Hardware prototype with component specification and usage description Final version - WEKIT

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Hardware prototype with component specification and usage description Final version - WEKIT
Ref. Ares(2018)3470317 - 29/06/2018

                            Wearable Experience for
                         Knowledge Intensive Training

Hardware prototype with component
specification and usage description
Final version

                                                           Authors:
                                             Roland Klemke (OUNL)
                                            Daniele Di Mitri (OUNL)
                                          Bibeg Hang Limbu (OUNL)
                                               Puneet Sharma (UiT)

            Wearable Experience for Knowledge Intensive Training
                                              Project No 687669
Hardware prototype with component specification and usage description Final version - WEKIT
Wearable Experience for
                                  Knowledge Intensive Training

       Revision History
   Version    Date            Contributor(s)      Modification
   1          09 January      Daniele Di Mitri    Initial setup of the Document
              2018
   2          17 April 2018   Daniele Di Mitri    First changes after the responsibility shift
                              & Bibeg Limbu       from myndplay to OUNL
   3          08 May 2018     Bibeg Limbu,        Restructuring, general planning, section
                              Roland Klemke       responsibilities
   4          31 May 2018     Daniele di Mitri    Overall system architecture
   5          14 June 2018    Bibeg Limbu         Key requirements and SPU
   6          20 June 2018    Puneet Sharma       WEKIT sensor PCB, images.
   7          28 June 2018    Paul Lefrere,       Profread, finalisation of Proofread version
                              Roland Klemke
   8          29 June 2018    Mikhail             Quality review, style and formatting
                              Fominykh

                          Disclaimer: All information included in this document is subject to
                          change without notice. The Members of the WEKIT Consortium
                          make no warranty of any kind with regard to this document,
                          including, but not limited to, the implied warranties of
                          merchantability and fitness for a particular purpose. The Members
                          of the WEKIT Consortium shall not be held liable for errors
                          contained herein or direct, indirect, special, incidental or
                          consequential damages in connection with the furnishing,
                          performance, or use of this material.

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Hardware prototype with component specification and usage description Final version - WEKIT
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   Hardware prototype with
   component specification and usage
   description

   Final version
   WP 3 | D3.5

   Editors:
   Roland Klemke (OUNL)

   Authors:
   Daniele di Mitri (OUNL), Bibeg Hang Limbu (OUNL), Puneet Sharma (UiT)

   Reviewers:
   Paul Lefrere (CCA), Mikhail Fominykh (EP)

   Deliverable number    D3.5
   Dissemination level   Public
   Version               1.0
   Status                Final
   Date                  30.06.2018
   Due date              30.06.2018

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Hardware prototype with component specification and usage description Final version - WEKIT
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   Table of Contents
   REVISION HISTORY ............................................................................................................................... 2
   EXECUTIVE SUMMARY ......................................................................................................................... 5
   1.      INTRODUCTION ............................................................................................................................ 6
   2.      SYSTEM ARCHITECTURE ................................................................................................................ 6
        2.1.     HOLOLENS................................................................................................................................ 8
        2.2.     SENSOR PROCESSING UNIT ........................................................................................................... 9
        2.3.     SENSOR COMPONENTS AND THEIR INTEGRATION .............................................................................. 10
   3.      FINAL HARDWARE COMPONENTS .............................................................................................. 12
   4.      KEY REQUIREMENTS ................................................................................................................... 13
   5.      PROTOTYPE AND USAGE DESCRIPTION ....................................................................................... 14
        5.1. INSTALLATION AND CONFIGURATION............................................................................................. 14
           5.1.1. Windows Stick PC with Windows 10 or Windows 10 PC ..................................................... 14
           5.1.2. Recorder configuration ........................................................................................................ 17
        5.2. USAGE .................................................................................................................................. 18
           5.2.1. Starting and using applications ............................................................................................ 18
   6.      MAPPING OF HARDWARE SUPPORT FOR THE FRAMEWORK ....................................................... 20
   7.      CONCLUSIONS ............................................................................................................................ 21

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   Executive summary
   This D3.5 report presents the final version of the experience capturing hardware
   prototype’s design and architecture for materializing the WEKIT framework and design. It
   builds upon deliverable 3.6 “Software prototype with sensor fusion API specification and
   usage description”. It also closely follows the recommendation and findings of D3.4
   “Requirement analysis and sensor specifications”. The deliverable presents the final
   hardware setup which incorporates various devices and sensors into a single platform.
   The deliverable also details various components such as the Hololens, sensor processing
   unit and the sensor jacket. The final design accounting for wearability and ergonomics of
   the sensor jacket is outlined in “D5.8 Wearable design solution”. This deliverable is
   focused on providing an overview of the hardware eco-system.

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   1. Introduction
   The primary purpose of this deliverable is to present the hardware prototype. It also
   outlines how the hardware setup enables the WEKIT training methodology to be
   manifested. See table 1, section 6 for a full summary of how specific training needs and
   methods map to hardware decisions. In this version of the deliverable, we present the final
   design for the hardware which includes three major components:

       1. The Hololens
       2. The Sensor Processing Unit
       3. The Sensor Jacket

   The deliverable outlines sensors that are incorporated into the hardware eco-system
   along with their specifications. The selection of sensors has been guided by the
   requirements stated in D3.4 and suggestion made on D3.2. Each time we added a new
   sensor or tried a new mix of sensors, we gained experience of how to recognise and
   address new interoperability challenges and new workflows associated with creating new
   variants of the hardware prototype. This underpins what we report on in section 2.

   The deliverable begins by providing a bird-eye view of the hardware ecosystem in section-
   2: Final architecture and the communication between the components in section 2.1:
   Communication between the components. It then proceeds by providing detailed
   description on each of the components namely, section 2.2: Hololens, section 2.3: Sensor
   processing unit and 2.3 Sensor jacket. The sections that will follow, will reflect on the
   previous deliverables (D3.2 and D3.4). The deliverable will justify how the current eco-
   system meets the key requirements put forward by previously mentioned deliverables
   and the WEKIT framework. It will also provide a use case example which also outlines how
   the hardware ecosystem can be used.

   2. System architecture
   The hardware prototype described in this deliverable is part of the overall system
   architecture as specified in D2.3 (Final Architecture and Learning Experience Content
   Model) and belongs to the final prototype as described in D2.5 (Final Prototype). This
   deliverable concentrates on the hardware related aspects and their relation to other
   aspects of the overall WEKIT solution.

   The following figure illustrates the overall system architecture comprising the WEKIT.ONE
   unified software installed on Hololens, the sensor jacket with installed sensor electronics,
   and the sensor processing unit (SPU) as main aspects of the wearable solution (Fig. 2.1).
   The figure also displays their connections to the backend components for authentication,
   cloud-based data storage, and community access.

   In the following, we will concentrate on the communication between these components
   with a key focus on how sensor data is communicated through the various hardware and
   software components.

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      Fig 2.1 Overview of the complete WEKIT.ONE architecture comprising hardware and
                                    software components
   As we added sensors, we found we could not rely on the specifications for linking sensors
   by wire. Accordingly, the communication of data between sensor jacket and Stick PC and
   Hololens is done over wifi. In contrast to D3.4’s suggestion to use wired USB connection, a
   wifi connection was chosen to simplify the hardware setup, as first internal test runs
   indicated unstable cable connections in the wearable design.

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   Wifi was preferred over Bluetooth-based communication as it offers larger bandwidth and
   connectivity. Most modern stick PC offers the possibility to broadcast wifi hotspot
   eliminating the need to have a third-party router.

   The following swim lane diagram shows the general communication flow between
   Hololens, SPU, sensors in the sensor jacket and feedback actuators in the same jacket (Fig.
   2.2). A user interaction within the wekit.one software triggers Hololens to start
   communication with the SPU, which itself manages all communication to the connected
   sensors and feedback actuators. Sensor-based data collection and storage is initially done
   on the SPU, from where data is communicated back to the Hololens, which in turn
   manages the backend upload.

                          Fig. 2.2 Swimlane diagram of communication flow

   2.1. Hololens
   Microsoft Hololens is a head mounted wearable augmented reality device1. The Hololens is
   processed by Custom Microsoft Holographic Processing Unit HPU 1.0 with 2 Gb of RAM.
   More RAM and higher HPU power would have been useful for some of our prototype
   configurations and we anticipate that the HPU 1.0 will be replaced by a more performant
   unit. Our architecture should be compatible with upgraded versions of the HPU. The HPU
   1.0 is an untethered stand-alone computing device running on specialised version of
   Microsoft Windows 10. Hololens is capable of projecting virtual contents mapped to the
   physical world space in an unobtrusive manner. It also hosts other sensors such as
   microphone, audio, Infrared camera, which allow different types of user interactions (Fig.
   2.1.1). This makes Hololens ideal for acting as a central user interaction component. The

   1
       https://www.microsoft.com/en-us/hololens

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   WEKIT prototype software is built on the Hololens platform. It runs both the recorder and
   the player.

                                Figure 2.1.1 Microsoft Hololens
   Hololens also offers wifi and Bluetooth connection allowing the Hololens to communicate
   with other components wirelessly.

   2.2. Sensor Processing Unit
   A stick PC is a device which has independent CPU or processing chips and which does not
   rely on another computer. In the prototype, the stick PC functions as a Sensor Processing
   Unit (SPU). Among all the stick PCs in the market, Intel® Compute Stick is chosen for
   WEKIT project since it is an Intel® x86-based Stick PC (see Figure 2.2.1). One of the latest
   version of Intel® Compute Stick is with pre-installed Windows 10 Home x86 and a quad-
   core Intel® AtomTM processor that makes many applications available to be used.

                                Figure 2.2.1 Intel® Stick PC [34]
   For the connectivity of the Intel® Compute Stick, it uses the built-in antennas and Intel
   wireless technology for connecting and accessing files in the cloud. The built-in Bluetooth
   can be used for connecting wireless peripherals or transfer files from smartphone to the
   stick PC´s on-board storage. Furthermore, there are USB ports to connect the devices such
   as keyboard, mouse or Ethernet adapter [35].

   For the power supply of the Intel® Compute Stick, a Micro-USB charging cable and power
   brick are used [36].

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   2.3. Sensor components and their integration
   The sensors are integrated into the WEKIT jacket using ESP32. ESP32 performs as
   a complete standalone system or as a slave device to a host, reducing
   communication stack overhead on the Hololens. ESP32 can interface with other
   systems to provide Wi-Fi and Bluetooth functionality as well. ESP32 collects the
   data from different wearable sensors such as: heart rate, galvanic skin response,
   IMUs, temperature and humidity, and also receives messages from other
   components to turn on or off the two vibration motors.

       Figure 2.3.1 WEKIT Sensor Hardware PCB (printed circuit board), this enables the
                  connection of different sensors and ESP32 on a single board.
   As shown in Figure 2.3.1, the PCB reduces the complexity of connections by clear labelling
   of different components and different connectors also enable easier debugging. For
   example, the heart rate sensors are connected on Pulse 0 and Pulse 1, the IMUs are
   connected on I2C0 and I2C1, Galvanic Skin Response sensor is connected on GSR,
   temperature and humidity sensors are connected on Temp0 and Temp1, finally, the two
   vibration motors are connected on M0 and M1.

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                     Figure 2.3.2, WEKIT Sensor PCB with ESP32 mounted.

                                                           3D printed mount for
                                                           heart rate sensor

                                                                 IMU

                   Figure 2.3.3 Heart-rate sensor placement and IMU location
   A 3D printed mount for Hololens which enables the placement of a heart rate sensor on
   the forehead of the user is shown on the figure above. It also shows the location of an IMU
   on the back of the WEKIT garment (Fig. 2.33).

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   For communication of sensor data from ESP32 to Hololens, SPU, and other components,
   we use MQTT2 (Message Queuing Telemetry Transport), an ISO standard publish-
   subscribe-based messaging protocol, which uses wifi (See section 5.1.1 for details on
   MQTT installation). It is a machine-to-machine (M2M)/"Internet of Things" connectivity
   protocol designed as a lightweight publish/subscribe messaging transport.

   The different sensor components such as: SPU, ESP32 and the associated sensors, and
   battery pack will be placed in a garment designed (in WP5).

   3. Final hardware components
   The following table provides the specifications of the final hardware components of the
   WEKIT.one prototype (Table 3.1).

                          Table 3.1. Final hardware components of WEKIT.one

   Processor                             Product Specifications

   Microsoft Hololens                         1 IMU
                                              Four environment understanding cameras
                                              1 depth camera
                                              1 2MP photo / HD video camera
                                              Mixed reality capture
                                              4 microphones
                                              1 ambient light sensor

   ESP32 with display                         Has a display (can display messages from SPU/
                                              stick PC)
                                              Both analog and digital inputs / outputs
                                              Wi-Fi and Bluetooth
                                              2.3V to 3.6V operating voltage
                                              Running at 240 MHz dual core

   Vibration Motor*                           DC3V 0834 Mobile phone micro flat vibration
                                              motor
                                              1.5V-3.7V DC
                                              12000-2500RPM Min
                                              3.4mm height, 8mm width
                                              Rated current: 70 mA maximum

   Galvanic Skin Response                     Grove - GSR Sensor
                                              Input Voltage: 5V/3.3V

   2
       http://mqtt.org/

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                                             Sensitivity adjustable via a potentiometer
                                             External measuring finger cots. Measures GSR at
                                             fingers.

   IMU                                       Power supply :3-5V (internal low dropout
                                             regulator)
                                             Communication: Standard IIC/SPI
                                             communication protocol
                                             Gyro range: ± 250 500 1000 2000 ° / s
                                             Acceleration range: ± 2 ± 4 ± 8 ± 16g
                                             3.5mA operating current when all 9 motion
                                             sensing axes and the Digital Motion Processor
                                             are enabled

   Environmental temperature and             Supply Voltage: 3.5 - 5V
   humidity sensor                           Low power consumption 30mW
                                             Defined humidity: 0 ... 100% RH
                                             Absolute humidity measurement accuracy +/-
                                             2% RH (relative humidity 10-90%)
                                             Sampling rate: ≤ 1 Hz

   4. Key requirements
   The hardware prototype is designed to meet the key technical requirements, which
   include managing interference, limitations and environmental factors which may affect the
   overall quality of the data, signal and or the user experience. In this section we justify the
   selection of the hardware based on the key requirements identified in D3.4.

   For the three use cases (mentioned in D6.1, D6.2, and D6.3), the first wave of the WEKIT
   prototype was evaluated and the results are discussed (in D6.4, D6.5, and D6.6). Based on
   the results, our experience of resolving connectivity and interoperability issues arising
   with mixes of sensors, comments from the reviewers, and a meeting of technical partners
   on 20 and 21 November 2017, a final set of requirements were formulated for the second
   wave of the trials. With our current state of the hardware, we address these key
   requirements in the following list.

          RQ1 (Processing power): The processing power needed for data processing and
          for communicating the sensor data to the stick PC i.e., Sensor Processing Unit
          (SPU) is handled by the built-in processing unit of Hololens. However, the Hololens
          processor is still limited and in future as more advanced AR glasses are built, we
          can transmit the data directly to the AR glasses hence reducing or eliminating the
          need for SPU.
          RQ2 (Battery life): The WEKIT jacket allows battery for sensor processing to be
          swapped.

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             RQ3 (Reliable communication): Quick and reliable communication, implemented
             in terms of built in wifi functionalities in the Sensor processing unit and Hololens.
             RQ4 (Offline usage): SPU and Hololens can be used offline (with no live internet
             connection) by storing the data locally. Backend upload can be delayed until
             Internet connection is established again or recorder sessions can be downloaded
             manually from Hololens and SPU at a later point in time.
             RQ5 (Sensor voltage): All sensors approximately run on same voltage to the best of
             the current availability.
             RQ6 (Open platforms for hard- and software): Unity and Mixed reality toolkit and
             other development kits used in WEKIT are all open source. The jacket also uses
             individually picked sensors with minimal constraints compared to a ready made
             solution. All sensors used comply to open hardware specifications according to the
             Arduino open source hardware standard except for selected commercial products
             integrated such as MYO.
             RQ7 (Cost-efficient hardware): Hardware cost have been kept to a minimum with
             future projections in mind. Technology tends to get cheaper as they mature, which
             will allow the solution to be much more affordable in the future. Microsoft
             Hololens being the most expensive hardware component of the architecture has
             already announced a cheaper second version and competitors rising up.
             RQ8 (modularity and extensibility): The WEKIT hardware architecture is modular
             and extensible. New Sensors can be added or removed. With the SPU separating
             specific sensor hardware from the main WEKIT application abstractions have been
             implemented that allow for replacement of individual components without
             affecting the overall solution.

   5. Prototype and Usage Description
   5.1. Installation and configuration

   5.1.1. Windows Stick PC with Windows 10 or Windows 10 PC
   The learning hub requires a Windows 10 compatible device. The following components
   need to be installed:

         1. Learning Hub
               a. Download the Learning Hub Folder3
               b. Unzip it and move to the Desktop
               c. Run the HubDesktop.exe. You’ll see the following screen from Figure
                   5.1.1.1

   3
       https://goo.gl/Mtv7Bw

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                       Figure 5.1.1.1 Learning Hub configuration window
               d. Change the %username% in the MQTTDataProvider path to the current
                  windows user. When the path is set, hit save and close the Learning Hub for
                  now. The MQTTDataProvider listens to the wekit/vest topic (localhost)
                  and sends data to the predefined topics. A list of those topics can be found
                  in the Drive4.

       2.   MQTT Broker
              a. Installing MQTT Broker (Mosquitto5)
              b. Install OpenSSL6 (required for Mosquitto)
              c. Download PThreadVC2.DLL7 and move to Mosquitto install folder
              d. Make sure the ESP32 is broadcasting on the topic: wekit/vest

   4
     https://docs.google.com/spreadsheets/d/1XkfKYgYf5mWZJcqHW0fgbDk5Vc1Nwjkstsd-
   gpIvb8s/edit#gid=0
   5
     https://mosquitto.org/download/
   6
     http://slproweb.com/products/Win32OpenSSL.html
   7
     ftp://sources.redhat.com/pub/pthreads-win32/dll-latest/dll/x86/

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       3. Wifi-Hotspot
             a. Connect Windows 10 PC to local network (Wifi/Cable)

            Figure 5.1.1.2 Accessing the Mobile Hotspot settings in the Windows pc
              b. Name the Wifi-Hotspot WEKIT[1|2|3|...] and assign a simple password (Fig.
                 5.1.1.3)

                            Figure 5.1.1.3 Configuring the hotspot
              c. Enable Wifi Hotspot
              d. Test: Connect Hololens to that Wifi-Hotspot and check network access

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         4. Recommended additional tools on Windows PC
               a. TeamViewer8: allows remote control and management of the stick PC
                  without connecting screen/keyboard - very helpful specifically for stick
                  PCs, would even allow remote control for the sticks from remote sites
               b. When installing TeamViewer make sure to install it as follows (Fig. 5.1.1.4)

                           Figure 5.1.1.4 TeamViewer installation setup
                 c. When TeamViewer is installed, go to Extras -> Options -> Security and set a
                    simple password. Press OK and remember the password + the ID as shown
                    on the main screen.

   5.1.2. Recorder configuration
         1. Unity:
               a. The IP of the stick PC has to be manually inserted into the
                   WEKITLearningHubControl Class from the editor. Click on the
                   WEKITManagers objects in the scene and check the component. (Do not
                   change the port number as it is set by default. If needed to be changed
                   change in the learning hub as well.)

   8
       https://www.teamviewer.com/nl/download/windows/

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                   Figure 5.1.2.1. WEKITLearningHubControl configuration in unity

              b. Build the application

       2. Backend
             a. The recorded data can be found online and downloaded.
              o      Root: http://wekitproject.appspot.com/
              o      Session overview: http://wekitproject.appspot.com/storage/sessions
              o      Download:
                     http://wekitproject.appspot.com/storage/fetch?filename=XYZ.zip

   5.2. Usage

   5.2.1. Starting and using applications
   Hololens only:

       1. Place all the 3d models into the Hololens.
              a. Connect the Hololens to the windows pc with USB cable.

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              b. Follow http://127.0.0.1:10080/ in the browser
              c. Navigate to http://127.0.0.1:10080/FileExplorer.htm /CameraRoll

              d. Browse and upload the models
       2. Start WEKIT.One application on Hololens.

   It is generally a good idea to save the ARLEM files manually too from Hololens to a PC
   using the device portal to avoid possible data losses according to network connectivity
   issues.

   Hololens + learning hub:
       1. Start WEKIT.One application on Hololens.
       2. Select Recorder/Player

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   6. Mapping of hardware support for the
      framework
   In this section, we present an overview of the WEKIT Transfer Mechanisms supported by
   the selection of WEKIT hardware (Table 6.1). The Transfer Mechanisms are individual
   learning design methods that exploit expert performance with the help of Augmented
   reality and Wearable technology (WEKIT D1.5). Microsoft Hololens and built in sensors
   can support range of transfer mechanisms such as remote symmetrical tele-assistance,
   directed focus etc. The MYO armband and the IMU sensors supports transfer mechanisms
   such as Interactive virtual/ tangible objects. For self-awareness of physical state, we will
   need metrics such as heart rate variability and posture information which are integrated
   into the WEKIT jacket. For haptic hints, the two vibration motors are placed on the arms of
   the user in the jacket.

              Table 6.1 Transfer Mechanisms supported by the WEKIT hardware
   Transfer        Description                                 Sensors             Key products
   mechanism
   Augmented       Augmenting virtual path atop the            smart/AR            Hololens, MYO
   Path            physical world in a way which allows        glasses, smart      Gesture, IMU
                   the trainee to guide the his/her            armband, Inertial   in the WEKIT
                   motion with precision                       sensors             jacket
   Remote          In instances where a remote expert is       smart/AR glasses    Hololens
   symmetrical     needed, it acts as an instant
   tele-           communication channel without
   assistance      having to divert from the workflow.
   Interactive     Interactable virtual objects to practice    smart armband       MYO Gesture
   Virtual /       with physical interactions relying on                           control
   tangible        the 3d models and animation                                     armband
   objects
   Haptic          Lightweight force feedback for              Vibrotactile        MYO,
   feedback        perception and manipulation of              bracelets and       Vibration
                   authentic objects by means of haptic        rings               motors
                   sensor, to provide feedback and
                   guidance
   Annotations     Allow a physical object to be               Smart glasses,      Infrared
                   annotated by the expert during task         tracking of         camera on
                   execution (similar to sticky notes but      physical            Hololens
                   with more modalities)                       environment
   Directed        Visual pointer for relevant objects         Gaze direction /    Hololens
   focus           outside the visual area of the trainee      object
                                                               recognition, EEG
                                                               (attention/focus/
                                                               mental effort)

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   Point of        Provides expert point-of-view video        Head mounted       Hololens
   View Video      which may provide perspectives not         HD, high frame     mounted
                   available to a third person.               rate camera        camera

   X-ray vision    Visualizing objects and processes that     Infrared camera    Hololens with
                   are hidden behind physical surfaces                           tracking of
                   and otherwise invisible to the eye, to                        physical
                   enhance understanding.                                        environment
   Highlight       Highlight physical objects in the          Marker-based       Hololens with
   object of       visual area indicating to the trainee      and location-      tracking of
   interest        that the expert marked it as an object     based physical     physical
                   of interest                                tracking           environment.
   3D Models       3d models and animations assist in         Smart glasses      Hololens with
   and             easy interpretation of Complex                                gesture
   Animation       models and phenomena which                                    recognition
                   require high spatial processing ability
   Object          Virtually amplify the effect of the        Smart Glasses      Hololens
   Enrichment      process to enable trainees to
                   understand the consequences of
                   certain events or actions in the
                   process which may be too subtle to
                   notice
   Contextual      Provide information about the              Dedicated          Temperature
   Information     process that is frequently changing        sensors for each   sensors and
                   but is important for performance           parameter, such    heart rate
                                                              as temperature,    sensors in the
                                                              heart rate         WEKIT jacket

   7. Conclusions
   The goal of D3.5 is to present the final design, functionality and core architecture of the
   hardware prototype so that users are able to fully experience the WEKIT learning
   methodology and its implementation. The document outlines the hardware prototype and
   also instructions for setting up, running, and administering the system. The hardware will
   be used and tested in the second upcoming trials for functionality and effectiveness.

   This document is part of a number of deliverables about the final WEKIT prototype and
   should thus be seen in conjunction with D2.3 (Final Architecture and Learning Experience
   Content Model), D2.5 (Final prototype), D3.4 (Requirement analysis and sensor
   specifications), D3.6 (Software prototype with sensor fusion API specification and usage
   description), D5.8 (Wearable design solution).

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                   Wearable Experience for Knowledge Intensive Training
                                   Project No 687669

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