yarra river). I thought this of no consequence (after all, I just arrived in Australia I just saw roos on land, so what do I expect to see in the water?), but when Alan yelped and grabbed his camera just as the wonderful creature dived I realised that this was not quite normal. In a lifetime this was it turned out the first sighting Alan had ever made of a platypus in the wild.
It made me think about the closing stanzas of 'The Lord's Answer' to Job (ch 40) where YHWH draws Job's attention even further afield than his own sufferings, beyond even the wild side of nature that he knows about (stars, wild donkeys, birds of prey) to the unknown beasts Leviathan and Behemoth 'whom I made just as I made you'. That in turn might have been understood by Robert Grosseteste, who knew why as a theologian and pastor he had received also the task to explore, sense, re-imagine and conceptualise nature.
The extended visit has allowed several presentations of the Ordered Universe project, notably in Melbourne (History of Science), Brisbane (Emmanuel College and CHED centre – Centre for the History of Human Discourses) and here in Dunedin at the University of Otago. The scary poster to the right advertises tonight's seminar hosted by the Centre for Science Communication at the university. I am very amused to see that it is Robert himself peering over my shoulder. It's going to be a little disconcerting! But uniformly I have received huge interest in what we are doing. One of the tweets from a participant at the Melbourne event announced to the twitterverse the persistence of 'warm interdisciplinary fuzzies' – which I thought was wonderful. And, as usual, the questions have been very stimulating indeed.
Common among them is the question of reception. It is so hard to trace the thread of Grosseteste's work into early modern science with confidence, but incredible to suppose that it is not there. I had the huge privilege of dinner with the amazing Peter Harrison, historian of early modern science, at UQ Brisbane. He says about his new book The Territories of Science and Religion, 'A general theme throughout is the way in which natural philosophy focuses on the acquisition of wisdom as its ultimate goal, and how this conception of the study of nature is eventually eclipsed in the C19th.' The deliberate dismissal of high medieval scientific scholarship by the early moderns, and its framing in terms of wisdom, is effectively a covering over of the intellectual trail, as well as a narrowing of scope that has led to the current awkward predicament of science.
Science has much to give to the Ordered Universe project, but I suspect that, like the scientists themselves, it has rather more to receive.
 Cf. Rome, Bibl. Vat., MS Chigi A.VIII. 245, f. 16va.


Antigen Species: Rat Depositor: Constantine-Paton, M.
Positive Tested Species Reactivity: Cat, Goat, Human, Monkey, Mouse, Opossum, Rat Depositors Notes: JONES doesn't react with chicken tissue. It recognizes 9-0-acetyl-GD3 and a base-labile derivative of GQ1C, present in chloroform/methanol extracts from perinatal retina; neuraminidase sensitive. By immunohistochemistry, JONES binds to aldehyde-fixed sections of late fetal and neonatal rat retina.
Antibody Registry ID: AB_531870 Additional Information: Gangliosides are glycosphingolipids with one or more sialic acids. Western blot references are for TLC immunooverlay.


text:
Q: Read lines (two or more lines) from the output of AT command and put it to database I want to read two lines from AT Command's output and do INSERT INTO table VALUES in python. The output of AT is always in two rows but it's a sequence, unlike open file and read it until the next limiter, but we have to wait.
anyway this is my code:
class SMSWait(self):
     def run(self):
         self.open()
         while self.ser.isOpen():
              time.sleep(1)
              SMSRead = 'AT+CMGL="ALL"\r\n'
              self.SendCommand(SMSRead, getline=True)

              while self.ser.inWaiting() > 0:
                   **data = self.ser.readall()
                   print data**
     def open(self):
         self.ser = serial.Serial('/dev/ttyUSB0', baudrate=115200, timeout=.1, rtscts=0)
         self.SendCommand('AT\r')
         self.SendCommand('AT+CMGF=1\r')
         self.ser.flushInput()
         self.ser.flushOutput()
     def SendCommand(self,command, getline=True):
         self.ser.write(command)
         data = ''
         if getline:
             data = self.ReadLine()
             data = filter(None, data)
         return data

     def ReadLine(self):
         data = self.ser.readline()
         return data

it will show the output:
AT+CMGL="ALL"

+CMGL: 2,"REC READ","+60xxxxxxxxx",,"15/02/05,14:13:47+28"
mydata43414242453564567578689789done

OK

now, how do i process this "sequence" output and ignoring the AT+CMGL="ALL" and "OK" and put them to database using "insert into" in one query. i don't have problem with accessing database using python. and i'm okay with regex. maybe someone could help me logically or script. thank you

A: i got it. it seems that i have to put it all those lines inside a list and sort it, and reduce those 2 lines to 1 line. check it out
class SMSWait(self):
 def run(self):
     self.open()
     while 1:
         SMSRead = 'AT+CMGL="ALL"\r\n'
         self.SendCommand(SMSRead, getline=True)
         data = self.ser.readall()
         time.sleep(2)
         datalist.append(data)
         if any('+CMGL:' in d for d in datalist):
             if 'AT' in datalist: datalist.remove['AT']
             if any('\r\n' in d for d in datalist): datalist = [d.replace('\r\n', '') for d in datalist]
             if any('\r' in d for d in datalist): datalist   = [d.replace('\r', '') for d in datalist]
             if any('\n' in d for d in datalist): datalist   = [d.replace('\n', '') for d in datalist]
             if any('OK' in d for d in datalist): datalist   = [d.replace('OK', '') for d in datalist]
             datalist = filter(None, datalist)
             split_data = datalist[0].split('+CMGL: ')
             split_data = filter(None, split_data)

then from here we can start to process the data from list value one by one
             for s in split_data:
                 '''your code here'''


text:
12 hidden places you can visit for free during Birmingham Heritage Week
See Brum's original chocolate factory, an oratory, convent, the home of JRR Tolkien and the former Canal Offices, which look like they're straight off the set of Peaky Blinders
Sign up to FREE daily email alerts from BirminghamLive - Brummie Mummies
Birmingham Heritage Week is back offering a host of hidden places for you to explore, enabling you to discover parts of the city you may never have seen before or to see popular places from a whole new perspective.
You can visit Birmingham's original chocolate factory, a convent, an Italian Baroque style oratory and the home of Lord of the Rings author JRR Tolkien.
There are hard hat tours of Brum's former Canal Offices, which look like they could have come straight off the set of Peaky Blinders and the chance to see all WW1 Bilberry Hill Gun Proof Range sites in the Lickey Hills, which are not normally open to the public.
More than 200 events feature over 11 days from September 12 to 22, including exhibitions and walks to open days and workshops. Most of the events are free although booking is essential for many so be sure to check ahead to avoid disappointment.
Hidden places to visit in Birmingham Heritage Week
Junction Works & Banana Warehouse
This place looks like it could be straight off the set of Peaky Blinders! You have a unique opportunity to go on a hard hat tour to see inside Junction Works - the former Canal Offices for Birmingham - and the Banana warehouse, prior to development.
The strong industrial character and cobbled yard of the Digbeth buildings and blue brickwork serve as a focal point in Fazeley Street. The tour will also include a look around the also listed Banana Warehouse, which was famously used by Geest Fruit Traders to store and distribute fruit.
Digbeth Junction Works opening for Birmingham Heritage Week (Image: Birmingham Heritage Week)
Grand Union is currently leading a £3.25m project to bring the Junction Works building back to life, working with Homes England, to transform the derelict building into a new contemporary art gallery and artist studios. The tour takes place on Sunday September 15 from 11am – 12pm. Free, but booking is required. Find out more here
Grand Union, 19 Minerva Works, Fazeley Street, Birmingham, B5 5RS
Bilberry Hill Gun Proof Range
Not normally accessible to the public, visitors can see all of the First World War Bilberry Hill Gun Proof Range sites in the Lickey Hills Country Park where guides will explain the history behind these remnants of WWI.
Look out for displays and exhibits in the School Room on the men on the war memorials, Peace Day 1919, Trams and Teas, the Old Rose and Crown and the Turnpike Road, lost local churches, Big Bertha's centenary, Frankley before New Frankley and maps, including a large reproduction map which combines the local tithe maps.
Bilberry Hill Gunproof Range opening for Birmingham Heritage Week (Image: Birmingham Heritage Week)
The range is opening to the public on Saturday September 21 and Sunday September 22 from 11am to 4pm. There will be guided walks around the WW1 and WW2 sites in the Country Park at 2pm on both days. This event is organised by the Lickey Hills Local History Society. Free, no booking required. Find out more here
Lickey Hills Country Park Visitor Centre, Warren Lane, Lickey, B45 8ER
Baskerville Keyhill Cemeteries Tour
Feeling brave enough for a twilight cemetery tour? If you are then you can discover the surprising story of John Baskerville's burial in Warstone Lane Cemetery. This tour features the Keyhill and Warstone Lane Cemeteries and catacombs at their most atmospheric hour providing great photo opportunities.
Baskerville Cemetary Walk taking place during Birmingham Heritage Week (Image: Birmingham Heritage Week)
It will also combine archive photos and historic facts to bring the story to life. Be sure to wear weather appropriate footwear and clothing and do take a torch. Tickets are free but limited, find out more here
Corner of Vyse Street and Pitsford Street, B18 6LE
Moseley Park and Pool & Icehouse
Moseley Park is hidden behind the shops in Moseley Village. You can walk round the pool, enjoy the peaceful oasis and test the echo in the well-preserved 18 century, remarkably well-preserved icehouse. The ice chamber has never had to be repaired and is still used to store ice during festivals in the park. Its entrance reminds us that JRR Tolkien visited Moseley Park – perhaps this is where he first thought of Hobbit holes!
Entrance to the Ice House (Image: Graham Young)
Saved from development in 1898 by some original Nimbys, Moseley Park and Pool has ever since provided a green lung for the area. Previously owned by the family of John Taylor of Bordesley, the large pool at Moseley Park was created to a design by Humphry Repton. It is shown in the 1792 Red Book produced for John Taylor II of Moseley Hall.
Family activities will be available on the open day on Saturday September 14 between 2pm and 5pm. Free, no booking required. Find out more here
93A/95 Alcester Road, Moseley, Birmingham, West Midlands, B13 8DD
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People are often surprised when they first step inside the Birmingham Oratory because it has an interior which evokes the Italian Baroque filled with rich marble interiors and Italian mosaics which were produced by craftsmen in Murano, Italy.
Once the home of Lord of the Rings author JRR Tolkien, this Grade II listed building dates mainly from the beginning of the 20th century and was founded by the famous English Catholic convert and writer cardinal John Henry Newman. The Holy Souls altar in the church and the Victorian cloisters contain memorials to those who died during the Great War. Today, it remains home to a vibrant and diverse Roman Catholic faith community.
The high altar of Birmingham Oratory in Edgbaston
The church is open to visitors from 9am to 6.30pm on Thursday September 19 and Friday September 20 with tours at 11am and 2.15pm. It will also be open from 2pm to 6.30pm on Saturday September 21 and Sunday September 22 with tours at 2.15pm and 3.30pm.
Free, no booking required. Light refreshments will be served in the Lower Cloister Hall from 11am to 2pm on Thursday, Friday, Saturday and Saturday. Find out more here
The Oratory, 141 Hagley Road, Birmingham, West Midlands, B16 8UE
Bournville Carillon
This is an opportunity to see the Bournville Carillon in action. Installed by Bournville Village Trust founder George Cadbury in 1906, it's thought to be one of the finest instruments of its kind in the world. It looks much like an organ and consists of 48 cast bronze bells, played serially to produce a melody which can be heard across the Village Green.
The Carillon (bells/tower) at Bournville Junior School, Bournville, Birmingham.
The instrument and the carillon art are most commonly found in Belgium, Holland, France and even in the USA but are a rarity in the UK. On Saturday September 14, the bells will be played at regular intervals from 10am to 4pm.
On the same day, you can also visit the Rest House in the centre of Bournville Village Green, where there will be a local arts and crafts market. Proceeds of sale will be used to promote Bournville Carillon heritage. Free, booking required. Find out more here
Bournville Junior School, Linden Road, Bournville, B30 1JY
Cadbury World 'Factory in a Garden' tour
Cadbury World is inviting guests to discover the fascinating history of the Cadbury brand with a Heritage Walking Tour led by an expert Cadbury World guide. People can discover the revolutionary thinking of John Cadbury and follow his family on their campaigns for justice, equality and social reform, striving to put an end to poverty and deprivation.
While on the walk, guests can learn about Bournville's fascinating past with a sneak-peek into Birmingham's unique 'Factory in a Garden,' and view examples of beautiful architecture, the unique village green and the pretty tree-lined streets that Bournville is famous for.
Bournville Heritage Walks as part of Birmingham Heritage Week (Image: Cadbury World)
The free Heritage Walking Tour takes place on Thursday September 12 and Thursday September 19 from 3.15pm to 4.15pm. Guests can add a visit to Cadbury World when booking their place on the Walking Tour. Standard adult tickets cost £17.50 and concessions for students and the over 60s are £13.25. Find out more here
Linden Road, Bournville, B30 1JR
St Mary's Convent of Mercy
Built in 1841, St Mary's convent is a little-known architectural gem by Augustus Welby Pugin. The Sisters are offering tours of the convent as part of Birmingham Heritage Week where you'll get to see the restored interiors and many of the original features. Learn about the story of the Sisters of Mercy through the exhibition trail of archives and artefacts plus their nursing role in the Crimean War, about the Sisters as teachers, and gain an insight into Catholic Religious life from the 1830s-2000s.
St Marys Convent opening for Birmingham Heritage Week (Image: Birmingham Heritage Week)
Discover the beautiful chapel and the bedroom of the foundress, the Venerable Catherine McAuley. There will also be a chance to meet some of the Sisters. The convent has strong historical connections with the Hardman family of Hardman & Co. stained glass fame.
Tours last about 45 minutes and run between 10am and 4pm on Friday September 20 and Saturday September 21. Booking not required. Find out more here
St. Marys Convent, 98 Hunters Road, Birmingham, B19 1EB
Handsworth Old Town Hall
This 15th century Grade II listed cottage houses a collection of photographs, maps and other memorabilia relating to Handsworth in the late 19th and early 20th centuries. It is an excellent example of early 'cruck' timber frame construction.
You can visit on Saturday September 14 between 10am and 5pm as part of Birmingham Heritage Week.
Free, no booking required. Find out more here
20 Slack Lane, Birmingham, B20 2JL
Bournville Almshouse Trust – The Quadrangle
This is a rare opportunity to visit the Almshouses - built for retired Cadbury workers - as part of a pre-booked tour.
Built by Ewan Harper for Bournville co-founder Richard Cadbury, in the traditional form of single-storeyed alms houses is The Quadrangle. Richard Cadbury wished to provide homes for retired Cadbury workers, aged over 60 and on lower incomes, which led directly to the development of the 33 bungalows that occupy this site. Sadly, whilst Richard was able to show prospective residents one completed home at the scheme, as a model for the conditions they would later live in, he never saw The Quadrangle's completion due to his untimely death in Jerusalem in 1899.
Bournville Almshouses opening for Birmingham Heritage Week (Image: Birmingham Heritage Week)
Available on the day, strictly by booking only, will be:
• census details from 1901 & 1911
• a talk by Scheme Manager, Kathy Knight regarding the building and its past
• an opportunity to meet a resident and learn of their experience of living in the Almshouses today
• a guided tour by a member of staff of the main building and the grounds
• booklets detailing the site's latest refurbishment.
The open day takes place on Saturday September 14 between 10am and 4pm.
Free but booking is essential. Find out more here
214 Mary Vale Road, Bournville, B30 2DH
Old Yardley Walk
Join experts from the Birmingham and Warwickshire Archaeological Society in a leisurely 2.5 mile stroll around the village of Yardley. Discover the hidden history of the area including two medieval moats that once surrounded manor houses, ridges remaining from medieval ploughing, and the historic buildings of old Yardley including (exterior only) St Edburgha's church and the timber-framed old grammar school.
Old Yardley Walk as part of Birmingham Heritage Week (Image: Birmingham Heritage Week)
The walk will be led by Dr Mike Hodder, former Birmingham City Archaeologist, and Sue Whitehouse, who devised the Society's 'See it for Free' programme, a web-based invitation to explore the archaeological sites of Birmingham and Warwickshire. It takes place on Saturday September 14 at 11.30 to 1pm and then again at 2 to 3.30pm. Free but booking required. Find out more here
Blakesley Hall, Blakesley Road, Birmingham, West Midlands, B25 8RN
Parish Church of St Agatha, Sparkbrook
This spectacular Neo-Gothic Grade I listed Bidlake church is a hidden gem, mentioned in the letters of John Betjeman. Most visitors are said to be surprised by just how beautiful the building is and impressed by the organ too.
It opened in 1901 to house an Anglo-Catholic congregation, and from its beginning to the present day, the Anglo-Catholic tradition has been upheld.
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There will be activities for children and young people, light refreshments available and informative guides and displays on the open days on Sunday September 15 between 10am and 4pm and Sunday September 22 between 10am and 12.30pm.
Each Sunday Mass is celebrated at 11 am. Visitors are always welcome and it's said to be the best time to hear the organ. Those who do not wish to participate are asked to wait respectfully while worship occurs. Free, no booking required. Find out more here
Stratford Road, Sparkbrook, Birmingham, West Midlands, B11 1QT
And one worth paying to visit ....
The Lock-up
There's a chilling feel to this Victorian Lock-up as many of the original features are still present. You can browse freely around the Steelhouse Lane facility, look in the cells and find out more about some of the Victorian prisoners who stayed there.
It was in use from 1891 to 2016 and shows how a mini prison operated in a busy city centre for well over a century.
Steelhouse Lane Lock-up opening for Birmingham Heritage Week (Image: Birmingham Heritage Week)
Some of the items and old uniforms from the police museum will be on display and there is a quiz and treasure trail for any children that may attend in addition to fingerprinting and uniform to try on.
For those who have visited before, there will be new displays about the police strike of 1919 when 120 officers from Birmingham City police officer were dismissed for their participation.
Visitors will have a one and a half hour time slot on Monday September 16 between 10am and 4pm, with last entry at 2.30pm. This is one of the few chargeable activities, with tickets costing £5 for adults and £3.50 for children. Booking required. Find out more here
Steelhouse lane, Birmingham, B4 6NW
Digbeth
Handsworth and Soho
Sparkbrook
Hagley Road

redpajama_set_name: RedPajamaCommonCrawl


"A History of the West in an Altadena Garden"
Our home sits on a south-facing alluvial fan at the base of the San Gabriel Mountains in Altadena, California. The property is long and narrow, with a charming cottage in the middle and gardens on each end. A beautiful coast live oak (Quercus agrifolia), over one hundred years old, anchors the front garden; little else of the existing garden was worth preserving when we moved in. We are both artists, specializing in site specific installations, both together and individually, that usually explore issues related to California's native plants; Karen is also an educator, and Andreas a landscape designer. Together, we designed and installed a semi-formal landscape in our front garden, with a contemporary "folly" at its center. Edibles and nursery stock fill the smaller garden behind the house along with water infiltration and compost areas. We maintain the entire garden ourselves.
Upon taking ownership of the property in 1999, we removed more than a dozen eucalyptus trees and, sadly, one of a pair of mature olives that stood in the way of a sorely needed studio for our work. We also removed large mounds of trash and debris and cut up dead trees for firewood-enough to last us ten years.
The garden's design began as a familiar process of imagining what could be done with a long-neglected space. We came to this project as veterans of visualizing and manipulating space for exhibitions and art installations. We were already familiar with our native flora, having established our first garden of natives in 1991.
The challenge here was a long, narrow yard filled with various kinds of decaying fencing, weeds, piles of trash, a collapsed and potholed driveway, and exotic plants. We wanted to blend materials and forms common to the local architectural and construction history, combined with a Modernist sensibility. While building the studio, we did some rudimentary sketches and contemplated the possibilities. We also started collecting materials for future use.
We removed all of the exotic plants and solarized the site, from August through October 2003, by putting down a layer of clear plastic sheeting to kill the weeds using the sun's energy. Once the plastic was removed, we had a weed-free area in which to work. We used various visual aids to layout the ideas that we had sketched earlier, arranging and rearranging sheets of corrugated metal, rusted polishing wheels, rope, and mounds of dirt until the visualization process was complete and we were happy with the composition.
In early 2004, we began construction of the hardscape elements, including new underground utilities. To keep our costs low and send as little to the local landfill as possible, we tried to incorporate as much of the existing materials as we could find uses for in our design. We recycled our existing fencing panels to cover about 300 linear feet along the property line, and finished the remaining 500 feet with additions from various neighbors and other salvage sources. We assembled a low gabion wall across the front of the property to provide a strong frame separating the garden from the street. We laid out a sinuous path of decomposed granite that bisects the garden longitudinally, with boulders placed at strategic points along its route. We intended this to be an ambulatory garden and framed specific compositions to be viewed from the path. A rammed-earth bench marks the end of the path excavated for the driveway became a mound with a steep cliff on one side, providing habitat for Dudleya species and other plants from Baja California.
Midway along the path, we installed an art piece, "A History of the West," constructed of two basic elements: cast iron polishing wheels collected from a local quarry and concrete "Monopoly" houses that we had used in a previous .art installation. The polishing wheels were set on edge to mimic a tractor-pulled cultivator left to rust-a tongue-in-cheek homage to farm implements that often appear in frontyard gardens. The grid of concrete blocks, aligned with the "tiller," suggests both houses and tombstones. Completely visible only from the path, this art piece is a distilled narrative of land use throughout the American West, but, particularly, here in California: agriculture, represented by the wheels and edibles planted around them, cuts a hard-edged swathe through the wild lands, and is so often followed by a housing development that ignores the natural beauty of the land.
All of the foundation plantings were completed by April 2004, a little later in the season than we would have liked. We provided irrigation through an underground PVC pipe that serves an above ground drip system. We scheduled once-a-week irrigation during the first year, but tapered that off in the summer. Now that the plants are well established, we seldom use the drip system but water overhead for two to three hours, once a month, during our long dry summers.
The old oak stands as a dark background for the composition, when viewed from the street. The dominant color scheme of the garden in winter is green, blue, and gray; reds and other warm colors take over in summer and fall. We initially centered the plant palette on various species of our native buckwheats (Eriogonum) so that the seasonal drying and changing of their flowers would present a dramatic color shift over the summer months, accentuating and echoing the rusted patina of the wheels and fence posts and the warm tones in the fence panels. Santa Catalina Island buckwheat (E. giganteum) did not like its location and died, but San Miguel Island buckwheat (E. grande subsp. rubescens) has thrived, and Santa Cruz Island buckwheat (E. arborescens) has reseeded itself and survived long enough each year to produce viable offspring. Successive generations of this species appear to have acclimated to our conditions and seem content to be permanent features.
We left plenty of open space for wildflowers, particularly between shrubs, spaced so that their mature forms would be clearly visible. Although we began with areas set aside for pure sweeps of California poppy (Eschscholzia californica), Gilia, Phacelia, and Clarkia, we have allowed them to migrate and mingle across the property. Whenever possible next to walkways, we planted sages (Salvia), Monardella, Verbena, wild currants (Ribes), and other natives that would release their characteristic aromas into the garden. Now that the shrubs have reached a degree of maturity, the garden has become an extraordinary bird habitat. The number and variety of birds has greatly increased over the years; during morning and evening feeding times, we often see fifty or more birds at a time, perching, drinking, eating, bathing, and scratching beneath the shrubs.


text:
PDP-7 — мини-компьютер, производившийся Digital Equipment Corporation. Появившись в 1965 году, первым использовал технологию Flip Chip. Стоимость компьютера составляла 72 тыс. долл. Он был дешёвым, но мощным компьютером для своего времени. PDP-7 был третьим компьютером в линейке 18-битных машин, используя практически ту же самую систему команд, что и PDP-4, а также PDP-9.

В 1969 году Кен Томпсон написал первую версию операционной системы UNIX на языке ассемблера PDP-7, позже названную Unics (позже переименованную в UNIX).

Ссылки

 Информация на сайте Bell-Labs
 Фотогалерея PDP-7, установленного в Осло
 Документация на PDP-7 на сайте bitsavers.org
 Документация на PDP-9 на сайте bitsavers.org
 Документация на PDP-15 на сайте bitsavers.org

Аппаратное обеспечение DEC
Мини-компьютеры

redpajama_set_name: RedPajamaWikipedia


text:
Papa Murphy's 'Made Progress in 2016'
Industry News March 16, 2017
Papa Murphy's Holdings, Inc. announced complete financial results for the 14-week fourth quarter and 53-week fiscal year ended January 2, having previously announced preliminary results for those periods.
Key financial highlights for the 14-week fourth quarter of 2016 ended January 2, 2017, compared to the 13-week fourth quarter ended December 28, 2015, were as follows:
Revenue increased 5 percent to $35.5 million from $33.8 million. Revenue in the fourth quarter of 2016 included approximately $2.7 million attributed to the extra operating week.
Domestic system comparable store sales decreased 7.8 percent on a comparable 13-week basis, including a 7.5 percent decrease at domestic franchise-owned stores and an 11.1 percent decrease at company-owned stores.
Net income was $1.5 million for the fourth quarter of 2016, or $0.09 per diluted share, compared to net income of $2.6 million, or $0.16 per diluted share, for the fourth quarter of 2015. Net Income in the fourth quarter of 2016 included an approximate $0.1 million benefit attributed to the extra operating week.
Papa Murphy's opened 28 new stores in the quarter, including 27 in the U.S., compared to 46 new stores opened in the fourth quarter of 2015, including 40 in the U.S.
Key financial highlights for the 53-week fiscal year ended January 2, 2017, compared to the 52-week fiscal year ended December 28, 2015, were as follows:
Revenue increased 5.6 percent to $126.9 million, from $120.2 million. Fiscal 2016 results included approximately $2.7 million in revenue attributed to the extra operating week.
Domestic system comparable store sales decreased 5.2 percent on a comparable 52-week basis, including a 5.0% decrease at domestic franchise-owned stores and a 7.3 percent decrease at company-owned stores.
Net income attributable to Papa Murphy's was $2.6 million, or $0.16 per diluted share, compared to $4.9 million, or $0.29 per diluted share, in fiscal year 2015. Net Income in fiscal 2016 included an approximate $0.1 million benefit attributed to the extra operating week.
Jean Birch, board chair and interim chief executive officer of Papa Murphy's Holdings, Inc., says, "While top-line results continued to be challenged, we are pleased that we were able to maintain profitability in the quarter by focusing on cost controls and company-store margins. As we look ahead, we believe we have made progress in 2017 and are on the right track to return this system to growth. So far, we have tested national cable television advertising, generating brand awareness in many markets that have never benefited from television. We announced our first strategic refranchising transaction with an experienced operator committed to grow the business. We right-sized SG&A expenses while better focusing resources on our asset-light franchise business. And, just this week, we launched a delivery test with Amazon's Restaurant Delivery Service, Prime Now. We have a long way to go in an increasingly competitive environment, but believe we are on the right track to ultimately reward all of our franchise owners, employees, and shareholders."
Chuck E. Cheese Parent Names David McKillips CEO


HOTROD Autorama, the award is given to the owner of a vehicle that "has exhibited inspired creativity, ingenious engineering and superb workmanship." "As a customer, there were a number of times when Craig would send work our way just because he knew we needed to put food on the table, so to have a vehicle that Craig owned (and then sold to Mike Warn to use as the basis of the project) win this award made it even that much more special for us," says Tim. And for those few who had a problem with the crazy combination of vehicles? "As soon as you turn over the engine and hear that sound, any concern people had would melt away," Tim laughs. New Business Lines, New Friends To win the award, every inch of the car was scrutinized for a full week. Judges agonized over the hundreds of custom- built parts fabricated by the Divers team, including custom fasteners that Divers Speed Shop had invented while building the Ferrambo. The mirror-finished, seven- notched head fasteners also caught the eye of judges for the Ridler Award. So much so, in fact, that Mike Warn encouraged Tim and his team to explore producing the fasteners commercially. Soon after, a new business unit called NotcHead Fasteners was born. 64 n Performance & Hotrod Business n January 2015 The "clean shop" activities include assembly, upholstery and an attached paint shop. "In this business you either have that vision and passion for the work or you don't," says Tim Divers.