US20120237140A1 - Optically imaging stylus for interacting with substrate having imageable position-coding pattern - Google Patents

Abstract

An optically imaging stylus for interacting with a substrate having an imageable position-coding pattern identifying a plurality of locations on the substrate. The stylus includes: a nib; an image sensor; and a processor configured for: (i) inferring a perspective transform using perspective-distorted features of the imaged position-coding pattern; (ii) determining a rotational orientation of the stylus relative to the position-coding pattern; (iii) acquiring and decoding coded data contained in the imaged position-coding pattern, the decoded coded data identifying an imaged location on the substrate; (iv) calculating a nib position using: the imaged location, the perspective transform and the determined rotational orientation, the nib position being different than the imaged location; and (v) generating digital ink identifying the nib position.

Description

CROSS-REFERENCE TO RELATED APPLICATION
• This is a Continuation Application of U.S. application Ser. No. 12/140,225 filed Jun. 16, 2008, which is a Continuation Application of U.S. application Ser. No. 10/291,559 filed on Nov. 12, 2002, now issued U.S. Pat. No. 7,412,651, which is a Continuation Application of U.S. application Ser. No. 09/575,129, filed on May 23, 2000, now issued U.S. Pat. No. 7,233,320, all of which are herein incorporated by reference.
FIELD OF INVENTION
• The present invention relates to a method and system for enabling user interaction with computer software running in a computer system.
• The invention has been developed primarily to provide a surface-based interface which allows a user to interact with networked information and to obtain interactive printed matter on demand via high-speed networked color printers. Although the invention will largely be described herein with reference to this use, it will be appreciated that the invention is not limited to use in this field.
CO-PENDING APPLICATIONS
• Various methods, systems and apparatus relating to the present invention are disclosed in the following co-pending applications/granted patents filed by the applicant or assignee of the present invention with the present application:

• 	7,721,948	7,079,712	6,825,945	7,330,974
  	6,813,039	6,987,506	7,038,797	6,980,318
  	6,816,274	7,102,772	7,350,236	6,681,045
  	6,728,000	7,173,722	7,088,459	7,707,082
  	7,068,382	7,062,651	6,789,194	6,789,191
  	6,644,642	6,502,614	6,622,999	6,669,385
  	6,549,935	6,987,573	6,727,996	6,591,884
  	6,439,706	6,760,119	7,295,332	6,290,349
  	6,428,155	6,785,016	6,870,966	6,822,639
  	6,737,591	7,055,739	7,233,320	6,830,196
  	6,832,717	6,957,768	7,456,820	7,170,499
  	7,106,888	7,123,239	6,428,133	6,526,658
  	6,315,399	6,338,548	6,540,319	6,328,431
  	6,328,425	6,991,320	6,383,833	6,464,332
  	6,439,693	6,390,591	7,018,016	6,328,417
  	6,409,323	6,281,912	6,604,810	6,318,920
  	6,488,422	6,795,215	7,154,638	6,859,289

  
  The disclosures of these co-pending applications are incorporated herein by cross-reference.
BACKGROUND
• Presently, a user wishing to interact with a computer system usually does so using a display device such as a computer monitor and an input device such as a keyboard or a computer mouse. Whilst such interfaces are useful, they are relatively bulky and non-portable, and can lack the immediacy and expressiveness afforded by a pen applied to paper. Moreover, in many situations, paper is a more comfortable and convenient recording medium, due to its superior visual characteristics and its portability. Nevertheless, information recorded on paper is generally not as accessible and malleable as information recorded on a computer system. Furthermore, unlike a computer interface, a pen applied to paper generally lacks the ability to control computer software.
OBJECT
• It is an object of the present invention to combine advantages of paper-based recordal of information and computer interfacing.
SUMMARY OF INVENTION
• In a first aspect of the invention, there is provided a method of enabling user interaction with computer software running in a computer system via:
• an interface surface containing information relating to the computer software and including coded data indicative of an identity of the interface surface and of at least one reference point of the interface surface; and
• a sensing device which, when placed in an operative position relative to the interface surface, senses indicating data indicative of: the identity of the interface surface; and a position of the sensing device relative to the interface surface, using at least some of the coded data;
• the method including the steps of, in the computer system:
• (a) receiving the indicating data from the sensing device;
  (b) using the indicating data to identify at least one interactive element relating to the computer software; and
  (c) operating the computer software in accordance with instructions associated with the at least one interactive element.
• In a second aspect of the invention, there is provided a method of enabling user interaction with computer software running in a computer system, the method including the steps of:
• providing an interface surface containing: information relating to the computer software; and coded data indicative of an identity of the interface surface and of at least one reference point of the interface surface; and
• in the computer system:
• (a) receiving indicating data from a sensing device, the indicating data being indicative of: the identity of the interface surface; and a position of the sensing device relative to the interface surface, the indicative data being sensed when the sensing device is placed in an operative position relative to the interface surface, using at least some of the coded data;
  (b) using the indicating data to identify at least one interactive element relating to the computer software; and
  (c) operating the computer software in accordance with instructions associated with the at least one interactive element.
• Preferably, in the first and second aspects, the interactive element is associated with a zone of the interface surface, and step (b) includes using the position of the sensing device to identify the zone and thereby the interactive element.
• In preferred embodiments of the first and second aspects, the sensing device generates movement data indicative of its movement relative to the interface surface, using at least some of the coded data. The method then includes the step of receiving, in the computer system, the movement data, wherein step (b) includes using the movement data to identify the zone and thereby the interactive element.
• In a third aspect of the invention, there is provided a system for enabling user interaction with computer software running in a computer system via:
• an interface surface containing information relating to the computer software and including coded data indicative of an identity of the interface surface and of at least one reference point of the interface surface; and
• a sensing device which, when placed in an operative position relative to the interface surface, senses indicating data indicative of the identity of the interface surface and a position of the sensing device relative to the interface surface, using at least some of the coded data;
• the system being configured to, in the computer system:
• (a) receive the indicating data from the sensing device;
  (b) use the indicating data to identify at least one interactive element relating to the computer software; and
  (c) operate the computer software in accordance with instructions associated with the at least one interactive element.
• In a fourth aspect of the invention, there is provided a system for enabling user interaction with computer software running in a computer system, the system including:
• an interface surface containing information relating to the computer software and including coded data indicative of an identity of the interface surface and of at least one reference point of the interface surface;
• the system being configured to, in the computer system:
• (a) receive indicating data from a sensing device, the indicating data being indicative of the identity of the interface surface and a position of the sensing device relative to the interface surface, wherein the sensing device, when placed in an operative position relative to the interface surface, senses the indicating data using at least some of the coded data;
  (b) use the indicating data to identify at least one interactive element relating to the computer software; and
  (c) operate the computer software in accordance with instructions associated with the at least one interactive element.
• Preferably, in the third and fourth aspects, the interactive element is associated with a zone of the interface surface, the system being configured to use the position of the sensing device to identify the zone and thereby the interactive element.
• In preferred forms of the third and fourth aspects, the sensing device generates movement data indicative of its movement relative to the interface surface using at least some of the coded data. The computer system is configured to receive the movement data, wherein (b) includes using the movement data to identify the zone and thereby the interactive element.
• Preferably, the coded data takes the form of tags disposed on the interface surface.
• In a particularly preferred form, the tags are printed onto a surface in the form of a piece of paper, and are configured to be read by a sensing device in the form of an optical sensing stylus. The tags are preferably printed using an ink that absorbs near infrared light but is substantially invisible to a human viewer under normal lighting conditions. When a user brings a sensing end of the stylus close to the surface, one or more of the tags are imaged, interpreted and decoded to provide an indication of the identity of the region from which the tag was imaged, and a position of the sensing device in relation to the surface. This information is used to identify an interactive element, and software in an associated computer system is then operated on the basis of instructions associated with the interactive element.
• Further aspects of the invention will become apparent from reading the following detailed description of preferred and other embodiments of the invention.
BRIEF DESCRIPTION OF DRAWINGS
• Preferred and other embodiments of the invention will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which:
• FIG. 1 is a schematic of a the relationship between a sample printed netpage and its online page description;
• FIG. 2 is a schematic view of a interaction between a netpage pen, a netpage printer, a netpage page server, and a netpage application server;
• FIG. 3 illustrates a collection of netpage servers and printers interconnected via a network;
• FIG. 4 is a schematic view of a high-level structure of a printed netpage and its online page description;
• FIG. 5 is a plan view showing a structure of a netpage tag;
• FIG. 6 is a plan view showing a relationship between a set of the tags shown inFIG. 5 and a field of view of a netpage sensing device in the form of a netpage pen;
• FIG. 7 is a flowchart of a tag image processing and decoding algorithm;
• FIG. 8 is a perspective view of a netpage pen and its associated tag-sensing field-of-view cone;
• FIG. 9 is a perspective exploded view of the netpage pen shown inFIG. 8;
• FIG. 10 is a schematic block diagram of a pen controller for the netpage pen shown inFIGS. 8 and 9;
• FIG. 11 is a perspective view of a wall-mounted netpage printer;
• FIG. 12 is a section through the length of the netpage printer ofFIG. 11;
• FIG. 12A is an enlarged portion ofFIG. 12 showing a section of the duplexed print engines and glue wheel assembly;
• FIG. 13 is a detailed view of the ink cartridge, ink, air and glue paths, and print engines of the netpage printer ofFIGS. 11 and 12;
• FIG. 14 is a schematic block diagram of a printer controller for the netpage printer shown inFIGS. 11 and 12;
• FIG. 15 is a schematic block diagram of duplexed print engine controllers and Memjet™ printheads associated with the printer controller shown inFIG. 14;
• FIG. 16 is a schematic block diagram of the print engine controller shown inFIGS. 14 and 15;
• FIG. 17 is a perspective view of a single Memjet™ printing element, as used in, for example, the netpage printer ofFIGS. 10 to 12;
• FIG. 18 is a perspective view of a small part of an array of Memjet™ printing elements;
• FIG. 19 is a series of perspective views illustrating the operating cycle of the Memjet™ printing element shown inFIG. 13;
• FIG. 20 is a perspective view of a short segment of a pagewidth Memjet™ printhead;
• FIG. 21 is a schematic view of a user class diagram;
• FIG. 22 is a schematic view of a printer class diagram;
• FIG. 23 is a schematic view of a pen class diagram;
• FIG. 24 is a schematic view of an application class diagram;
• FIG. 25 is a schematic view of a document and page description class diagram;
• FIG. 26 is a schematic view of a document and page ownership class diagram;
• FIG. 27 is a schematic view of a terminal element specialization class diagram;
• FIG. 28 is a schematic view of a static element specialization class diagram;
• FIG. 29 is a schematic view of a hyperlink element class diagram;
• FIG. 30 is a schematic view of a hyperlink element specialization class diagram;
• FIG. 31 is a schematic view of a hyperlinked group class diagram;
• FIG. 32 is a schematic view of a form class diagram;
• FIG. 33 is a schematic view of a digital ink class diagram;
• FIG. 34 is a schematic view of a field element specialization class diagram;
• FIG. 35 is a schematic view of a checkbox field class diagram;
• FIG. 36 is a schematic view of a text field class diagram;
• FIG. 37 is a schematic view of a signature field class diagram;
• FIG. 38 is a flowchart of an input processing algorithm;
• FIG. 38A is a detailed flowchart of one step of the flowchart ofFIG. 38;
• FIG. 39 is a schematic view of a page server command element class diagram;
• FIG. 40 is a schematic view of a resource description class diagram;
• FIG. 41 is a schematic view of a favorites list class diagram;
• FIG. 42 is a schematic view of a history list class diagram;
• FIG. 43 is a schematic view of a subscription delivery protocol;
• FIG. 44 is a schematic view of a hyperlink request class diagram;
• FIG. 45 is a schematic view of a hyperlink activation protocol;
• FIG. 46 is a schematic view of a form submission protocol;
• FIG. 47 is a schematic view of a commission payment protocol;
• FIG. 48 is a schematic view of a set of radial wedges making up a symbol;
• FIG. 49 is a schematic view of a ring A and B symbol allocation scheme;
• FIG. 50 is a schematic view of a first ring C and D symbol allocation scheme;
• FIG. 51 is a schematic view of a second ring C and D symbol allocation scheme;
• FIG. 52 is a schematic view of a triangular tag packing;
• FIG. 53 is a perspective view of an icosahedron;
• FIG. 54 is a perspective view of an icosahedral geodesic withfrequency3;
• FIG. 55 is a schematic view of a minimum tag spacing;
• FIG. 56 is a schematic view of a minimum tag spacing which avoids overlap;
• FIG. 57 is a schematic view of a first tag insertion case;
• FIG. 58 is a schematic view of a second tag insertion case;
• FIG. 59 is a schematic view of a third tag insertion case;
• FIG. 60 is a schematic view of a fourth tag insertion case;
• FIG. 61 is a schematic view of a pen orientation relative to a surface;
• FIG. 62 is a schematic view of a pen pitch geometry;
• FIG. 63 is a schematic view of a pen roll geometry;
• FIG. 64 is a schematic view of a pen coordinate space showing physical and optical axes of a pen;
• FIG. 65 is a schematic view of a curved nib geometry;
• FIG. 66 is a schematic view of an interaction between sampling frequency and tag frequency;
• FIG. 67 is a table containing equations numbered 1 to 10;
• FIG. 68 is a table containing equations numbered 11 to 20;
• FIG. 69 is a table containing equations numbered 21 to 26;
• FIG. 70 is a table containing equations numbered 27 to 34;
• FIG. 71 is a table containing equations numbered 35 to 41;
• FIG. 72 is a table containing equations numbered 42 to 44;
• FIG. 73 is a table containing equations numbered 45 to 47;
• FIG. 74 is a table containing equations numbered 48 to 51;
• FIG. 75 is a table containing equations numbered 52 to 54;
• FIG. 76 is a table containing equations numbered 55 to 57;
• FIG. 77 is a table containing equations numbered 58 to 59;
• FIG. 78 is a table containing equations numbered 60 to 63;
• FIG. 79 is a table containing equations numbered 64 to 74;
• FIG. 80 is a table containing equations numbered 75 to 86;
• FIG. 81 is a table containing equations numbered 87 to 99;
• FIG. 82 is a table containing equations numbered 100 to 111;
• FIG. 83 is a table containing equations numbered 112 to 120;
• FIG. 84 is a table containing equations numbered 121 to 129;
• FIG. 85 is a table containing a set of degenerate forms ofequations 64 to 71;
• FIG. 86 is a first part of a table containing conditions and special handling for zero pitch and zero roll; and
• FIG. 87 is a the second part of the table ofFIG. 86.
DETAILED DESCRIPTION OF PREFERRED AND OTHER EMBODIMENTS
• Note: Memjet™ is a trade mark of Silverbrook Research Pty Ltd, Australia.
• In the preferred embodiment, the invention is configured to work with the netpage networked computer system, a detailed overview of which follows. It will be appreciated that not every implementation will necessarily embody all or even most of the specific details and extensions discussed below in relation to the basic system. However, the system is described in its most complete form to reduce the need for external reference when attempting to understand the context in which the preferred embodiments and aspects of the present invention operate.
• In brief summary, the preferred form of the netpage system employs a computer interface in the form of a mapped surface, that is, a physical surface which contains references to a map of the surface maintained in a computer system. The map references can be queried by an appropriate sensing device. Depending upon the specific implementation, the map references may be encoded visibly or invisibly, and defined in such a way that a local query on the mapped surface yields an unambiguous map reference both within the map and among different maps. The computer system can contain information about features on the mapped surface, and such information can be retrieved based on map references supplied by a sensing device used with the mapped surface. The information thus retrieved can take the form of actions which are initiated by the computer system on behalf of the operator in response to the operator's interaction with the surface features.
• In its preferred form, the netpage system relies on the production of, and human interaction with, netpages. These are pages of text, graphics and images printed on ordinary paper, but which work like interactive web pages. Information is encoded on each page using ink which is substantially invisible to the unaided human eye. The ink, however, and thereby the coded data, can be sensed by an optically imaging pen and transmitted to the netpage system.
• In the preferred form, active buttons and hyperlinks on each page can be clicked with the pen to request information from the network or to signal preferences to a network server. In one embodiment, text written by hand on a netpage is automatically recognized and converted to computer text in the netpage system, allowing forms to be filled in. In other embodiments, signatures recorded on a netpage are automatically verified, allowing e-commerce transactions to be securely authorized.
• As illustrated inFIG. 1, a printednetpage1 can represent a interactive form which can be filled in by the user both physically, on the printed page, and “electronically”, via communication between the pen and the netpage system. The example shows a “Request” form containing name and address fields and a submit button. The netpage consists ofgraphic data2 printed using visible ink, and codeddata3 printed as a collection oftags4 using invisible ink. The correspondingpage description5, stored on the netpage network, describes the individual elements of the netpage. In particular it describes the type and spatial extent (zone) of each interactive element (i.e. text field or button in the example), to allow the netpage system to correctly interpret input via the netpage. The submitbutton6, for example, has azone7 which corresponds to the spatial extent of the corresponding graphic8.
• As illustrated inFIG. 2, thenetpage pen101, a preferred form of which is shown inFIGS. 8 and 9 and described in more detail below, works in conjunction with anetpage printer601, an Internet-connected printing appliance for home, office or mobile use. The pen is wireless and communicates securely with the netpage printer via a short-range radio link9.
• Thenetpage printer601, a preferred form of which is shown inFIGS. 11 to 13 and described in more detail below, is able to deliver, periodically or on demand, personalized newspapers, magazines, catalogs, brochures and other publications, all printed at high quality as interactive netpages. Unlike a personal computer, the netpage printer is an appliance which can be, for example, wall-mounted adjacent to an area where the morning news is first consumed, such as in a user's kitchen, near a breakfast table, or near the household's point of departure for the day. It also comes in tabletop, desktop, portable and miniature versions.
• Netpages printed at their point of consumption combine the ease-of-use of paper with the timeliness and interactivity of an interactive medium.
• As shown inFIG. 2, thenetpage pen101 interacts with the coded data on a printednetpage1 and communicates, via a short-range radio link9, the interaction to a netpage printer. Theprinter601 sends the interaction to the relevantnetpage page server10 for interpretation. In appropriate circumstances, the page server sends a corresponding message to application computer software running on anetpage application server13. The application server may in turn send a response which is printed on the originating printer.
• The netpage system is made considerably more convenient in the preferred embodiment by being used in conjunction with high-speed microelectromechanical system (MEMS) based inkjet (Memjet™) printers. In the preferred form of this technology, relatively high-speed and high-quality printing is made more affordable to consumers. In its preferred form, a netpage publication has the physical characteristics of a traditional newsmagazine, such as a set of letter-size glossy pages printed in full color on both sides, bound together for easy navigation and comfortable handling.
• The netpage printer exploits the growing availability of broadband Internet access. Cable service is available to 95% of households in the United States, and cable modem service offering broadband Internet access is already available to 20% of these. The netpage printer can also operate with slower connections, but with longer delivery times and lower image quality. Indeed, the netpage system can be enabled using existing consumer inkjet and laser printers, although the system will operate more slowly and will therefore be less acceptable from a consumer's point of view. In other embodiments, the netpage system is hosted on a private intranet. In still other embodiments, the netpage system is hosted on a single computer or computer-enabled device, such as a printer.
• Netpage publication servers14 on the netpage network are configured to deliver print-quality publications to netpage printers. Periodical publications are delivered automatically to subscribing netpage printers via pointcasting and multicasting Internet protocols. Personalized publications are filtered and formatted according to individual user profiles.
• A netpage printer can be configured to support any number of pens, and a pen can work with any number of netpage printers. In the preferred implementation, each netpage pen has a unique identifier. A household may have a collection of colored netpage pens, one assigned to each member of the family. This allows each user to maintain a distinct profile with respect to a netpage publication server or application server.
• A netpage pen can also be registered with anetpage registration server11 and linked to one or more payment card accounts. This allows e-commerce payments to be securely authorized using the netpage pen. The netpage registration server compares the signature captured by the netpage pen with a previously registered signature, allowing it to authenticate the user's identity to an e-commerce server. Other biometrics can also be used to verify identity. A version of the netpage pen includes fingerprint scanning, verified in a similar way by the netpage registration server.
• Although a netpage printer may deliver periodicals such as the morning newspaper without user intervention, it can be configured never to deliver unsolicited junk mail. In its preferred form, it only delivers periodicals from subscribed or otherwise authorized sources. In this respect, the netpage printer is unlike a fax machine or e-mail account which is visible to any junk mailer who knows the telephone number or email address.
1 Netpage System Architecture
• Each object model in the system is described using a Unified Modeling Language (UML) class diagram. A class diagram consists of a set of object classes connected by relationships, and two kinds of relationships are of interest here: associations and generalizations. An association represents some kind of relationship between objects, i.e. between instances of classes. A generalization relates actual classes, and can be understood in the following way: if a class is thought of as the set of all objects of that class, and class A is a generalization of class B, then B is simply a subset of A. The UML does not directly support second-order modelling—i.e. classes of classes.
• Each class is drawn as a rectangle labelled with the name of the class. It contains a list of the attributes of the class, separated from the name by a horizontal line, and a list of the operations of the class, separated from the attribute list by a horizontal line. In the class diagrams which follow, however, operations are never modelled.
• An association is drawn as a line joining two classes, optionally labelled at either end with the multiplicity of the association. The default multiplicity is one. An asterisk (*) indicates a multiplicity of “many”, i.e. zero or more. Each association is optionally labelled with its name, and is also optionally labelled at either end with the role of the corresponding class. An open diamond indicates an aggregation association (“is-part-of”), and is drawn at the aggregator end of the association line.
• A generalization relationship (“is-a”) is drawn as a solid line joining two classes, with an arrow (in the form of an open triangle) at the generalization end.
• When a class diagram is broken up into multiple diagrams, any class which is duplicated is shown with a dashed outline in all but the main diagram which defines it. It is shown with attributes only where it is defined.
1.1 Netpages
• Netpages are the foundation on which a netpage network is built. They provide a paper-based user interface to published information and interactive services.
• A netpage consists of a printed page (or other surface region) invisibly tagged with references to an online description of the page. The online page description is maintained persistently by a netpage page server. The page description describes the visible layout and content of the page, including text, graphics and images. It also describes the input elements on the page, including buttons, hyperlinks, and input fields. A netpage allows markings made with a netpage pen on its surface to be simultaneously captured and processed by the netpage system.
• Multiple netpages can share the same page description. However, to allow input through otherwise identical pages to be distinguished, each netpage is assigned a unique page identifier. This page ID has sufficient precision to distinguish between a very large number of netpages.
• Each reference to the page description is encoded in a printed tag. The tag identifies the unique page on which it appears, and thereby indirectly identifies the page description. The tag also identifies its own position on the page. Characteristics of the tags are described in more detail below.
• Tags are printed in infrared-absorptive ink on any substrate which is infrared-reflective, such as ordinary paper. Near-infrared wavelengths are invisible to the human eye but are easily sensed by a solid-state image sensor with an appropriate filter.
• A tag is sensed by an area image sensor in the netpage pen, and the tag data is transmitted to the netpage system via the nearest netpage printer. The pen is wireless and communicates with the netpage printer via a short-range radio link. Tags are sufficiently small and densely arranged that the pen can reliably image at least one tag even on a single click on the page. It is important that the pen recognize the page ID and position on every interaction with the page, since the interaction is stateless. Tags are error-correctably encoded to make them partially tolerant to surface damage.
• The netpage page server maintains a unique page instance for each printed netpage, allowing it to maintain a distinct set of user-supplied values for input fields in the page description for each printed netpage.
• The relationship between the page description, the page instance, and the printed netpage is shown inFIG. 4. The page instance is associated with both the netpage printer which printed it and, if known, the netpage user who requested it.
1.2 Netpage Tags1.2.1 Tag Data Content
• In a preferred form, each tag identifies the region in which it appears, and the location of that tag within the region. A tag may also contain flags which relate to the region as a whole or to the tag. One or more flag bits may, for example, signal a tag sensing device to provide feedback indicative of a function associated with the immediate area of the tag, without the sensing device having to refer to a description of the region. A netpage pen may, for example, illuminate an “active area” LED when in the zone of a hyperlink.
• As will be more clearly explained below, in a preferred embodiment, each tag contains an easily recognized invariant structure which aids initial detection, and which assists in minimizing the effect of any warp induced by the surface or by the sensing process. The tags preferably tile the entire page, and are sufficiently small and densely arranged that the pen can reliably image at least one tag even on a single click on the page. It is important that the pen recognize the page ID and position on every interaction with the page, since the interaction is stateless.
• In a preferred embodiment, the region to which a tag refers coincides with an entire page, and the region ID encoded in the tag is therefore synonymous with the page ID of the page on which the tag appears. In other embodiments, the region to which a tag refers can be an arbitrary subregion of a page or other surface. For example, it can coincide with the zone of an interactive element, in which case the region ID can directly identify the interactive element.

• TABLE 1
  Tag data

  	Field	Precision (bits)

  	Region ID	100
  	Tag ID	16
  	Flags	4
  	Total	120

• Each tag contains 120 bits of information, typically allocated as shown in Table 1. Assuming a maximum tag density of 64 per square inch, a 16-bit tag ID supports a region size of up to 1024 square inches. Larger regions can be mapped continuously without increasing the tag ID precision simply by using abutting regions and maps. The 100-bit region ID allows 2¹⁰⁰(˜10³⁰or a million trillion trillion) different regions to be uniquely identified.
1.2.2 Tag Data Encoding
• The 120 bits of tag data are redundantly encoded using a (15, 5) Reed-Solomon code. This yields360 encoded bits consisting of 6 codewords of 15 4-bit symbols each. The (15, 5) code allows up to 5 symbol errors to be corrected per codeword, i.e. it is tolerant of a symbol error rate of up to 33% per codeword.
• Each 4-bit symbol is represented in a spatially coherent way in the tag, and the symbols of the six codewords are interleaved spatially within the tag. This ensures that a burst error (an error affecting multiple spatially adjacent bits) damages a minimum number of symbols overall and a minimum number of symbols in any one codeword, thus maximising the likelihood that the burst error can be fully corrected.
1.2.3 Physical Tag Structure
• The physical representation of the tag, shown inFIG. 5, includes fixedtarget structures15,16,17 andvariable data areas18. The fixed target structures allow a sensing device such as the netpage pen to detect the tag and infer its three-dimensional orientation relative to the sensor. The data areas contain representations of the individual bits of the encoded tag data.
• To achieve proper tag reproduction, the tag is rendered at a resolution of 256×256 dots. When printed at 1600 dots per inch this yields a tag with a diameter of about 4 mm. At this resolution the tag is designed to be surrounded by a “quiet area” ofradius 16 dots. Since the quiet area is also contributed by adjacent tags, it only adds 16 dots to the effective diameter of the tag.
• The tag includes six target structures: adetection ring15; anorientation axis target16; and four perspective targets17.
• Thedetection ring15 allows the sensing device to initially detect thetag4. The ring is easy to detect because it is rotationally invariant and because a simple correction of its aspect ratio removes most of the effects of perspective distortion. Theorientation axis16 allows the sensing device to determine the approximate planar orientation of the tag due to the yaw of the sensor. The orientation axis is skewed to yield a unique orientation. The fourperspective targets17 allow the sensing device to infer an accurate two-dimensional perspective transform of the tag and hence an accurate three-dimensional position and orientation of the tag relative to the sensor.
• All target structures are redundantly large to improve their immunity to noise.
• The overall tag shape is circular. This supports, amongst other things, optimal tag packing on an irregular triangular grid. In combination with thecircular detection ring15, this makes a circular arrangement of data bits within the tag optimal. To maximise its size, each data bit is represented by aradial wedge510 in the form of an area bounded by tworadial lines512, a radiallyinner arc514 and a radiallyouter arc516. Eachwedge510 has a minimum dimension of 8 dots at 1600 dpi and is designed so that its base (i.e. its inner arc514), is at least equal to this minimum dimension. The radial height of thewedge510 is always equal to the minimum dimension. Each 4-bit data symbol is represented by anarray518 of 2×2wedges510, as best shown inFIG. 48.
• The 15 4-bit data symbols of each of the six codewords are allocated to the four concentric symbol rings18ato18d, shown inFIG. 5, in interleaved fashion as shown inFIGS. 49 to 51. Symbols of first to sixth codewords520-525 are allocated alternately in circular progression around the tag.
• The interleaving is designed to maximise the average spatial distance between any two symbols of the same codeword.
• In order to support “single-click” interaction with a tagged region via a sensing device, the sensing device must be able to see at least one entire tag in its field of view no matter where in the region or at what orientation it is positioned. The required diameter of the field of view of the sensing device is therefore a function of the size and spacing of the tags.
• Assuming a circular tag shape, the minimum diameter of the sensor field of view is obtained when the tags are tiled on a equilateral triangular grid, as shown inFIG. 6.
1.2.4 Tag Image Processing and Decoding
• The tag image processing and decoding performed by a sensing device such as the netpage pen is shown inFIG. 7. While a captured image is being acquired from the image sensor, the dynamic range of the image is determined (at20). The center of the range is then chosen as the binary threshold for theimage21. The image is then thresholded and segmented into connected pixel regions (i.e. shapes23) (at22). Shapes which are too small to represent tag target structures are discarded. The size and centroid of each shape is also computed.
• Binary shape moments25 are then computed (at24) for each shape, and these provide the basis for subsequently locating target structures. Central shape moments are by their nature invariant of position, and can be easily made invariant of scale, aspect ratio and rotation.
• Thering target structure15 is the first to be located (at26). A ring has the advantage of being very well behaved when perspective-distorted. Matching proceeds by aspect-normalizing and rotation-normalizing each shape's moments. Once its second-order moments are normalized the ring is easy to recognize even if the perspective distortion was significant. The ring's original aspect androtation27 together provide a useful approximation of the perspective transform.
• Theaxis target structure16 is the next to be located (at28). Matching proceeds by applying the ring's normalizations to each shape's moments, and rotation-normalizing the resulting moments. Once its second-order moments are normalized the axis target is easily recognized. Note that one third order moment is required to disambiguate the two possible orientations of the axis. The shape is deliberately skewed to one side to make this possible. Note also that it is only possible to rotation-normalize the axis target after it has had the ring's normalizations applied, since the perspective distortion can hide the axis target's axis. The axis target's original rotation provides a useful approximation of the tag's rotation due topen yaw29.
• The fourperspective target structures17 are the last to be located (at30). Good estimates of their positions are computed based on their known spatial relationships to the ring and axis targets, the aspect and rotation of the ring, and the rotation of the axis. Matching proceeds by applying the ring's normalizations to each shape's moments. Once their second-order moments are normalized the circular perspective targets are easy to recognize, and the target closest to each estimated position is taken as a match. The original centroids of the four perspective targets are then taken to be the perspective-distortedcorners31 of a square of known size in tag space, and an eight-degree-of-freedom perspective transform33 is inferred (at32) based on solving the well-understood equations relating the four tag-space and image-space point pairs (see Heckbert, P., Fundamentals of Texture Mapping and Image Warping, Masters Thesis, Dept. of EECS, U. of California at Berkeley, Technical Report No. UCB/CSD 89/516, June 1989, the contents of which are herein incorporated by cross-reference).
• The inferred tag-space to image-space perspective transform is used to project (at36) each known data bit position in tag space into image space where the real-valued position is used to bilinearly interpolate (at36) the four relevant adjacent pixels in the input image. The previously computedimage threshold21 is used to threshold the result to produce thefinal bit value37.
• Once all 360data bits37 have been obtained in this way, each of the six 60-bit Reed-Solomon codewords is decoded (at38) to yield20 decodedbits39, or120 decoded bits in total. Note that the codeword symbols are sampled in codeword order, so that codewords are implicitly de-interleaved during the sampling process.
• Thering target15 is only sought in a subarea of the image whose relationship to the image guarantees that the ring, if found, is part of a complete tag. If a complete tag is not found and successfully decoded, then no pen position is recorded for the current frame. Given adequate processing power and ideally a non-minimal field ofview193, an alternative strategy involves seeking another tag in the current image.
• The obtained tag data indicates the identity of the region containing the tag and the position of the tag within the region. Anaccurate position35 of the pen nib in the region, as well as theoverall orientation35 of the pen, is then inferred (at34) from the perspective transform33 observed on the tag and the known spatial relationship between the pen's physical axis and the pen's optical axis.
1.2.5 Tag Map
• Decoding a tag results in a region ID, a tag ID, and a tag-relative pen transform. Before the tag ID and the tag-relative pen location can be translated into an absolute location within the tagged region, the location of the tag within the region must be known. This is given by a tag map, a function which maps each tag ID in a tagged region to a corresponding location. The tag map class diagram is shown inFIG. 22, as part of the netpage printer class diagram.
• A tag map reflects the scheme used to tile the surface region with tags, and this can vary according to surface type. When multiple tagged regions share the same tiling scheme and the same tag numbering scheme, they can also share the same tag map.
• The tag map for a region must be retrievable via the region ID. Thus, given a region ID, a tag ID and a pen transform, the tag map can be retrieved, the tag ID can be translated into an absolute tag location within the region, and the tag-relative pen location can be added to the tag location to yield an absolute pen location within the region.
1.2.6 Tagging Schemes
• Two distinct surface coding schemes are of interest, both of which use the tag structure described earlier in this section. The preferred coding scheme uses “location-indicating” tags as already discussed. An alternative coding scheme uses object-indicating tags.
• A location-indicating tag contains a tag ID which, when translated through the tag map associated with the tagged region, yields a unique tag location within the region. The tag-relative location of the pen is added to this tag location to yield the location of the pen within the region. This in turn is used to determine the location of the pen relative to a user interface element in the page description associated with the region. Not only is the user interface element itself identified, but a location relative to the user interface element is identified. Location-indicating tags therefore trivially support the capture of an absolute pen path in the zone of a particular user interface element.
• An object-indicating tag contains a tag ID which directly identifies a user interface element in the page description associated with the region. All the tags in the zone of the user interface element identify the user interface element, making them all identical and therefore indistinguishable. Object-indicating tags do not, therefore, support the capture of an absolute pen path. They do, however, support the capture of a relative pen path. So long as the position sampling frequency exceeds twice the encountered tag frequency, the displacement from one sampled pen position to the next within a stroke can be unambiguously determined.
• Assume a sampling wavelength of λ_Sand a tag wavelength of λ_T, with a relationship as defined inEQ 38. For two adjacent position samples P_iand P_i+1, one ofEQ 39 andEQ 40 will hold.
• Assuming both equations hold leads to the relationship defined inEQ 41.
• SinceEQ 41 contradictsEQ 38, the assumption that bothEQ 39 andEQ 40 hold must be incorrect, and the choice is therefore unambiguous, as stated.
• The illustration inFIG. 60 shows four tags500 and a one-dimensional stroke of sixsample positions582 which satisfyEQ 38.Possible aliases584 of the sample positions are also shown. From inspection, if the distance from one sample position to the next is λ_S, then the distance from a sample position to the alias of the next sample position exceeds λ_S.
• If the tag wavelength λ_Tis 4.7 mm, as discussed in earlier, then the sampling wavelength λ_Smust be less than 2.35 mm. If the temporal sampling frequency is 100 Hz as required for accurate handwriting recognition, then the pen speed must be less than 235 mm/s to satisfyEQ 38.
• With either tagging scheme, the tags function in cooperation with associated visual elements on the netpage as user interactive elements in that a user can interact with the printed page using an appropriate sensing device in order for tag data to be read by the sensing device and for an appropriate response to be generated in the netpage system.
1.3 Document and Page Descriptions
• A preferred embodiment of a document and page description class diagram is shown inFIGS. 25 and 26.
• In the netpage system a document is described at three levels. At the most abstract level thedocument836 has a hierarchical structure whoseterminal elements839 are associated withcontent objects840 such as text objects, text style objects, image objects, etc. Once the document is printed on a printer with a particular page size and according to a particular user's scale factor preference, the document is paginated and otherwise formatted. Formattedterminal elements835 will in some cases be associated with content objects which are different from those associated with their corresponding terminal elements, particularly where the content objects are style-related. Each printed instance of a document and page is also described separately, to allow input captured through aparticular page instance830 to be recorded separately from input captured through other instances of the same page description.
• The presence of the most abstract document description on the page server allows a user to request a copy of a document without being forced to accept the source document's specific format. The user may be requesting a copy through a printer with a different page size, for example. Conversely, the presence of the formatted document description on the page server allows the page server to efficiently interpret user actions on a particular printed page.
• A formatteddocument834 consists of a set of formattedpage descriptions5, each of which consists of a set of formattedterminal elements835. Each formatted element has a spatial extent orzone58 on the page. This defines the active area of input elements such as hyperlinks and input fields.
• Adocument instance831 corresponds to a formatteddocument834. It consists of a set ofpage instances830, each of which corresponds to apage description5 of the formatted document. Eachpage instance830 describes a single unique printednetpage1, and records thepage ID50 of the netpage. A page instance is not part of a document instance if it represents a copy of a page requested in isolation.
• A page instance consists of a set ofterminal element instances832. An element instance only exists if it records instance-specific information. Thus, a hyperlink instance exists for a hyperlink element because it records atransaction ID55 which is specific to the page instance, and a field instance exists for a field element because it records input specific to the page instance. An element instance does not exist, however, for static elements such as textflows.
• A terminal element can be astatic element843, ahyperlink element844, afield element845 or a page server command element846, as shown inFIG. 27. Astatic element843 can be astyle element847 with an associatedstyle object854, atextflow element848 with an associated styledtext object855, animage element849 with an associatedimage element856, agraphic element850 with an associatedgraphic object857, avideo clip element851 with an associatedvideo clip object858, anaudio clip element852 with an associatedaudio clip object859, or ascript element853 with an associatedscript object860, as shown inFIG. 28.
• A page instance has abackground field833 which is used to record any digital ink captured on the page which does not apply to a specific input element.
• In the preferred form of the invention, atag map811 is associated with each page instance to allow tags on the page to be translated into locations on the page.
1.4 The Netpage Network
• In a preferred embodiment, a netpage network consists of a distributed set ofnetpage page servers10,netpage registration servers11,netpage ID servers12,netpage application servers13,netpage publication servers14, andnetpage printers601 connected via anetwork19 such as the Internet, as shown inFIG. 3.
• Thenetpage registration server11 is a server which records relationships between users, pens, printers, applications and publications, and thereby authorizes various network activities. It authenticates users and acts as a signing proxy on behalf of authenticated users in application transactions. It also provides handwriting recognition services. As described above, anetpage page server10 maintains persistent information about page descriptions and page instances. The netpage network includes any number of page servers, each handling a subset of page instances. Since a page server also maintains user input values for each page instance, clients such as netpage printers send netpage input directly to the appropriate page server. The page server interprets any such input relative to the description of the corresponding page.
• Anetpage ID server12 allocatesdocument IDs51 on demand, and provides load-balancing of page servers via its ID allocation scheme.
• A netpage printer uses the Internet Distributed Name System (DNS), or similar, to resolve anetpage page ID50 into the network address of the netpage page server handling the corresponding page instance.
• Anetpage application server13 is a server which hosts interactive netpage applications. Anetpage publication server14 is an application server which publishes netpage documents to netpage printers. They are described in detail inSection 2.
• Netpage servers can be hosted on a variety of network server platforms from manufacturers such as IBM, Hewlett-Packard, and Sun. Multiple netpage servers can run concurrently on a single host, and a single server can be distributed over a number of hosts. Some or all of the functionality provided by netpage servers, and in particular the functionality provided by the ID server and the page server, can also be provided directly in a netpage appliance such as a netpage printer, in a computer workstation, or on a local network.
1.5 The Netpage Printer
• Thenetpage printer601 is an appliance which is registered with the netpage system and prints netpage documents on demand and via subscription. Each printer has aunique printer ID62, and is connected to the netpage network via a network such as the Internet, ideally via a broadband connection.
• Apart from identity and security settings in non-volatile memory, the netpage printer contains no persistent storage. As far as a user is concerned, “the network is the computer”. Netpages function interactively across space and time with the help of the distributednetpage page servers10, independently of particular netpage printers.
• The netpage printer receives subscribed netpage documents fromnetpage publication servers14. Each document is distributed in two parts: the page layouts, and the actual text and image objects which populate the pages. Because of personalization, page layouts are typically specific to a particular subscriber and so are pointcast to the subscriber's printer via the appropriate page server. Text and image objects, on the other hand, are typically shared with other subscribers, and so are multicast to all subscribers' printers and the appropriate page servers.
• The netpage publication server optimizes the segmentation of document content into pointcasts and multicasts. After receiving the pointcast of a document's page layouts, the printer knows which multicasts, if any, to listen to.
• Once the printer has received the complete page layouts and objects that define the document to be printed, it can print the document.
• The printer rasterizes and prints odd and even pages simultaneously on both sides of the sheet. It contains duplexedprint engine controllers760 and print engines utilizingMemjet™ printheads350 for this purpose.
• The printing process consists of two decoupled stages: rasterization of page descriptions, and expansion and printing of page images. The raster image processor (RIP) consists of one or morestandard DSPs757 running in parallel. The duplexed print engine controllers consist of custom processors which expand, dither and print page images in real time, synchronized with the operation of the printheads in the print engines.
• Printers not enabled for IR printing have the option to print tags using IR-absorptive black ink, although this restricts tags to otherwise empty areas of the page. Although such pages have more limited functionality than IR-printed pages, they are still classed as netpages.
• A normal netpage printer prints netpages on sheets of paper. More specialised netpage printers may print onto more specialised surfaces, such as globes. Each printer supports at least one surface type, and supports at least one tag tiling scheme, and hence tag map, for each surface type. Thetag map811 which describes the tag tiling scheme actually used to print a document becomes associated with that document so that the document's tags can be correctly interpreted.
• FIG. 2 shows the netpage printer class diagram, reflecting printer-related information maintained by aregistration server11 on the netpage network.
• A preferred embodiment of the netpage printer is described in greater detail inSection 6 below, with reference toFIGS. 11 to 16.
1.5.1 Memjet™ Printheads
• The netpage system can operate using printers made with a wide range of digital printing technologies, including thermal inkjet, piezoelectric inkjet, laser electrophotographic, and others. However, for wide consumer acceptance, it is desirable that a netpage printer have the following characteristics:
• photographic quality color printing
• high quality text printing
• high reliability
• low printer cost
• low ink cost
• low paper cost
• simple operation
• nearly silent printing
• high printing speed
• simultaneous double sided printing
• compact form factor
• low power consumption
• No commercially available printing technology has all of these characteristics.
• To enable to production of printers with these characteristics, the present applicant has invented a new print technology, referred to as Memjet™ technology. Memjet™ is a drop-on-demand inkjet technology that incorporates pagewidth printheads fabricated using microelectromechanical systems (MEMS) technology.FIG. 17 shows asingle printing element300 of a Memjet™ printhead. The netpage wallprinter incorporates 168960printing elements300 to form a 1600 dpi pagewidth duplex printer. This printer simultaneously prints cyan, magenta, yellow, black, and infrared inks as well as paper conditioner and ink fixative.
• Theprinting element300 is approximately 110 microns long by 32 microns wide. Arrays of these printing elements are formed on asilicon substrate301 that incorporates CMOS logic, data transfer, timing, and drive circuits (not shown).
• Major elements of theprinting element300 are thenozzle302, thenozzle rim303, thenozzle chamber304, thefluidic seal305, theink channel rim306, thelever arm307, the activeactuator beam pair308, the passiveactuator beam pair309, theactive actuator anchor310, thepassive actuator anchor311, and theink inlet312.
• The activeactuator beam pair308 is mechanically joined to the passiveactuator beam pair309 at thejoin319. Both beams pairs are anchored at their respective anchor points310 and311. The combination ofelements308,309,310,311, and319 form a cantileveredelectrothermal bend actuator320.
• FIG. 18 shows a small part of an array ofprinting elements300, including across section315 of aprinting element300. Thecross section315 is shown without ink, to clearly show theink inlet312 that passes through thesilicon wafer301.
• FIGS. 19(a),19(b) and19(c) show the operating cycle of a Memjet™ printing element300.
• FIG. 19(a) shows the quiescent position of theink meniscus316 prior to printing an ink droplet Ink is retained in the nozzle chamber by surface tension at theink meniscus316 and at thefluidic seal305 formed between thenozzle chamber304 and theink channel rim306.
• While printing, the printhead CMOS circuitry distributes data from the print engine controller to the correct printing element, latches the data, and buffers the data to drive theelectrodes318 of the activeactuator beam pair308. This causes an electrical current to pass through thebeam pair308 for about one microsecond, resulting in Joule heating. The temperature increase resulting from Joule heating causes thebeam pair308 to expand. As the passiveactuator beam pair309 is not heated, it does not expand, resulting in a stress difference between the two beam pairs. This stress difference is partially resolved by the cantilevered end of theelectrothermal bend actuator320 bending towards thesubstrate301. Thelever arm307 transmits this movement to thenozzle chamber304. Thenozzle chamber304 moves about two microns to the position shown inFIG. 19(b). This increases the ink pressure, forcingink321 out of thenozzle302, and causing theink meniscus316 to bulge. Thenozzle rim303 prevents theink meniscus316 from spreading across the surface of thenozzle chamber304.
• As the temperature of the beam pairs308 and309 equalizes, theactuator320 returns to its original position. This aids in the break-off of theink droplet317 from theink321 in the nozzle chamber, as shown inFIG. 19(c). The nozzle chamber is refilled by the action of the surface tension at themeniscus316.
• FIG. 20 shows a segment of aprinthead350. In a netpage printer, the length of the printhead is the full width of the paper (typically 210 mm) in thedirection351. The segment shown is 0.4 mm long (about 0.2% of a complete printhead). When printing, the paper is moved past the fixed printhead in thedirection352. The printhead has 6 rows of interdigitatedprinting elements300, printing the six colors or types of ink supplied by theink inlets312.
• To protect the fragile surface of the printhead during operation, anozzle guard wafer330 is attached to theprinthead substrate301. For eachnozzle302 there is a correspondingnozzle guard hole331 through which the ink droplets are fired. To prevent the nozzle guard holes331 from becoming blocked by paper fibers or other debris, filtered air is pumped through theair inlets332 and out of the nozzle guard holes during printing. To preventink321 from drying, the nozzle guard is sealed while the printer is idle.
1.6 The Netpage Pen
• The active sensing device of the netpage system is typically apen101, which, using its embeddedcontroller134, is able to capture and decode IR position tags from a page via an image sensor. The image sensor is a solid-state device provided with an appropriate filter to permit sensing at only near-infrared wavelengths. As described in more detail below, the system is able to sense when the nib is in contact with the surface, and the pen is able to sense tags at a sufficient rate to capture human handwriting (i.e. at 200 dpi or greater and 100 Hz or faster). Information captured by the pen is encrypted and wirelessly transmitted to the printer (or base station), the printer or base station interpreting the data with respect to the (known) page structure.
• The preferred embodiment of the netpage pen operates both as a normal marking ink pen and as a non-marking stylus. The marking aspect, however, is not necessary for using the netpage system as a browsing system, such as when it is used as an Internet interface. Each netpage pen is registered with the netpage system and has aunique pen ID61.FIG. 23 shows the netpage pen class diagram, reflecting pen-related information maintained by aregistration server11 on the netpage network.
• When either nib is in contact with a netpage, the pen determines its position and orientation relative to the page. The nib is attached to a force sensor, and the force on the nib is interpreted relative to a threshold to indicate whether the pen is “up” or “down”. This allows a interactive element on the page to be ‘clicked’ by pressing with the pen nib, in order to request, say, information from a network. Furthermore, the force is captured as a continuous value to allow, say, the full dynamics of a signature to be verified.
• The pen determines the position and orientation of its nib on the netpage by imaging, in the infrared spectrum, anarea193 of the page in the vicinity of the nib. It decodes the nearest tag and computes the position of the nib relative to the tag from the observed perspective distortion on the imaged tag and the known geometry of the pen optics. Although the position resolution of the tag may be low, because the tag density on the page is inversely proportional to the tag size, the adjusted position resolution is quite high, exceeding the minimum resolution required for accurate handwriting recognition.
• Pen actions relative to a netpage are captured as a series of strokes. A stroke consists of a sequence of time-stamped pen positions on the page, initiated by a pen-down event and completed by the subsequent pen-up event. A stroke is also tagged with thepage ID50 of the netpage whenever the page ID changes, which, under normal circumstances, is at the commencement of the stroke.
• Each netpage pen has acurrent selection826 associated with it, allowing the user to perform copy and paste operations etc. The selection is timestamped to allow the system to discard it after a defined time period. The current selection describes a region of a page instance.
• It consists of the most recent digital ink stroke captured through the pen relative to the background area of the page. It is interpreted in an application-specific manner once it is submitted to an application via a selection hyperlink activation.
• Each pen has acurrent nib824. This is the nib last notified by the pen to the system. In the case of the default netpage pen described above, either the marking black ink nib or the non-marking stylus nib is current. Each pen also has acurrent nib style825. This is the nib style last associated with the pen by an application, e.g. in response to the user selecting a color from a palette. The default nib style is the nib style associated with the current nib. Strokes captured through a pen are tagged with the current nib style. When the strokes are subsequently reproduced, they are reproduced in the nib style with which they are tagged.
• Whenever the pen is within range of a printer with which it can communicate, the pen slowly flashes its “online” LED. When the pen fails to decode a stroke relative to the page, it momentarily activates its “error” LED. When the pen succeeds in decoding a stroke relative to the page, it momentarily activates its “ok” LED.
• A sequence of captured strokes is referred to as digital ink. Digital ink forms the basis for the digital exchange of drawings and handwriting, for online recognition of handwriting, and for online verification of signatures.
• The pen is wireless and transmits digital ink to the netpage printer via a short-range radio link. The transmitted digital ink is encrypted for privacy and security and packetized for efficient transmission, but is always flushed on a pen-up event to ensure timely handling in the printer.
• When the pen is out-of-range of a printer it buffers digital ink in internal memory, which has a capacity of over ten minutes of continuous handwriting. When the pen is once again within range of a printer, it transfers any buffered digital ink.
• A pen can be registered with any number of printers, but because all state data resides in netpages both on paper and on the network, it is largely immaterial which printer a pen is communicating with at any particular time.
• A preferred embodiment of the pen is described in greater detail inSection 6 below, with reference toFIGS. 8 to 10.
1.7 Netpage Interaction
• Thenetpage printer601 receives data relating to a stroke from thepen101 when the pen is used to interact with anetpage1. The codeddata3 of thetags4 is read by the pen when it is used to execute a movement, such as a stroke. The data allows the identity of the particular page and associated interactive element to be determined and an indication of the relative positioning of the pen relative to the page to be obtained. The indicating data is transmitted to the printer, where it resolves, via the DNS, thepage ID50 of the stroke into the network address of thenetpage page server10 which maintains the correspondingpage instance830. It then transmits the stroke to the page server. If the page was recently identified in an earlier stroke, then the printer may already have the address of the relevant page server in its cache. Each netpage consists of a compact page layout maintained persistently by a netpage page server (see below). The page layout refers to objects such as images, fonts and pieces of text, typically stored elsewhere on the netpage network.
• When the page server receives the stroke from the pen, it retrieves the page description to which the stroke applies, and determines which element of the page description the stroke intersects. It is then able to interpret the stroke in the context of the type of the relevant element.
• A “click” is a stroke where the distance and time between the pen down position and the subsequent pen up position are both less than some small maximum. An object which is activated by a click typically requires a click to be activated, and accordingly, a longer stroke is ignored. The failure of a pen action, such as a “sloppy” click, to register is indicated by the lack of response from the pen's “ok” LED.
• There are two kinds of input elements in a netpage page description: hyperlinks and form fields. Input through a form field can also trigger the activation of an associated hyperlink.
1.7.1 Hyperlinks
• A hyperlink is a means of sending a message to a remote application, and typically elicits a printed response in the netpage system.
• Ahyperlink element844 identifies theapplication71 which handles activation of the hyperlink, alink ID54 which identifies the hyperlink to the application, an “alias required” flag which asks the system to include the user'sapplication alias ID65 in the hyperlink activation, and a description which is used when the hyperlink is recorded as a favorite or appears in the user's history. The hyperlink element class diagram is shown inFIG. 29.
• When a hyperlink is activated, the page server sends a request to an application somewhere on the network. The application is identified by anapplication ID64, and the application ID is resolved in the normal way via the DNS. There are three types of hyperlinks:general hyperlinks863,form hyperlinks865, andselection hyperlinks864, as shown inFIG. 30. A general hyperlink can implement a request for a linked document, or may simply signal a preference to a server. A form hyperlink submits the corresponding form to the application. A selection hyperlink submits the current selection to the application. If the current selection contains a single-word piece of text, for example, the application may return a single-page document giving the word's meaning within the context in which it appears, or a translation into a different language. Each hyperlink type is characterized by what information is submitted to the application.
• Thecorresponding hyperlink instance862 records atransaction ID55 which can be specific to the page instance on which the hyperlink instance appears. The transaction ID can identify user-specific data to the application, for example a “shopping cart” of pending purchases maintained by a purchasing application on behalf of the user.
• The system includes the pen'scurrent selection826 in a selection hyperlink activation. The system includes the content of the associatedform instance868 in a form hyperlink activation, although if the hyperlink has its “submit delta” attribute set, only input since the last form submission is included. The system includes an effective return path in all hyperlink activations.
• A hyperlinkedgroup866 is agroup element838 which has an associated hyperlink, as shown inFIG. 31. When input occurs through any field element in the group, thehyperlink844 associated with the group is activated. A hyperlinked group can be used to associate hyperlink behavior with a field such as a checkbox. It can also be used, in conjunction with the “submit delta” attribute of a form hyperlink, to provide continuous input to an application. It can therefore be used to support a “blackboard” interaction model, i.e. where input is captured and therefore shared as soon as it occurs.
1.7.2 Forms
• A form defines a collection of related input fields used to capture a related set of inputs through a printed netpage. A form allows a user to submit one or more parameters to an application software program running on a server.
• Aform867 is agroup element838 in the document hierarchy. It ultimately contains a set ofterminal field elements839. Aform instance868 represents a printed instance of a form. It consists of a set offield instances870 which correspond to thefield elements845 of the form. Each field instance has an associatedvalue871, whose type depends on the type of the corresponding field element. Each field value records input through a particular printed form instance, i.e. through one or more printed netpages. The form class diagram is shown inFIG. 32.
• Each form instance has astatus872 which indicates whether the form is active, frozen, submitted, void or expired. A form is active when first printed. A form becomes frozen once it is signed. A form becomes submitted once one of its submission hyperlinks has been activated, unless the hyperlink has its “submit delta” attribute set. A form becomes void when the user invokes a void form, reset form or duplicate form page command. A form expires when the time the form has been active exceeds the form's specified lifetime. While the form is active, form input is allowed. Input through a form which is not active is instead captured in thebackground field833 of the relevant page instance. When the form is active or frozen, form submission is allowed. Any attempt to submit a form when the form is not active or frozen is rejected, and instead elicits an form status report.
• Each form instance is associated (at59) with any form instances derived from it, thus providing a version history. This allows all but the latest version of a form in a particular time period to be excluded from a search.
• All input is captured as digital ink.Digital ink873 consists of a set of timestampedstroke groups874, each of which consists of a set of styledstrokes875. Each stroke consists of a set of timestampedpen positions876, each of which also includes pen orientation and nib force. The digital ink class diagram is shown inFIG. 33.
• Afield element845 can be acheckbox field877, atext field878, adrawing field879, or asignature field880. The field element class diagram is shown inFIG. 34. Any digital ink captured in a field'szone58 is assigned to the field.
• A checkbox field has an associatedboolean value881, as shown inFIG. 35. Any mark (a tick, a cross, a stroke, a fill zigzag, etc.) captured in a checkbox field's zone causes a true value to be assigned to the field's value.
• A text field has an associatedtext value882, as shown inFIG. 36. Any digital ink captured in a text field's zone is automatically converted to text via online handwriting recognition, and the text is assigned to the field's value. Online handwriting recognition is well-understood see, for example, Tappert, C., C. Y. Suen and T. Wakahara, “The State of the Art in On-Line Handwriting Recognition”, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 12, No. 8, August 1990, the contents of which are herein incorporated by cross-reference).
• A signature field has an associateddigital signature value883, as shown inFIG. 37. Any digital ink captured in a signature field's zone is automatically verified with respect to the identity of the owner of the pen, and a digital signature of the content of the form of which the field is part is generated and assigned to the field's value. The digital signature is generated using the pen user's private signature key specific to the application which owns the form. Online signature verification is well-understood (see, for example, Plamondon, R. and G. Lorette, “Automatic Signature Verification and Writer Identification—The State of the Art”, Pattern Recognition, Vol. 22, No. 2, 1989, the contents of which are herein incorporated by cross-reference).
• A field element is hidden if its “hidden” attribute is set. A hidden field element does not have an input zone on a page and does not accept input. It can have an associated field value which is included in the form data when the form containing the field is submitted.
• “Editing” commands, such as strike-throughs indicating deletion, can also be recognized in form fields.
• Because the handwriting recognition algorithm works “online” (i.e. with access to the dynamics of the pen movement), rather than “offline” (i.e. with access only to a bitmap of pen markings), it can recognize run-on discretely-written characters with relatively high accuracy, without a writer-dependent training phase. A writer-dependent model of handwriting is automatically generated over time, however, and can be generated up-front if necessary,
• Digital ink, as already stated, consists of a sequence of strokes. Any stroke which starts in a particular element's zone is appended to that element's digital ink stream, ready for interpretation. Any stroke not appended to an object's digital ink stream is appended to the background field's digital ink stream.
• Digital ink captured in the background field is interpreted as a selection gesture. Circumscription of one or more objects is generally interpreted as a selection of the circumscribed objects, although the actual interpretation is application-specific.
• Table 2 summarises these various pen interactions with a netpage.

• TABLE 2
  Summary of pen interactions with a netpage

  Object	Type	Pen input	Action
  Hyperlink	General	Click	Submit action to application
  	Form	Click	Submit form to application
  	Selection	Click	Submit selection to
  			application
  Form field	Checkbox	Any mark	Assign true to field
  	Text	Handwriting	Convert digital ink to text;
  			assign text to field
  	Drawing	Digital ink	Assign digital ink to field
  	Signature	Signature	Verify digital ink signature;
  			generate digital signature of
  			form; assign digital signature
  			to field
  None	—	Circumscription	Assign digital ink to current
  			selection

• The system maintains a current selection for each pen. The selection consists simply of the most recent stroke captured in the background field. The selection is cleared after an inactivity timeout to ensure predictable behavior.
• The raw digital ink captured in every field is retained on the netpage page server and is optionally transmitted with the form data when the form is submitted to the application. This allows the application to interrogate the raw digital ink should it suspect the original conversion, such as the conversion of handwritten text. This can, for example, involve human intervention at the application level for forms which fail certain application-specific consistency checks. As an extension to this, the entire background area of a form can be designated as a drawing field. The application can then decide, on the basis of the presence of digital ink outside the explicit fields of the form, to route the form to a human operator, on the assumption that the user may have indicated amendments to the filled-in fields outside of those fields.
• FIG. 38 shows a flowchart of the process of handling pen input relative to a netpage. The process consists of receiving (at884) a stroke from the pen; identifying (at885) thepage instance830 to which thepage ID50 in the stroke refers; retrieving (at886) thepage description5; identifying (at887) a formattedelement839 whosezone58 the stroke intersects; determining (at888) whether the formatted element corresponds to a field element, and if so appending (at892) the received stroke to the digital ink of thefield value871, interpreting (at893) the accumulated digital ink of the field, and determining (at894) whether the field is part of a hyperlinkedgroup866 and if so activating (at895) the associated hyperlink; alternatively determining (at889) whether the formatted element corresponds to a hyperlink element and if so activating (at895) the corresponding hyperlink; alternatively, in the absence of an input field or hyperlink, appending (at890) the received stroke to the digital ink of thebackground field833; and copying (at891) the received stroke to thecurrent selection826 of the current pen, as maintained by the registration server.
• FIG. 38ashows a detailed flowchart ofstep893 in the process shown inFIG. 38, where the accumulated digital ink of a field is interpreted according to the type of the field. The process consists of determining (at896) whether the field is a checkbox and (at897) whether the digital ink represents a checkmark, and if so assigning (at898) a true value to the field value; alternatively determining (at899) whether the field is a text field and if so converting (at900) the digital ink to computer text, with the help of the appropriate registration server, and assigning (at901) the converted computer text to the field value; alternatively determining (at902) whether the field is a signature field and if so verifying (at903) the digital ink as the signature of the pen's owner, with the help of the appropriate registration server, creating (at904) a digital signature of the contents of the corresponding form, also with the help of the registration server and using the pen owner's private signature key relating to the corresponding application, and assigning (at905) the digital signature to the field value.
1.7.3 Page Server Commands
• A page server command is a command which is handled locally by the page server. It operates directly on form, page and document instances.
• Apage server command907 can be avoid form command908, aduplicate form command909, areset form command910, a getform status command911, aduplicate page command912, areset page command913, a getpage status command914, aduplicate document command915, areset document command916, or a getdocument status command917, as shown inFIG. 39.
• A void form command voids the corresponding form instance. A duplicate form command voids the corresponding form instance and then produces an active printed copy of the current form instance with field values preserved. The copy contains the same hyperlink transaction IDs as the original, and so is indistinguishable from the original to an application. A reset form command voids the corresponding form instance and then produces an active printed copy of the form instance with field values discarded. A get form status command produces a printed report on the status of the corresponding form instance, including who published it, when it was printed, for whom it was printed, and the form status of the form instance.
• Since a form hyperlink instance contains a transaction ID, the application has to be involved in producing a new form instance. A button requesting a new form instance is therefore typically implemented as a hyperlink.
• A duplicate page command produces a printed copy of the corresponding page instance with the background field value preserved. If the page contains a form or is part of a form, then the duplicate page command is interpreted as a duplicate form command. A reset page command produces a printed copy of the corresponding page instance with the background field value discarded. If the page contains a form or is part of a form, then the reset page command is interpreted as a reset form command. A get page status command produces a printed report on the status of the corresponding page instance, including who published it, when it was printed, for whom it was printed, and the status of any forms it contains or is part of.
• The netpage logo which appears on every netpage is usually associated with a duplicate page element.
• When a page instance is duplicated with field values preserved, field values are printed in their native form, i.e. a checkmark appears as a standard checkmark graphic, and text appears as typeset text. Only drawings and signatures appear in their original form, with a signature accompanied by a standard graphic indicating successful signature verification.
• A duplicate document command produces a printed copy of the corresponding document instance with background field values preserved. If the document contains any forms, then the duplicate document command duplicates the forms in the same way a duplicate form command does. A reset document command produces a printed copy of the corresponding document instance with background field values discarded. If the document contains any forms, then the reset document command resets the forms in the same way a reset form command does. A get document status command produces a printed report on the status of the corresponding document instance, including who published it, when it was printed, for whom it was printed, and the status of any forms it contains.
• If the page server command's “on selected” attribute is set, then the command operates on the page identified by the pen's current selection rather than on the page containing the command. This allows a menu of page server commands to be printed. If the target page doesn't contain a page server command element for the designated page server command, then the command is ignored.
• An application can provide application-specific handling by embedding the relevant page server command element in a hyperlinked group. The page server activates the hyperlink associated with the hyperlinked group rather than executing the page server command.
• A page server command element is hidden if its “hidden” attribute is set. A hidden command element does not have an input zone on a page and so cannot be activated directly by a user. It can, however, be activated via a page server command embedded in a different page, if that page server command has its “on selected” attribute set.
1.8 Standard Features of Netpages
• In the preferred form, each netpage is printed with the netpage logo at the bottom to indicate that it is a netpage and therefore has interactive properties. The logo also acts as a copy button. In most cases pressing the logo produces a copy of the page. In the case of a form, the button produces a copy of the entire form. And in the case of a secure document, such as a ticket or coupon, the button elicits an explanatory note or advertising page.
• The default single-page copy function is handled directly by the relevant netpage page server. Special copy functions are handled by linking the logo button to an application.
1.9 User Help System
• In a preferred embodiment, the netpage printer has a single button labelled “Help”. When pressed it elicits a single page of information, including:
• status of printer connection
• status of printer consumables
• top-level help menu
• document function menu
• top-level netpage network directory
• The help menu provides a hierarchical manual on how to use the netpage system.
• The document function menu includes the following functions:
• print a copy of a document
• print a clean copy of a form
• print the status of a document
• A document function is initiated by simply pressing the button and then touching any page of the document. The status of a document indicates who published it and when, to whom it was delivered, and to whom and when it was subsequently submitted as a form.
• The netpage network directory allows the user to navigate the hierarchy of publications and services on the network. As an alternative, the user can call the netpage network “900” number “yellow pages” and speak to a human operator. The operator can locate the desired document and route it to the user's printer. Depending on the document type, the publisher or the user pays the small “yellow pages” service fee.
• The help page is obviously unavailable if the printer is unable to print. In this case the “error” light is lit and the user can request remote diagnosis over the network.
2 Personalized Publication Model
• In the following description, news is used as a canonical publication example to illustrate personalization mechanisms in the netpage system. Although news is often used in the limited sense of newspaper and newsmagazine news, the intended scope in the present context is wider.
• In the netpage system, the editorial content and the advertising content of a news publication are personalized using different mechanisms. The editorial content is personalized according to the reader's explicitly stated and implicitly captured interest profile. The advertising content is personalized according to the reader's locality and demographic.
2.1 Editorial Personalization
• A subscriber can draw on two kinds of news sources: those that deliver news publications, and those that deliver news streams. While news publications are aggregated and edited by the publisher, news streams are aggregated either by a news publisher or by a specialized news aggregator. News publications typically correspond to traditional newspapers and newsmagazines, while news streams can be many and varied: a “raw” news feed from a news service, a cartoon strip, a freelance writer's column, a friend's bulletin board, or the reader's own e-mail.
• The netpage publication server supports the publication of edited news publications as well as the aggregation of multiple news streams. By handling the aggregation and hence the formatting of news streams selected directly by the reader, the server is able to place advertising on pages over which it otherwise has no editorial control.
• The subscriber builds a daily newspaper by selecting one or more contributing news publications, and creating a personalized version of each. The resulting daily editions are printed and bound together into a single newspaper. The various members of a household typically express their different interests and tastes by selecting different daily publications and then customizing them.
• For each publication, the reader optionally selects specific sections. Some sections appear daily, while others appear weekly. The daily sections available from The New York Times online, for example, include “Page One Plus”, “National”, “International”, “Opinion”, “Business”, “Arts/Living”, “Technology”, and “Sports”. The set of available sections is specific to a publication, as is the default subset.
• The reader can extend the daily newspaper by creating custom sections, each one drawing on any number of news streams. Custom sections might be created for e-mail and friends' announcements (“Personal”), or for monitoring news feeds for specific topics (“Alerts” or “Clippings”).
• For each section, the reader optionally specifies its size, either qualitatively (e.g. short, medium, or long), or numerically (i.e. as a limit on its number of pages), and the desired proportion of advertising, either qualitatively (e.g. high, normal, low, none), or numerically (i.e. as a percentage).
• The reader also optionally expresses a preference for a large number of shorter articles or a small number of longer articles. Each article is ideally written (or edited) in both short and long forms to support this preference.
• An article may also be written (or edited) in different versions to match the expected sophistication of the reader, for example to provide children's and adults' versions. The appropriate version is selected according to the reader's age. The reader can specify a “reading age” which takes precedence over their biological age.
• The articles which make up each section are selected and prioritized by the editors, and each is assigned a useful lifetime. By default they are delivered to all relevant subscribers, in priority order, subject to space constraints in the subscribers' editions.
• In sections where it is appropriate, the reader may optionally enable collaborative filtering. This is then applied to articles which have a sufficiently long lifetime. Each article which qualifies for collaborative filtering is printed with rating buttons at the end of the article. The buttons can provide an easy choice (e.g. “liked” and “disliked”), making it more likely that readers will bother to rate the article.
• Articles with high priorities and short lifetimes are therefore effectively considered essential reading by the editors and are delivered to most relevant subscribers.
• The reader optionally specifies a serendipity factor, either qualitatively (e.g. do or don't surprise me), or numerically. A high serendipity factor lowers the threshold used for matching during collaborative filtering. A high factor makes it more likely that the corresponding section will be filled to the reader's specified capacity. A different serendipity factor can be specified for different days of the week.
• The reader also optionally specifies topics of particular interest within a section, and this modifies the priorities assigned by the editors.
• The speed of the reader's Internet connection affects the quality at which images can be delivered. The reader optionally specifies a preference for fewer images or smaller images or both. If the number or size of images is not reduced, then images may be delivered at lower quality (i.e. at lower resolution or with greater compression).
• At a global level, the reader specifies how quantities, dates, times and monetary values are localized. This involves specifying whether units are imperial or metric, a local timezone and time format, and a local currency, and whether the localization consist of in situ translation or annotation. These preferences are derived from the reader's locality by default.
• To reduce reading difficulties caused by poor eyesight, the reader optionally specifies a global preference for a larger presentation. Both text and images are scaled accordingly, and less information is accommodated on each page.
• The language in which a news publication is published, and its corresponding text encoding, is a property of the publication and not a preference expressed by the user. However, the netpage system can be configured to provide automatic translation services in various guises.
2.2 Advertising Localization and Targeting
• The personalization of the editorial content directly affects the advertising content, because advertising is typically placed to exploit the editorial context. Travel ads, for example, are more likely to appear in a travel section than elsewhere. The value of the editorial content to an advertiser (and therefore to the publisher) lies in its ability to attract large numbers of readers with the right demographics.
• Effective advertising is placed on the basis of locality and demographics. Locality determines proximity to particular services, retailers etc., and particular interests and concerns associated with the local community and environment. Demographics determine general interests and preoccupations as well as likely spending patterns.
• A news publisher's most profitable product is advertising “space”, a multi-dimensional entity determined by the publication's geographic coverage, the size of its readership, its readership demographics, and the page area available for advertising.
• In the netpage system, the netpage publication server computes the approximate multi-dimensional size of a publication's saleable advertising space on a per-section basis, taking into account the publication's geographic coverage, the section's readership, the size of each reader's section edition, each reader's advertising proportion, and each reader's demographic.
• In comparison with other media, the netpage system allows the advertising space to be defined in greater detail, and allows smaller pieces of it to be sold separately. It therefore allows it to be sold at closer to its true value.
• For example, the same advertising “slot” can be sold in varying proportions to several advertisers, with individual readers' pages randomly receiving the advertisement of one advertiser or another, overall preserving the proportion of space sold to each advertiser.
• The netpage system allows advertising to be linked directly to detailed product information and online purchasing. It therefore raises the intrinsic value of the advertising space.
• Because personalization and localization are handled automatically by netpage publication servers, an advertising aggregator can provide arbitrarily broad coverage of both geography and demographics. The subsequent disaggregation is efficient because it is automatic. This makes it more cost-effective for publishers to deal with advertising aggregators than to directly capture advertising. Even though the advertising aggregator is taking a proportion of advertising revenue, publishers may find the change profit-neutral because of the greater efficiency of aggregation. The advertising aggregator acts as an intermediary between advertisers and publishers, and may place the same advertisement in multiple publications.
• It is worth noting that ad placement in a netpage publication can be more complex than ad placement in the publication's traditional counterpart, because the publication's advertising space is more complex. While ignoring the full complexities of negotiations between advertisers, advertising aggregators and publishers, the preferred form of the netpage system provides some automated support for these negotiations, including support for automated auctions of advertising space. Automation is particularly desirable for the placement of advertisements which generate small amounts of income, such as small or highly localized advertisements.
• Once placement has been negotiated, the aggregator captures and edits the advertisement and records it on a netpage ad server. Correspondingly, the publisher records the ad placement on the relevant netpage publication server. When the netpage publication server lays out each user's personalized publication, it picks the relevant advertisements from the netpage ad server.
2.3 User Profiles2.3.1 Information Filtering
• The personalization of news and other publications relies on an assortment of user-specific profile information, including:
• publication customizations
• collaborative filtering vectors
• contact details
• presentation preferences
• The customization of a publication is typically publication-specific, and so the customization information is maintained by the relevant netpage publication server.
• A collaborative filtering vector consists of the user's ratings of a number of news items. It is used to correlate different users' interests for the purposes of making recommendations. Although there are benefits to maintaining a single collaborative filtering vector independently of any particular publication, there are two reasons why it is more practical to maintain a separate vector for each publication: there is likely to be more overlap between the vectors of subscribers to the same publication than between those of subscribers to different publications; and a publication is likely to want to present its users' collaborative filtering vectors as part of the value of its brand, not to be found elsewhere. Collaborative filtering vectors are therefore also maintained by the relevant netpage publication server.
• Contact details, including name, street address, ZIP Code, state, country, telephone numbers, are global by nature, and are maintained by a netpage registration server.
• Presentation preferences, including those for quantities, dates and times, are likewise global and maintained in the same way.
• The localization of advertising relies on the locality indicated in the user's contact details, while the targeting of advertising relies on personal information such as date of birth, gender, marital status, income, profession, education, or qualitative derivatives such as age range and income range.
• For those users who choose to reveal personal information for advertising purposes, the information is maintained by the relevant netpage registration server. In the absence of such information, advertising can be targeted on the basis of the demographic associated with the user's ZIP or ZIP+4 Code.
• Each user, pen, printer, application provider and application is assigned its own unique identifier, and the netpage registration server maintains the relationships between them, as shown inFIGS. 21,22,23 and24. For registration purposes, a publisher is a special kind of application provider, and a publication is a special kind of application.
• Eachuser800 may be authorized to use any number ofprinters802, and each printer may allow any number of users to use it. Each user has a single default printer (at66), to which periodical publications are delivered by default, whilst pages printed on demand are delivered to the printer through which the user is interacting. The server keeps track of which publishers a user has authorized to print to the user's default printer. A publisher does not record the ID of any particular printer, but instead resolves the ID when it is required.
• When a user subscribes808 to apublication807, the publisher806 (i.e. application provider803) is authorized to print to a specified printer or the user's default printer. This authorization can be revoked at any time by the user. Each user may haveseveral pens801, but a pen is specific to a single user. If a user is authorized to use a particular printer, then that printer recognizes any of the user's pens.
• The pen ID is used to locate the corresponding user profile maintained by a particular netpage registration server, via the DNS in the usual way.
• AWeb terminal809 can be authorized to print on a particular netpage printer, allowing Web pages and netpage documents encountered during Web browsing to be conveniently printed on the nearest netpage printer.
• The netpage system can collect, on behalf of a printer provider, fees and commissions on income earned through publications printed on the provider's printers. Such income can include advertising fees, click-through fees, e-commerce commissions, and transaction fees. If the printer is owned by the user, then the user is the printer provider.
• Each user also has anetpage account820 which is used to accumulate micro-debits and credits (such as those described in the preceding paragraph);contact details815, including name, address and telephone numbers;global preferences816, including privacy, delivery and localization settings; any number ofbiometric records817, containing the user's encoded signature818,fingerprint819 etc; ahandwriting model819 automatically maintained by the system; and SET payment card accounts821 with which e-commerce payments can be made.
2.3.2 Favorites List
• A netpage user can maintain alist922 of “favorites”—links to useful documents etc. on the netpage network. The list is maintained by the system on the user's behalf. It is organized as a hierarchy offolders924, a preferred embodiment of which is shown in the class diagram inFIG. 41.
2.3.3 History List
• The system maintains ahistory list929 on each user's behalf, containing links to documents etc. accessed by the user through the netpage system. It is organized as a date-ordered list, a preferred embodiment of which is shown in the class diagram inFIG. 42.
2.4 Intelligent Page Layout
• The netpage publication server automatically lays out the pages of each user's personalized publication on a section-by-section basis. Since most advertisements are in the form of pre-formatted rectangles, they are placed on the page before the editorial content.
• The advertising ratio for a section can be achieved with wildly varying advertising ratios on individual pages within the section, and the ad layout algorithm exploits this. The algorithm is configured to attempt to co-locate closely tied editorial and advertising content, such as placing ads for roofing material specifically within the publication because of a special feature on do-it-yourself roofing repairs.
• The editorial content selected for the user, including text and associated images and graphics, is then laid out according to various aesthetic rules.
• The entire process, including the selection of ads and the selection of editorial content, must be iterated once the layout has converged, to attempt to more closely achieve the user's stated section size preference. The section size preference can, however, be matched on average over time, allowing significant day-to-day variations.
2.5 Document Format
• Once the document is laid out, it is encoded for efficient distribution and persistent storage on the netpage network.
• The primary efficiency mechanism is the separation of information specific to a single user's edition and information shared between multiple users' editions. The specific information consists of the page layout. The shared information consists of the objects to which the page layout refers, including images, graphics, and pieces of text.
• A text object contains fully-formatted text represented in the Extensible Markup Language (XML) using the Extensible Stylesheet Language (XSL). XSL provides precise control over text formatting independently of the region into which the text is being set, which in this case is being provided by the layout. The text object contains embedded language codes to enable automatic translation, and embedded hyphenation hints to aid with paragraph formatting.
• An image object encodes an image in the JPEG 2000 wavelet-based compressed image format. A graphic object encodes a 2D graphic in Scalable Vector Graphics (SVG) format.
• The layout itself consists of a series of placed image and graphic objects, linked textflow objects through which text objects flow, hyperlinks and input fields as described above, and watermark regions. These layout objects are summarized in Table 3. The layout uses a compact format suitable for efficient distribution and storage.

• TABLE 3
  Netpage layout objects

  	Layout		Format of
  	object	Attribute	linked object
  	Image	Position	—
  		Image object ID	JPEG 2000
  	Graphic	Position	—
  		Graphic object ID	SVG
  	Textflow	Textflow ID	—
  		Zone	—
  		Optional text object ID	XML/XSL
  	Hyperlink	Type	—
  		Zone	—
  		Application ID, etc.	—
  	Field	Type	—
  		Meaning	—
  		Zone	—
  	Watermark	Zone	—

2.6 Document Distribution
• As described above, for purposes of efficient distribution and persistent storage on the netpage network, a user-specific page layout is separated from the shared objects to which it refers.
• When a subscribed publication is ready to be distributed, the netpage publication server allocates, with the help of thenetpage ID server12, a unique ID for each page, page instance, document, and document instance.
• The server computes a set of optimized subsets of the shared content and creates a multicast channel for each subset, and then tags each user-specific layout with the names of the multicast channels which will carry the shared content used by that layout. The server then pointcasts each user's layouts to that user's printer via the appropriate page server, and when the pointcasting is complete, multicasts the shared content on the specified channels. After receiving its pointcast, each page server and printer subscribes to the multicast channels specified in the page layouts. During the multicasts, each page server and printer extracts from the multicast streams those objects referred to by its page layouts. The page servers persistently archive the received page layouts and shared content.
• Once a printer has received all the objects to which its page layouts refer, the printer re-creates the fully-populated layout and then rasterizes and prints it.
• Under normal circumstances, the printer prints pages faster than they can be delivered. Assuming a quarter of each page is covered with images, the average page has a size of less than 400 KB. The printer can therefore hold in excess of 100 such pages in its internal 64 MB memory, allowing for temporary buffers etc. The printer prints at a rate of one page per second. This is equivalent to 400 KB or about 3 Mbit of page data per second, which is similar to the highest expected rate of page data delivery over a broadband network.
• Even under abnormal circumstances, such as when the printer runs out of paper, it is likely that the user will be able to replenish the paper supply before the printer's 100-page internal storage capacity is exhausted.
• However, if the printer's internal memory does fill up, then the printer will be unable to make use of a multicast when it first occurs. The netpage publication server therefore allows printers to submit requests for re-multicasts. When a critical number of requests is received or a timeout occurs, the server re-multicasts the corresponding shared objects.
• Once a document is printed, a printer can produce an exact duplicate at any time by retrieving its page layouts and contents from the relevant page server.
2.7 On-Demand Documents
• When a netpage document is requested on demand, it can be personalized and delivered in much the same way as a periodical. However, since there is no shared content, delivery is made directly to the requesting printer without the use of multicast.
• When a non-netpage document is requested on demand, it is not personalized, and it is delivered via a designated netpage formatting server which reformats it as a netpage document. A netpage formatting server is a special instance of a netpage publication server. The netpage formatting server has knowledge of various Internet document formats, including Adobe's Portable Document Format (PDF), and Hypertext Markup Language (HTML). In the case of HTML, it can make use of the higher resolution of the printed page to present Web pages in a multi-column format, with a table of contents. It can automatically include all Web pages directly linked to the requested page. The user can tune this behavior via a preference.
• The netpage formatting server makes standard netpage behavior, including interactivity and persistence, available on any Internet document, no matter what its origin and format. It hides knowledge of different document formats from both the netpage printer and the netpage page server, and hides knowledge of the netpage system from Web servers.
3 Security3.1 Cryptography
• Cryptography is used to protect sensitive information, both in storage and in transit, and to authenticate parties to a transaction. There are two classes of cryptography in widespread use: secret-key cryptography and public-key cryptography. The netpage network uses both classes of cryptography.
• Secret-key cryptography, also referred to as symmetric cryptography, uses the same key to encrypt and decrypt a message. Two parties wishing to exchange messages must first arrange to securely exchange the secret key.
• Public-key cryptography, also referred to as asymmetric cryptography, uses two encryption keys. The two keys are mathematically related in such a way that any message encrypted using one key can only be decrypted using the other key. One of these keys is then published, while the other is kept private. The public key is used to encrypt any message intended for the holder of the private key. Once encrypted using the public key, a message can only be decrypted using the private key. Thus two parties can securely exchange messages without first having to exchange a secret key. To ensure that the private key is secure, it is normal for the holder of the private key to generate the key pair.
• Public-key cryptography can be used to create a digital signature. The holder of the private key can create a known hash of a message and then encrypt the hash using the private key. Anyone can then verify that the encrypted hash constitutes the “signature” of the holder of the private key with respect to that particular message by decrypting the encrypted hash using the public key and verifying the hash against the message. If the signature is appended to the message, then the recipient of the message can verify both that the message is genuine and that it has not been altered in transit.
• To make public-key cryptography work, there has to be a way to distribute public keys which prevents impersonation. This is normally done using certificates and certificate authorities. A certificate authority is a trusted third party which authenticates the connection between a public key and someone's identity. The certificate authority verifies the person's identity by examining identity documents, and then creates and signs a digital certificate containing the person's identity details and public key. Anyone who trusts the certificate authority can use the public key in the certificate with a high degree of certainty that it is genuine. They just have to verify that the certificate has indeed been signed by the certificate authority, whose public key is well-known.
• In most transaction environments, public-key cryptography is only used to create digital signatures and to securely exchange secret session keys. Secret-key cryptography is used for all other purposes.
• In the following discussion, when reference is made to the secure transmission of information between a netpage printer and a server, what actually happens is that the printer obtains the server's certificate, authenticates it with reference to the certificate authority, uses the public key-exchange key in the certificate to exchange a secret session key with the server, and then uses the secret session key to encrypt the message data. A session key, by definition, can have an arbitrarily short lifetime.
3.2 Netpage Printer Security
• Each netpage printer is assigned a pair of unique identifiers at time of manufacture which are stored in read-only memory in the printer and in the netpage registration server database. Thefirst ID62 is public and uniquely identifies the printer on the netpage network. The second ID is secret and is used when the printer is first registered on the network.
• When the printer connects to the netpage network for the first time after installation, it creates a signature public/private key pair. It transmits the secret ID and the public key securely to the netpage registration server. The server compares the secret ID against the printer's secret ID recorded in its database, and accepts the registration if the IDs match. It then creates and signs a certificate containing the printer's public ID and public signature key, and stores the certificate in the registration database.
• The netpage registration server acts as a certificate authority for netpage printers, since it has access to secret information allowing it to verify printer identity.
• When a user subscribes to a publication, a record is created in the netpage registration server database authorizing the publisher to print the publication to the user's default printer or a specified printer. Every document sent to a printer via a page server is addressed to a particular user and is signed by the publisher using the publisher's private signature key. The page server verifies, via the registration database, that the publisher is authorized to deliver the publication to the specified user. The page server verifies the signature using the publisher's public key, obtained from the publisher's certificate stored in the registration database.
• The netpage registration server accepts requests to add printing authorizations to the database, so long as those requests are initiated via a pen registered to the printer.
3.3 NETPAGE PEN SECURITY
• Each netpage pen is assigned a unique identifier at time of manufacture which is stored in read-only memory in the pen and in the netpage registration server database. Thepen ID61 uniquely identifies the pen on the netpage network.
• A netpage pen can “know” a number of netpage printers, and a printer can “know” a number of pens. A pen communicates with a printer via a radio frequency signal whenever it is within range of the printer. Once a pen and printer are registered, they regularly exchange session keys. Whenever the pen transmits digital ink to the printer, the digital ink is always encrypted using the appropriate session key. Digital ink is never transmitted in the clear.
• A pen stores a session key for every printer it knows, indexed by printer ID, and a printer stores a session key for every pen it knows, indexed by pen ID. Both have a large but finite storage capacity for session keys, and will forget a session key on a least-recently-used basis if necessary.
• When a pen comes within range of a printer, the pen and printer discover whether they know each other. If they don't know each other, then the printer determines whether it is supposed to know the pen. This might be, for example, because the pen belongs to a user who is registered to use the printer. If the printer is meant to know the pen but doesn't, then it initiates the automatic pen registration procedure.
• If the printer isn't meant to know the pen, then it agrees with the pen to ignore it until the pen is placed in a charging cup, at which time it initiates the registration procedure.
• In addition to its public ID, the pen contains a secret key-exchange key. The key-exchange key is also recorded in the netpage registration server database at time of manufacture. During registration, the pen transmits its pen ID to the printer, and the printer transmits the pen ID to the netpage registration server. The server generates a session key for the printer and pen to use, and securely transmits the session key to the printer. It also transmits a copy of the session key encrypted with the pen's key-exchange key. The printer stores the session key internally, indexed by the pen ID, and transmits the encrypted session key to the pen. The pen stores the session key internally, indexed by the printer ID.
• Although a fake pen can impersonate a pen in the pen registration protocol, only a real pen can decrypt the session key transmitted by the printer.
• When a previously unregistered pen is first registered, it is of limited use until it is linked to a user. A registered but “un-owned” pen is only allowed to be used to request and fill in netpage user and pen registration forms, to register a new user to which the new pen is automatically linked, or to add a new pen to an existing user.
• The pen uses secret-key rather than public-key encryption because of hardware performance constraints in the pen.
3.4 Secure Documents
• The netpage system supports the delivery of secure documents such as tickets and coupons. The netpage printer includes a facility to print watermarks, but will only do so on request from publishers who are suitably authorized. The publisher indicates its authority to print watermarks in its certificate, which the printer is able to authenticate.
• The “watermark” printing process uses an alternative dither matrix in specified “watermark” regions of the page. Back-to-back pages contain mirror-image watermark regions which coincide when printed. The dither matrices used in odd and even pages' watermark regions are designed to produce an interference effect when the regions are viewed together, achieved by looking through the printed sheet.
• The effect is similar to a watermark in that it is not visible when looking at only one side of the page, and is lost when the page is copied by normal means.
• Pages of secure documents cannot be copied using the built-in netpage copy mechanism described in Section 1.9 above. This extends to copying netpages on netpage-aware photocopiers.
• Secure documents are typically generated as part of e-commerce transactions. They can therefore include the user's photograph which was captured when the user registered biometric information with the netpage registration server, as described inSection 2.
• When presented with a secure netpage document, the recipient can verify its authenticity by requesting its status in the usual way. The unique ID of a secure document is only valid for the lifetime of the document, and secure document IDs are allocated non-contiguously to prevent their prediction by opportunistic forgers. A secure document verification pen can be developed with built-in feedback on verification failure, to support easy point-of-presentation document verification.
• Clearly neither the watermark nor the user's photograph are secure in a cryptographic sense. They simply provide a significant obstacle to casual forgery. Online document verification, particularly using a verification pen, provides an added level of security where it is needed, but is still not entirely immune to forgeries.
3.5 Non-Repudiation
• In the netpage system, forms submitted by users are delivered reliably to forms handlers and are persistently archived on netpage page servers. It is therefore impossible for recipients to repudiate delivery.
• E-commerce payments made through the system, as described inSection 4, are also impossible for the payee to repudiate.
4 Electronic Commerce Model4.1 Secure Electronic Transaction (Set)
• The netpage system uses the Secure Electronic Transaction (SET) system as one of its payment systems. SET, having been developed by MasterCard and Visa, is organized around payment cards, and this is reflected in the terminology. However, much of the system is independent of the type of accounts being used.
• In SET, cardholders and merchants register with a certificate authority and are issued with certificates containing their public signature keys. The certificate authority verifies a cardholder's registration details with the card issuer as appropriate, and verifies a merchant's registration details with the acquirer as appropriate. Cardholders and merchants store their respective private signature keys securely on their computers. During the payment process, these certificates are used to mutually authenticate a merchant and cardholder, and to authenticate them both to the payment gateway.
• SET has not yet been adopted widely, partly because cardholder maintenance of keys and certificates is considered burdensome. Interim solutions which maintain cardholder keys and certificates on a server and give the cardholder access via a password have met with some success.
4.2 Set Payments
• In the netpage system the netpage registration server acts as a proxy for the netpage user (i.e. the cardholder) in SET payment transactions.
• The netpage system uses biometrics to authenticate the user and authorize SET payments. Because the system is pen-based, the biometric used is the user's on-line signature, consisting of time-varying pen position and pressure. A fingerprint biometric can also be used by designing a fingerprint sensor into the pen, although at a higher cost. The type of biometric used only affects the capture of the biometric, not the authorization aspects of the system.
• The first step to being able to make SET payments is to register the user's biometric with the netpage registration server. This is done in a controlled environment, for example a bank, where the biometric can be captured at the same time as the user's identity is verified. The biometric is captured and stored in the registration database, linked to the user's record. The user's photograph is also optionally captured and linked to the record. The SET cardholder registration process is completed, and the resulting private signature key and certificate are stored in the database. The user's payment card information is also stored, giving the netpage registration server enough information to act as the user's proxy in any SET payment transaction.
• When the user eventually supplies the biometric to complete a payment, for example by signing a netpage order form, the printer securely transmits the order information, the pen ID and the biometric data to the netpage registration server. The server verifies the biometric with respect to the user identified by the pen ID, and from then on acts as the user's proxy in completing the SET payment transaction.
4.3 Micro-Payments
• The netpage system includes a mechanism for micro-payments, to allow the user to be conveniently charged for printing low-cost documents on demand and for copying copyright documents, and possibly also to allow the user to be reimbursed for expenses incurred in printing advertising material. The latter depends on the level of subsidy already provided to the user.
• When the user registers for e-commerce, a network account is established which aggregates micro-payments. The user receives a statement on a regular basis, and can settle any outstanding debit balance using the standard payment mechanism.
• The network account can be extended to aggregate subscription fees for periodicals, which would also otherwise be presented to the user in the form of individual statements.
4.4 Transactions
• When a user requests a netpage in a particular application context, the application is able to embed a user-specific transaction ID55 in the page. Subsequent input through the page is tagged with the transaction ID, and the application is thereby able to establish an appropriate context for the user's input.
• When input occurs through a page which is not user-specific, however, the application must use the user's unique identity to establish a context. A typical example involves adding items from a pre-printed catalog page to the user's virtual “shopping cart”. To protect the user's privacy, however, theunique user ID60 known to the netpage system is not divulged to applications. This is to prevent different application providers from easily correlating independently accumulated behavioral data.
• The netpage registration server instead maintains an anonymous relationship between a user and an application via aunique alias ID65, as shown inFIG. 24. Whenever the user activates a hyperlink tagged with the “registered” attribute, the netpage page server asks the netpage registration server to translate the associatedapplication ID64, together with thepen ID61, into analias ID65. The alias ID is then submitted to the hyperlink's application.
• The application maintains state information indexed by alias ID, and is able to retrieve user-specific state information without knowledge of the global identity of the user.
• The system also maintains an independent certificate and private signature key for each of a user's applications, to allow it to sign application transactions on behalf of the user using only application-specific information.
• To assist the system in routing product bar code (UPC) “hyperlink” activations, the system records a favorite application on behalf of the user for any number of product types.
• Each application is associated with an application provider, and the system maintains an account on behalf of each application provider, to allow it to credit and debit the provider for click-through fees etc.
• An application provider can be a publisher of periodical subscribed content. The system records the user's willingness to receive the subscribed publication, as well as the expected frequency of publication.
4.5 Resource Descriptions and Copyright
• A preferred embodiment of a resource description class diagram is shown inFIG. 40.
• Each document and content object may be described by one ormore resource descriptions842. Resource descriptions use the Dublin Core metadata element set, which is designed to facilitate discovery of electronic resources. Dublin Core metadata conforms to the World Wide Web Consortium (W3C) Resource Description Framework (RDF).
• A resource description may identifyrights holders920. The netpage system automatically transfers copyright fees from users to rights holders when users print copyright content.
5 Communications Protocols
• A communications protocol defines an ordered exchange of messages between entities. In the netpage system, entities such as pens, printers and servers utilise a set of defined protocols to cooperatively handle user interaction with the netpage system.
• Each protocol is illustrated by way of a sequence diagram in which the horizontal dimension is used to represent message flow and the vertical dimension is used to represent time. Each entity is represented by a rectangle containing the name of the entity and a vertical column representing the lifeline of the entity. During the time an entity exists, the lifeline is shown as a dashed line. During the time an entity is active, the lifeline is shown as a double line. Because the protocols considered here do not create or destroy entities, lifelines are generally cut short as soon as an entity ceases to participate in a protocol.
5.1 Subscription Delivery Protocol
• A preferred embodiment of a subscription delivery protocol is shown inFIG. 43.
• A large number of users may subscribe to a periodical publication. Each user's edition may be laid out differently, but many users' editions will share common content such as text objects and image objects. The subscription delivery protocol therefore delivers document structures to individual printers via pointcast, but delivers shared content objects via multicast.
• The application (i.e. publisher) first obtains adocument ID51 for each document from anID server12. It then sends each document structure, including its document ID and page descriptions, to thepage server10 responsible for the document's newly allocated ID. It includes itsown application ID64, the subscriber'salias ID65, and the relevant set of multicast channel names. It signs the message using its private signature key.
• The page server uses the application ID and alias ID to obtain from the registration server thecorresponding user ID60, the user's selected printer ID62 (which may be explicitly selected for the application, or may be the user's default printer), and the application's certificate.
• The application's certificate allows the page server to verify the message signature. The page server's request to the registration server fails if the application ID and alias ID don't together identify asubscription808.
• The page server then allocates document and page instance IDs and forwards the page descriptions, includingpage IDs50, to the printer. It includes the relevant set of multicast channel names for the printer to listen to.
• It then returns the newly allocated page IDs to the application for future reference.
• Once the application has distributed all of the document structures to the subscribers' selected printers via the relevant page servers, it multicasts the various subsets of the shared objects on the previously selected multicast channels. Both page servers and printers monitor the appropriate multicast channels and receive their required content objects. They are then able to populate the previously pointcast document structures. This allows the page servers to add complete documents to their databases, and it allows the printers to print the documents.
5.2 Hyperlink Activation Protocol
• A preferred embodiment of a hyperlink activation protocol is shown inFIG. 45.
• When a user clicks on a netpage with a netpage pen, the pen communicates the click to thenearest netpage printer601. The click identifies the page and a location on the page. The printer already knows theID61 of the pen from the pen connection protocol.
• The printer determines, via the DNS, the network address of thepage server10ahandling theparticular page ID50. The address may already be in its cache if the user has recently interacted with the same page. The printer then forwards the pen ID, itsown printer ID62, the page ID and click location to the page server.
• The page server loads thepage description5 identified by the page ID and determines which input element'szone58, if any, the click lies in. Assuming the relevant input element is ahyperlink element844, the page server then obtains the associatedapplication ID64 andlink ID54, and determines, via the DNS, the network address of the application server hosting theapplication71.
• The page server uses thepen ID61 to obtain thecorresponding user ID60 from theregistration server11, and then allocates a globally uniquehyperlink request ID52 and builds ahyperlink request934. The hyperlink request class diagram is shown inFIG. 44. The hyperlink request records the IDs of the requesting user and printer, and identifies the clickedhyperlink instance862. The page server then sends itsown server ID53, the hyperlink request ID, and the link ID to the application.
• The application produces a response document according to application-specific logic, and obtains adocument ID51 from anID server12. It then sends the document to thepage server10bresponsible for the document's newly allocated ID, together with the requesting page server's ID and the hyperlink request ID.
• The second page server sends the hyperlink request ID and application ID to the first page server to obtain the corresponding user ID andprinter ID62. The first page server rejects the request if the hyperlink request has expired or is for a different application.
• The second page server allocates document instance andpage IDs50, returns the newly allocated page IDs to the application, adds the complete document to its own database, and finally sends the page descriptions to the requesting printer.
• The hyperlink instance may include ameaningful transaction ID55, in which case the first page server includes the transaction ID in the message sent to the application. This allows the application to establish a transaction-specific context for the hyperlink activation.
• If the hyperlink requires a user alias, i.e. its “alias required” attribute is set, then the first page server sends both thepen ID61 and the hyperlink'sapplication ID64 to theregistration server11 to obtain not just the user ID corresponding to the pen ID but also thealias ID65 corresponding to the application ID and the user ID. It includes the alias ID in the message sent to the application, allowing the application to establish a user-specific context for the hyperlink activation.
5.3 Handwriting Recognition Protocol
• When a user draws a stroke on a netpage with a netpage pen, the pen communicates the stroke to the nearest netpage printer. The stroke identifies the page and a path on the page.
• The printer forwards thepen ID61, itsown printer ID62, thepage ID50 and stroke path to thepage server10 in the usual way.
• The page server loads thepage description5 identified by the page ID and determines which input element'szone58, if any, the stroke intersects. Assuming the relevant input element is atext field878, the page server appends the stroke to the text field's digital ink.
• After a period of inactivity in the zone of the text field, the page server sends the pen ID and the pending strokes to theregistration server11 for interpretation. The registration server identifies the user corresponding to the pen, and uses the user's accumulatedhandwriting model822 to interpret the strokes as handwritten text. Once it has converted the strokes to text, the registration server returns the text to the requesting page server. The page server appends the text to the text value of the text field.
5.4 Signature Verification Protocol
• Assuming the input element whose zone the stroke intersects is asignature field880, thepage server10 appends the stroke to the signature field's digital ink.
• After a period of inactivity in the zone of the signature field, the page server sends thepen ID61 and the pending strokes to theregistration server11 for verification. It also sends theapplication ID64 associated with the form of which the signature field is part, as well as theform ID56 and the current data content of the form. The registration server identifies the user corresponding to the pen, and uses the user's dynamic signature biometric818 to verify the strokes as the user's signature. Once it has verified the signature, the registration server uses theapplication ID64 anduser ID60 to identify the user's application-specific private signature key. It then uses the key to generate a digital signature of the form data, and returns the digital signature to the requesting page server. The page server assigns the digital signature to the signature field and sets the associated form's status to frozen.
• The digital signature includes thealias ID65 of the corresponding user. This allows a single form to capture multiple users' signatures.
5.5 Form Submission Protocol
• A preferred embodiment of a form submission protocol is shown inFIG. 46.
• Form submission occurs via a form hyperlink activation. It thus follows the protocol defined in Section 5.2, with some form-specific additions.
• In the case of a form hyperlink, the hyperlink activation message sent by thepage server10 to theapplication71 also contains theform ID56 and the current data content of the form. If the form contains any signature fields, then the application verifies each one by extracting thealias ID65 associated with the corresponding digital signature and obtaining the corresponding certificate from theregistration server11.
5.6 Commission Payment Protocol
• A preferred embodiment of a commission payment protocol is shown inFIG. 47.
• In an e-commerce environment, fees and commissions may be payable from an application provider to a publisher on click-throughs, transactions and sales. Commissions on fees and commissions on commissions may also be payable from the publisher to the provider of the printer.
• Thehyperlink request ID52 is used to route a fee or commission credit from thetarget application provider70a(e.g. merchant) to thesource application provider70b(i.e. publisher), and from thesource application provider70bto theprinter provider72.
• The target application receives the hyperlink request ID from thepage server10 when the hyperlink is first activated, as described in Section 5.2. When the target application needs to credit the source application provider, it sends the application provider credit to the original page server together with the hyperlink request ID. The page server uses the hyperlink request ID to identify the source application, and sends the credit on to therelevant registration server11 together with thesource application ID64, itsown server ID53, and the hyperlink request ID. The registration server credits the corresponding application provider'saccount827. It also notifies the application provider.
• If the application provider needs to credit the printer provider, it sends the printer provider credit to the original page server together with the hyperlink request ID. The page server uses the hyperlink request ID to identify the printer, and sends the credit on to the relevant registration server together with the printer ID. The registration server credits the correspondingprinter provider account814.
• The source application provider is optionally notified of the identity of the target application provider, and the printer provider of the identity of the source application provider.
6. Netpage Pen Description6.1 Pen Mechanics
• Referring toFIGS. 8 and 9, the pen, generally designated byreference numeral101, includes ahousing102 in the form of a plasticsmoulding having walls103 defining aninterior space104 for mounting the pen components. Thepen top105 is in operation rotatably mounted at oneend106 of thehousing102. Asemi-transparent cover107 is secured to theopposite end108 of thehousing102. Thecover107 is also of moulded plastics, and is formed from semi-transparent material in order to enable the user to view the status of the LED mounted within thehousing102. Thecover107 includes amain part109 which substantially surrounds theend108 of thehousing102 and a projectingportion110 which projects back from themain part109 and fits within acorresponding slot111 formed in thewalls103 of thehousing102. Aradio antenna112 is mounted behind the projectingportion110, within thehousing102.Screw threads113 surrounding anaperture113A on thecover107 are arranged to receive ametal end piece114, including correspondingscrew threads115. Themetal end piece114 is removable to enable ink cartridge replacement.
• Also mounted within thecover107 is atri-color status LED116 on aflex PCB117. Theantenna112 is also mounted on theflex PCB117. Thestatus LED116 is mounted at the top of thepen101 for good all-around visibility.
• The pen can operate both as a normal marking ink pen and as a non-marking stylus. Anink pen cartridge118 withnib119 and astylus120 withstylus nib121 are mounted side by side within thehousing102. Either theink cartridge nib119 or thestylus nib121 can be brought forward throughopen end122 of themetal end piece114, by rotation of thepen top105. Respective slider blocks123 and124 are mounted to theink cartridge118 andstylus120, respectively. Arotatable cam barrel125 is secured to thepen top105 in operation and arranged to rotate therewith. Thecam barrel125 includes acam126 in the form of a slot within thewalls181 of the cam barrel.Cam followers127 and128 projecting fromslider blocks123 and124 fit within thecam slot126. On rotation of thecam barrel125, the slider blocks123 or124 move relative to each other to project either thepen nib119 orstylus nib121 out through thehole122 in themetal end piece114. Thepen101 has three states of operation. By turning the top105 through 90° steps, the three states are:
• Stylus120nib121 out;
• Ink cartridge118nib119 out; and
• Neitherink cartridge118nib119 out norstylus120nib121 out.
• Asecond flex PCB129, is mounted on anelectronics chassis130 which sits within thehousing102. Thesecond flex PCB129 mounts aninfrared LED131 for providing infrared radiation for projection onto the surface. Animage sensor132 is provided mounted on thesecond flex PCB129 for receiving reflected radiation from the surface. Thesecond flex PCB129 also mounts aradio frequency chip133, which includes an RF transmitter and RF receiver, and acontroller chip134 for controlling operation of thepen101. An optics block135 (formed from moulded clear plastics) sits within thecover107 and projects an infrared beam onto the surface and receives images onto theimage sensor132.Power supply wires136 connect the components on thesecond flex PCB129 tobattery contacts137 which are mounted within thecam barrel125. A terminal138 connects to thebattery contacts137 and thecam barrel125. A three voltrechargeable battery139 sits within thecam barrel125 in contact with the battery contacts. Aninduction charging coil140 is mounted about thesecond flex PCB129 to enable recharging of thebattery139 via induction. Thesecond flex PCB129 also mounts aninfrared LED143 andinfrared photodiode144 for detecting displacement in thecam barrel125 when either thestylus120 or theink cartridge118 is used for writing, in order to enable a determination of the force being applied to the surface by thepen nib119 orstylus nib121. TheIR photodiode144 detects light from theIR LED143 via reflectors (not shown) mounted on the slider blocks123 and124.
• Rubber grip pads141 and142 are provided towards theend108 of thehousing102 to assist gripping thepen101, and top105 also includes aclip142 for clipping thepen101 to a pocket.
6.2 Pen Controller
• Thepen101 is arranged to determine the position of its nib (stylus nib121 or ink cartridge nib119) by imaging, in the infrared spectrum, an area of the surface in the vicinity of the nib. It records the location data from the nearest location tag, and is arranged to calculate the distance of thenib121 or119 from the locationtab utilising optics135 andcontroller chip134. Thecontroller chip134 calculates the orientation of the pen and the nib-to-tag distance from the perspective distortion observed on the imaged tag.
• Utilising theRF chip133 andantenna112 thepen101 can transmit the digital ink data (which is encrypted for security and packaged for efficient transmission) to the computing system.
• When the pen is in range of a receiver, the digital ink data is transmitted as it is formed. When thepen101 moves out of range, digital ink data is buffered within the pen101 (thepen101 circuitry includes a buffer arranged to store digital ink data for approximately 12 minutes of the pen motion on the surface) and can be transmitted later.
• Thecontroller chip134 is mounted on thesecond flex PCB129 in thepen101.FIG. 10 is a block diagram illustrating in more detail the architecture of thecontroller chip134.FIG. 10 also shows representations of theRF chip133, theimage sensor132, thetri-color status LED116, theIR illumination LED131, the IRforce sensor LED143, and theforce sensor photodiode144.
• Thepen controller chip134 includes a controllingprocessor145.Bus146 enables the exchange of data between components of thecontroller chip134.Flash memory147 and a 512KB DRAM148 are also included. An analog-to-digital converter149 is arranged to convert the analog signal from theforce sensor photodiode144 to a digital signal.
• Animage sensor interface152 interfaces with theimage sensor132. Atransceiver controller153 andbase band circuit154 are also included to interface with theRF chip133 which includes anRF circuit155 and RF resonators andinductors156 connected to theantenna112.
• The controllingprocessor145 captures and decodes location data from tags from the surface via theimage sensor132, monitors theforce sensor photodiode144, controls theLEDs116,131 and143, and handles short-range radio communication via theradio transceiver153. It is a medium-performance (˜40 MHz) general-purpose RISC processor.
• Theprocessor145, digital transceiver components (transceiver controller153 and baseband circuit154),image sensor interface152,flash memory147 and 512KB DRAM148 are integrated in a single controller ASIC. Analog RF components (RF circuit155 and RF resonators and inductors156) are provided in the separate RF chip.
• The image sensor is a 215×215 pixel CCD (such a sensor is produced by Matsushita Electronic Corporation, and is described in a paper by Itakura, K T Nobusada, N Okusenya, R Nagayoshi, and M Ozaki, “A 1 mm 50 k-Pixel IT CCD Image Sensor for Miniature Camera System”, IEEE Transactions on Electronic Devices,Volt 47,number 1, January 2000, which is incorporated herein by reference) with an IR filter.
• Thecontroller ASIC134 enters a quiescent state after a period of inactivity when thepen101 is not in contact with a surface. It incorporates adedicated circuit150 which monitors theforce sensor photodiode144 and wakes up thecontroller134 via thepower manager151 on a pen-down event.
• The radio transceiver communicates in the unlicensed 900 MHz band normally used by cordless telephones, or alternatively in the unlicensed 2.4 GHz industrial, scientific and medical (ISM) band, and uses frequency hopping and collision detection to provide interference-free communication.
• In an alternative embodiment, the pen incorporates an Infrared Data Association (IrDA) interface for short-range communication with a base station or netpage printer.
• In a further embodiment, thepen101 includes a pair of orthogonal accelerometers mounted in the normal plane of thepen101 axis. Theaccelerometers190 are shown inFIGS. 9 and 10 in ghost outline.
• The provision of the accelerometers enables this embodiment of thepen101 to sense motion without reference to surface location tags, allowing the location tags to be sampled at a lower rate. Each location tag ID can then identify an object of interest rather than a position on the surface. For example, if the object is a user interface input element (e.g. a command button), then the tag ID of each location tag within the area of the input element can directly identify the input element.
• The acceleration measured by the accelerometers in each of the x and y directions is integrated with respect to time to produce an instantaneous velocity and position.
• Since the starting position of the stroke is not known, only relative positions within a stroke are calculated. Although position integration accumulates errors in the sensed acceleration, accelerometers typically have high resolution, and the time duration of a stroke, over which errors accumulate, is short.
7. Netpage Printer Description7.1 Printer Mechanics
• The vertically-mounted netpage wallprinter601 is shown fully assembled inFIG. 11. It prints netpages on Letter/A4 sized media using duplexed 8½″ Memjet™ print engines602 and603, as shown inFIGS. 12 and 12a. It uses a straight paper path with thepaper604 passing through theduplexed print engines602 and603 which print both sides of a sheet simultaneously, in full color and with full bleed.
• An integralbinding assembly605 applies a strip of glue along one edge of each printed sheet, allowing it to adhere to the previous sheet when pressed against it. This creates a final bounddocument618 which can range in thickness from one sheet to several hundred sheets.
• Thereplaceable ink cartridge627, shown inFIG. 13 coupled with the duplexed print engines, has bladders or chambers for storing fixative, adhesive, and cyan, magenta, yellow, black and infrared inks. The cartridge also contains a micro air filter in a base molding. The micro air filter interfaces with anair pump638 inside the printer via ahose639. This provides filtered air to the printheads to prevent ingress of micro particles into theMemjet™ printheads350 which might otherwise clog the printhead nozzles. By incorporating the air filter within the cartridge, the operational life of the filter is effectively linked to the life of the cartridge. The ink cartridge is a fully recyclable product with a capacity for printing and gluing 3000 pages (1500 sheets).
• Referring toFIG. 12, the motorized media pick-uproller assembly626 pushes the top sheet directly from the media tray past a paper sensor on thefirst print engine602 into the duplexed Memjet™ printhead assembly. The two Memjet™ print engines602 and603 are mounted in an opposing in-line sequential configuration along the straight paper path. Thepaper604 is drawn into thefirst print engine602 by integral, powered pick-uprollers626. The position and size of thepaper604 is sensed and full bleed printing commences. Fixative is printed simultaneously to aid drying in the shortest possible time.
• The paper exits the first Memjet™ print engine602 through a set of powered exit spike wheels (aligned along the straight paper path), which act against a rubberized roller. These spike wheels contact the ‘wet’ printed surface and continue to feed thesheet604 into the second Memjet™ print engine603.
• Referring toFIGS. 12 and 12a, thepaper604 passes from theduplexed print engines602 and603 into thebinder assembly605. The printed page passes between a poweredspike wheel axle670 with a fibrous support roller and another movable axle with spike wheels and a momentary action glue wheel. The movable axle/glue assembly673 is mounted to a metal support bracket and it is transported forward to interface with thepowered axle670 via gears by action of a camshaft. A separate motor powers this camshaft.
• Theglue wheel assembly673 consists of a partiallyhollow axle679 with a rotating coupling for theglue supply hose641 from theink cartridge627. Thisaxle679 connects to a glue wheel, which absorbs adhesive by capillary action through radial holes. A moldedhousing682 surrounds the glue wheel, with an opening at the front. Pivoting side moldings and sprung outer doors are attached to the metal bracket and hinge out sideways when the rest of theassembly673 is thrust forward. This action exposes the glue wheel through the front of the moldedhousing682. Tension springs close the assembly and effectively cap the glue wheel during periods of inactivity.
• As thesheet604 passes into theglue wheel assembly673, adhesive is applied to one vertical edge on the front side (apart from the first sheet of a document) as it is transported down into the bindingassembly605.
7.2 Printer Controller Architecture
• The netpage printer controller consists of a controllingprocessor750, a factory-installed or field-installednetwork interface module625, a radio transceiver (transceiver controller753,baseband circuit754,RF circuit755, and RF resonators and inductors756), dual raster image processor (RIP) DSPs757, duplexedprint engine controllers760aand760b,flash memory658, and 64 MB ofDRAM657, as illustrated inFIG. 14.
• The controlling processor handles communication with thenetwork19 and with local wireless netpage pens101, senses thehelp button617, controls the user interface LEDs613-616, and feeds and synchronizes theRIP DSPs757 andprint engine controllers760. It consists of a medium-performance general-purpose microprocessor. The controllingprocessor750 communicates with theprint engine controllers760 via a high-speedserial bus659.
• The RIP DSPs rasterize and compress page descriptions to the netpage printer's compressed page format. Each print engine controller expands, dithers and prints page images to its associatedMemjet™ printhead350 in real time (i.e. at over 30 pages per minute). The duplexed print engine controllers print both sides of a sheet simultaneously.
• The masterprint engine controller760acontrols the paper transport and monitors ink usage in conjunction with themaster QA chip665 and the inkcartridge QA chip761.
• The printer controller'sflash memory658 holds the software for both theprocessor750 and theDSPs757, as well as configuration data. This is copied tomain memory657 at boot time.
• Theprocessor750,DSPs757, and digital transceiver components (transceiver controller753 and baseband circuit754) are integrated in asingle controller ASIC656. Analog RF components (RF circuit755 and RF resonators and inductors756) are provided in aseparate RF chip762. Thenetwork interface module625 is separate, since netpage printers allow the network connection to be factory-selected or field-selected.Flash memory658 and the 2×256 Mbit (64 MB)DRAM657 is also off-chip. Theprint engine controllers760 are provided in separate ASICs.
• A variety ofnetwork interface modules625 are provided, each providing anetpage network interface751 and optionally a local computer ornetwork interface752. Netpage network Internet interfaces include POTS modems, Hybrid Fiber-Coax (HFC) cable modems, ISDN modems, DSL modems, satellite transceivers, current and next-generation cellular telephone transceivers, and wireless local loop (WLL) transceivers. Local interfaces include IEEE 1284 (parallel port), 10Base-T and 100Base-T Ethernet, USB and USB 2.0, IEEE 1394 (Firewire), and various emerging home networking interfaces. If an Internet connection is available on the local network, then the local network interface can be used as the netpage network interface.
• Theradio transceiver753 communicates in the unlicensed 900 MHz band normally used by cordless telephones, or alternatively in the unlicensed 2.4 GHz industrial, scientific and medical (ISM) band, and uses frequency hopping and collision detection to provide interference-free communication.
• The printer controller optionally incorporates an Infrared Data Association (IrDA) interface for receiving data “squirted” from devices such as netpage cameras. In an alternative embodiment, the printer uses the IrDA interface for short-range communication with suitably configured netpage pens.
7.2.1 Rasterization and Printing
• Once themain processor750 has received and verified the document's page layouts and page objects, it runs the appropriate RIP software on theDSPs757.
• TheDSPs757 rasterize each page description and compress the rasterized page image. The main processor stores each compressed page image in memory. The simplest way to load-balance multiple DSPs is to let each DSP rasterize a separate page. The DSPs can always be kept busy since an arbitrary number of rasterized pages can, in general, be stored in memory. This strategy only leads to potentially poor DSP utilization when rasterizing short documents.
• Watermark regions in the page description are rasterized to a contone-resolution bi-level bitmap which is losslessly compressed to negligible size and which forms part of the compressed page image.
• The infrared (IR) layer of the printed page contains coded netpage tags at a density of about six per inch. Each tag encodes the page ID, tag ID, and control bits, and the data content of each tag is generated during rasterization and stored in the compressed page image.
• Themain processor750 passes back-to-back page images to the duplexedprint engine controllers760. Eachprint engine controller760 stores the compressed page image in its local memory, and starts the page expansion and printing pipeline. Page expansion and printing is pipelined because it is impractical to store an entire 114 MB bi-level CMYK+IR page image in memory.
7.2.2 Print Engine Controller
• The page expansion and printing pipeline of theprint engine controller760 consists of a high speed IEEE 1394serial interface659, a standard JPEG decoder763, astandard Group 4 Fax decoder764, a custom halftoner/compositor unit765, a custom tag encoder766, a line loader/formatter unit767, and acustom interface768 to theMemjet™ printhead350.
• The print engine controller360 operates in a double buffered manner. While one page is loaded intoDRAM769 via the high speedserial interface659, the previously loaded page is read fromDRAM769 and passed through the print engine controller pipeline. Once the page has finished printing, the page just loaded is printed while another page is loaded.
• The first stage of the pipeline expands (at763) the JPEG-compressed contone CMYK layer, expands (at764) theGroup 4 Fax-compressed bi-level black layer, and renders (at766) the bi-level netpage tag layer according to the tag format defined in section 1.2, all in parallel. The second stage dithers (at765) the contone CMYK layer and composites (at765) the bi-level black layer over the resulting bi-level CMYK layer. The resultant bi-level CMYK+IR dot data is buffered and formatted (at767) for printing on theMemjet™ printhead350 via a set of line buffers. Most of these line buffers are stored in the off-chip DRAM. The final stage prints the six channels of bi-level dot data (including fixative) to theMemjet™ printhead350 via theprinthead interface768.
• When severalprint engine controllers760 are used in unison, such as in a duplexed configuration, they are synchronized via a sharedline sync signal770. Only oneprint engine760, selected via the external master/slave pin771, generates theline sync signal770 onto the shared line.
• Theprint engine controller760 contains a low-speed processor772 for synchronizing the page expansion and rendering pipeline, configuring theprinthead350 via a low-speedserial bus773, and controlling thestepper motors675,676.
• In the 8½″ versions of the netpage printer, the two print engines each prints 30 Letter pages per minute along the long dimension of the page (11″), giving a line rate of 8.8 kHz at 1600 dpi. In the 12″ versions of the netpage printer, the two print engines each prints 45 Letter pages per minute along the short dimension of the page (8½″), giving a line rate of 10.2 kHz. These line rates are well within the operating frequency of the Memjet™ printhead, which in the current design exceeds 30 kHz.
8 Netpage Tags8.1 Tag Tiling8.1.1 Planar Surface Tag Tiling
• In order to support “single-click” interaction with a tagged region via a sensing device, the sensing device must be able to see at least oneentire tag4 in its field of view no matter where in the region or at what orientation it is positioned. The required diameter of the field of view of the sensing device is therefore a function of the size and spacing of thetags4.
• In the case where the tag shape is circular, such as thepreferred tag4 described earlier, the minimum diameter m of the sensor field of view is obtained when the tags500, of diameter k, are tiled on an equilateral triangular grid, as shown inFIG. 52 and defined inEQ 1. This is achieved when the center-to-center tag spacing is the same as the tag diameter k.
• With a tag diameter k of 256 dots (˜4 mm at 1600 dpi), m is therefore 552 dots (˜8.8 mm). With a quiet area of 16 dots, i.e. an effective tag diameter k of 272 dots (˜4.3 mm), m increases to 587 dots (˜9.3 mm).
• When thetags4 are moved a distance s apart, where s is at least as large as k, then the minimum field of view is given byEQ 2.
• When no overlap is desired in the horizontal direction between successive lines of tags500, for example to make tag rendering easier, the tags must be moved apart by a minimum amount given byEQ 3. For a 256-dot diameter tag, u is therefore 40 dots (˜0.6 mm at 1600 dpi). Since this exceeds the quiet area required for the tag, the quiet area can be ignored if tag lines are rendered to not overlap.
• Setting s=k+u inEQ 2 givesEQ 4. For a 256-dot diameter tag, s is therefore 296 dots (˜4.7 mm at 1600 dpi), and m is 598 dots (˜9.5 mm).
8.1.2 Spherical Surface Tag Tiling
• A regular icosahedron is often used as the basis for generating an almost regular triangular tiling of a sphere. A regular icosahedron, such asicosahedron526 inFIG. 53, is composed of twenty equal-sized equilateral triangular faces528 sharing thirtyedges530 and twelvevertices532, with five of theedges530 meeting at each of thevertices532.
• To achieve the required tiling, theicosahedron526 is inscribed in a target sphere, and eachtriangle528 of theicosahedron526 is subdivided into an equal number of equal-sized equilateral subdivision triangles to yield the desired total number of triangles. If eachedge530 of the icosahedron is divided into v equal intervals, defining a set of v−1 points along each edge, and each pair of corresponding points along any two adjacent edges is joined by a line parallel to the other shared adjacent edge, the lines so drawn intersect at the vertices of the desired equal-sized and equilateral subdivision triangles, resulting in the creation of v²triangles pertriangular face528 of theicosahedron526, or 20 v²triangles in all. Of the resulting 10 v²+2 vertices, five triangular faces meet at each of the twelve original vertices of theicosahedron526, and six triangular faces meet at the each of the remaining vertices. The twelveoriginal vertices532 already lie on the sphere, while the remaining vertices lie inside the sphere. Each created vertex is therefore centrally projected onto the sphere, giving the desired tiling.
• A sphere approximated by a regular polyhedron in this way is referred to as a geodesic, and the parameter v is referred to as the frequency of the geodesic.FIG. 54 shows anicosahedral geodesic534 with v=3, i.e. with 180 faces528.
• The closer a subdivision triangle is to the center of a face of theicosahedron526, the further it is from the surface of the sphere, and hence the larger it is when projected onto the sphere. To minimise variation in the size of projected subdivision triangles, subdivison vertices can systematically be displaced prior to projection (Tegmark, M., “An Icosahedron-Based Method for Pixelizing the Celestial Sphere”, ApJ Letters, 470, L81, Oct. 14, 1996). If v=1 then no vertices are created and the angle subtended by a triangular face at a vertex remains 60°. As v increases, however, the surface defined by the five triangular faces surrounding each original vertex becomes increasingly flat, and the vertex angle of each triangular face converges on 72° (i.e. 360°/5). This defines the worst case for a tag tiling of a sphere. In a 72° isosceles triangle the base length is 1.18 times the length of the two sides. The maximum tag spacing s for the purposes of calculating the sensor field of view is therefore close to 1.18 k. With a tag diameter of 256 dots and a quiet area of 16 dots, i.e. an effective tag diameter k of 272 dots (˜4.3 mm), m is therefore 643 dots (˜10.2 mm) according toEQ 2.
• The angle subtended by each edge of an icosahedron at the center of the circumscribing sphere is given byEQ 5
• For a sphere of radius r the arc length of each centrally projected edge is rθ. Given a tag diameter of K in the same units as r, the number of tags n required to cover the sphere is given byEQ 6.
• For a given n, r is limited byEQ 7.
• If n is limited to 2¹⁶, to allow the use of a 16-bit tag ID without requiring multiple regions to cover the sphere, and K is taken to be 4.3 mm as above, then r is limited to ˜310 mm.
• A typical globe has a radius of 160 mm. Its projected arc length of ˜177 mm fits41 evenly spaced tags with negligible additional spacing. Such a globe uses 16812 tags in total.
8.1.3 Arbitrary Curved Surface Tag Tiling
• A triangle mesh can approximate a surface of arbitrary topography and topology without introducing discontinuities or singularities, with the local scale of the mesh being dictated by the local curvature of the surface and an error bound. Assuming the existence of a triangle mesh for a particular surface, an effective non-regular tiling of tags can be produced as long as each mesh triangle respects a minimum vertex angle and a minimum edge length. A tiling is considered effective with respect to a particular sensing device if the field of view of the sensing device is guaranteed to include at least one complete tag at any position of the sensing device on the surface.
• The tiling procedure starts by placing a tag at each vertex of the mesh, so the minimum edge length is the same as the tag diameter k. The tiling procedure proceeds by inserting a tag at the midpoint of any edge whose length exceeds a maximum tag separation s. As illustrated inFIG. 9, the maximum tag spacing s is calculated so that if twoadjacent tags4aand4bare a distance s+ε apart, then there is room for anothertag4cbetween them, i.e.EQ 8.
• However, if the vertex angle between two edges of length s+ε is less than 60°, then the inserted tags will overlap.
• To prevent inserted tags from overlapping, a minimum tag separation t is introduced, where t≧k. The minimum vertex angle α then becomes a function of k and t, as shown inEQ 9.
• Clearly, when t=k, β is constrained to be 60°, i.e. the mesh is constrained to be equilateral. But as illustrated inFIG. 56, when t>k, β can be less than 60° without inserted tags overlapping.
• The maximum tag separation s must be based on the new minimum tag separation t, in accordance withEQ 10.
• When considering a particular mesh triangle, there are four distinct tag insertion scenarios. By assuming that the minimum vertex angle is no less than 30° (i.e. half of 60°), it can be shown that whenever a mesh triangle has at least one edge less than or equal to s in length, the remaining two edges are less than 2s in length. In practice the minimum vertex angle is typically at least 45°.
• In the first scenario (FIG. 57) no edges of atriangle546 exceed s in length, so the tagging of the triangle is already complete.
• In the second scenario (FIG. 58) oneedge548 of atriangle550 exceeds s in length. Atag552 is inserted at the midpoint of theedge548 to complete the tagging of thetriangle550.
• In the third scenario (FIG. 59) twoedges554,556 of atriangle558 exceed s in length.Tags560,562 are inserted at the midpoint of each of the twolong edges554,556 and this may complete the tagging of thetriangle558. Centers of the two insertedtags560,562 together with the twovertices564,566 of the short edge568 of theoriginal triangle558 form a trapezoid. If either diagonal of the trapezoid exceeds s in length then afinal tag570 is inserted at the center of the trapezoid to complete the tagging of the triangle.
• In the fourth scenario (FIG. 60) all threeedges572 of a triangle573 exceed s in length. A taggedvertex574 is inserted at the midpoint of eachedge572 and the threenew vertices574 are joined by edges576. The tagging procedure is then recursively applied to each of the fourresultant triangles577,578,579 and580. Note that the new triangles respect the minimum vertex angle because they have the same shape as the original triangle573.
• The tag tiling variables are summarized in Table 4.

• TABLE 4
  Tag tiling variables

  variable	Meaning
  β	minimum vertex angle
  K	tag diameter
  M	minimum diameter of sensor field of view on surface
  S	maximum center-to-center tag spacing
  T	minimum center-to-center tag spacing

8.2 Tag Sensing8.2.1 Pen Orientation
• To allow a pen-like sensing device to be used as a comfortable writing instrument, a range of pen orientations must be supported. Since the pen nib is constrained to be in contact with the surface, the orientation of the pen can be characterized by the yaw (z rotation), pitch (x rotation) and roll (y rotation) of the pen, as illustrated inFIG. 61. While the yaw of the pen must be unconstrained, it is reasonable to constrain the pitch and roll of the pen as well as the overall tilt of the pen resulting from the combination of pitch and roll.
• Yaw is conventionally applied after pitch, such that, for example, in the case of a pen device it would define a twist about the physical axis rather than a direction in the surface plane. In a pen with a marking nib, however, the image sensor is mounted off the axis of the pen and the pen's image sensing ability (and hence its yaw sensing ability) is therefore constrained unless the pen is held almost vertically, as discussed below. Yaw is therefore applied before pitch, allowing the full yaw range to be specified by rotating the pen relative to the surface while keeping pitch and roll constant.
• Pitch and roll are conventionally defined as y and x rotations, respectively. Here they are defined as x and y rotations, respectively, because they are defined with respect to the x-y coordinate system of the surface, where the y axis is the natural longitudinal axis and the x axis is the natural lateral axis when viewed by a user. In a right-handed 3D coordinate system, roll is conventionally defined as positive when anticlockwise, while pitch and yaw are conventionally defined as positive when clockwise. Here all rotations are defined as positive when anticlockwise.
• The pen's overall tilt (θ) is related to its pitch (φ) and the roll (Ψ) in accordance withEQ 11.
• The pen's tilt affects the scale at which surface features are imaged at different points in the field of view, and therefore affects the resolution of the image sensor. Since it is impractical to sense the area directly under the pen nib, the pen's tilt also affects the distance from the nib to the center of the imaged area. This distance must be known to allow a precise nib position to be derived from the position determined from the tag.
8.2.2 Image Sensing
• The field of view can be modeled as a cone defined by a solid half-angle α (giving an angular field of view of 2α), and an apex height of D above the surface when the optical axis is vertical. Although the image sensor is typically rectangular, only the largest elliptical subarea of the image sensor is relevant to guaranteeing that a sufficiently large part of the surface is imaged, as quantified earlier.
• The intersection of the field of view cone with the surface defines an elliptical window on the surface. This window is circular when the optical axis is vertical.
• FIG. 62 illustrates the geometric relationship, for a given pitch-related tilt θ of the pen's optical axis, between the pen's nib (point A), the pen's optical axis (CE), and the field of view window (FH). The tilt is defined to be clockwise positive from the vertical. The equations which follow apply to both positive and negative tilt.
• When the pen is not tilted, the window diameter (i.e. |BD|) is given byEQ 12.
• If, when the pen is not tilted, the distance from the nib to edge of the window (i.e. |AB|) is T, then the distance S from the nib to the center of the window (i.e. |AC|) is given byEQ 13.
• When the pen is tilted by θ, the distance from the viewpoint to the surface along the optical axis is reduced to d (i.e. |GE|), given byEQ 14.
• The width of the window (i.e. |F|H) is then given byEQ 15.
• D and α must be chosen so that an adequately large area is imaged throughout the supported tilt range. The required minimum diameter m of the area is given byEQ 4, while the width of the actual imaged area is given byEQ 15. This then givesEQ 16.
• Once D and α are determined, an image sensor resolution must be chosen so that the imaged area is adequately sampled, i.e. that the maximum feature frequency is sampled at its Nyquist rate or higher.
• When imaged, the scale of the surface decreases with increasing distance from the viewpoint and with increasing inclination relative to the viewing ray. Both factors have maximum effect at point F for positive tilt and point H for negative tilt, i.e. at the point in the window furthest from the viewpoint. Note that references to F in the following discussion apply to H when the tilt is negative.
• The distance of point F from the viewpoint (i.e. |EF|) is given byEQ 17.
• Scaling due to the inclination of the surface relative to the viewing ray through F (EF) is given byEQ 18.
• If the surface feature frequency is f, then the angular surface feature frequency ω at F (i.e. with respect to the field of view) due to both factors is given byEQ 19.
• When there is no object plane tilt (i.e. θ=0), this reduces toEQ 20.
• The image sensor is, by definition, required to image at least the entire angular field of view. Since the pixel density of the image sensor is uniform, it must image the entire field of view at maximum frequency. Given an angular field of view in image space of 2α′, an image sensor tilt (i.e. image plane tilt) with respect to the optical axis of θ′, and a sampling rate of n (where n≧2 according to Nyquist's theorem), the minimum image sensor resolution q is given byEQ 21 andEQ 22.
• The cos-squared term in the numerator inEQ 22 results from the same reasoning as the cos-squared term in the denominator inEQ 19.
• When there is no image plane tilt (i.e. θ′=0), and the image space and object space angular fields of view are equal (i.e. α′=α), this reduces toEQ 23 andEQ 24.
• When there is no object plane tilt (i.e. θ=0) this reduces further toEQ 25.
• When the image plane tilt and the object plane tilt are equal (i.e. θ′=0), and the image space and object space angular fields of view are equal (i.e. α′=α),EQ 22 reduces toEQ 26.
• Matching the image plane tilt to the object plane tilt therefore yields a smaller required image sensor size than when the image sensor tilt is fixed at zero, and eliminates perspective distortion from the captured image. Variable image sensor tilt is, however, a relatively cotly option in practice, and also requires greater depth of field.
• FIG. 63 illustrates the geometric relationship, for a given roll-related tilt θ of the pen's optical axis, between the pen's nib (point A), the pen's optical axis (CE), and the field of view window (FH). The tilt is again defined to be clockwise positive from the vertical. With the exception ofEQ 13, the preceding equations apply equally to roll-induced tilt. For roll-induced tilt the distance S from the nib to the center of the window (i.e. |AC|) is zero rather than as defined byEQ 13.
• For pitch-induced tilt, the magnitude of the tilt range is maximised by choosing a minimum (negative) tilt and a maximum (positive) tilt which have the same image sensor requirement. Since, for pitch-induced tilt, the surface is more distant for negative tilt than for positive tilt of the same magnitude, the minimum has a smaller magnitude than the maximum. For roll-induced tilt they have the same magnitude.
• As described above, the smallest features of thetag4 are the structures which encode the data bits, and these have a minimum diameter of 8 dots. This gives a maximum feature frequency f of about 7.9 per mm at 1600 dpi.
• As calculated according toEQ 4 above, an equilateral triangular tiling of 256-dot diameter tags with no overlap between successive lines of tags requires a minimum field of view window diameter on the surface of 598 dots, or about 9.5 mm at 1600 dpi.
• Most people hold a pen at about +30° pitch and 0° roll. The inking ball of a ball-point nib loses effective contact with the surface beyond about +50° pitch (i.e. 40° from the horizontal). A reasonable target pitch range is therefore −10° to +50°, and a reasonable roll range −30° to +30°, bearing in mind greater limitations on combined pitch and roll as given byEQ 11.
• The highly compact (1.5 mm²) Matsushita CCD image sensor (Matsushita Electronic Corporation, and is described in a paper by Itakura, K T Nobusada, N Okusenya, R Nagayoshi, and M Ozaki, “A 1 mm 50 k-Pixel IT CCD Image Sensor for Miniature Camera System”, IEEE Transactions on Electronic Devices,Volt 47,number 1, January 2000) is suitable for use in a compact device such as a pen. It has an available resolution of 215×215 pixels. Assuming equal image and object space angular fields of view, no image plane tilt, and a nib-to-window distance T of 4 mm, optimizing thegeometry using EQ 16 andEQ 24 to achieve the desired pitch and roll ranges stated above yields a pitch range of −16° to)+48° (64° and a roll range of −28° to)+28° (56° with a viewing distance D of 30 mm and an angular field of view of 18.8° (α=9.4°). The available pitch range is actually −21° to +43°, and this is mapped to close to the desired range by pitching the optical axis at −5° relative to the physical axis. Note that the tilt range can be expanded slightly by optimizing a non-zero tilt of the image plane.
• The overall pen tilt is thus confined to an elliptical cone whose major angle is 64° in the pitch plane and whose minor angle is 56° in the roll plane.
• The image sensing variables are summarized in Table 5.

• TABLE 5
  Image sensing variables

  Variable	meaning
  α	Object space field of view half-angle
  α′	Image space field of view half-angle
  γ	Pen yaw
  θ	Object plane tilt (i.e. overall pen tilt)
  θ′	Image plane tilt
  φ	Pen pitch
  ψ	Pen roll
  ω	Angular frequency in field of view
  D	Normal viewing distance
  D	Tilted viewing distance
  F	Surface feature frequency
  N	Sampling rate
  Q	Image sensor resolution
  S	Distance from nib to center of field of view on
  	surface (when θ = 0)
  T	Distance from nib to edge of field of view on
  	surface (when θ = 0)

8.3 Tag Decoding8.3.1 Tag Image Processing and Decoding
• Tag image processing is described earlier in Section 1.2.4. It culminates in knowledge of the 2D perspective transform on the tag, as well as the decoded tag data.
8.3.2 Inferring the Pen Transform
• Once the 2D perspective transform is obtained which accounts for the perspective distortion of the tag in the captured image, as described earlier, the corresponding discrete 3D tag transform with respect to the pen's optical axis can be inferred, as described below in Section 8.4.
• Once the discrete 3D tag transform is known, the corresponding 3D pen transform can be inferred, i.e. the transform of the pen's physical axis with respect to the surface. The pen's physical axis is the axis which is embodied in the pen's shape and which is experienced by the pen's user. It passes through the nib. The relationship between the physical axis and the optical axis is illustrated inFIG. 64.
• It is convenient to define three coordinate spaces. In sensor space the optical axis coincides with the z axis and the viewpoint is at the origin. In pen space the physical axis coincides with the z axis and the nib is at the origin. In tag space thetag4 lies in the x-y plane with its center at the origin. The tag transform transforms thetag4 from tag space to sensor space.
• Sensor space is illustrated inFIG. 64. The labelling of points inFIG. 64 is consistent with the labelling inFIG. 62. The viewpoint is at E, the sensed point is at G, and the nib is at A. The intersection point G between the optical axis and the surface is referred to as the sensed point. In contrast with the geometry illustrated inFIG. 62 where the nib is considered as a point, here the nib is considered as a small sphere. If the nib is curved, then the tilt of the physical axis affects the offset between the sensed point and the contact point between the nib and the surface. The center point K of the spherical nib, about which the physical axis pivots, is referred to as the pivot point.
• The nib makes nominal contact with the surface at point A when the optical axis is vertical. KA is defined to be parallel to the optical axis. When the pen is tilted, however, contact is at point L, as shown inFIG. 65. Given the radius R of the nib, the distance of the pivot point K from the surface, e.g. at A or L, is always R.
• The discrete tag transform includes the translation of the tag center from the sensed point, the 3D tag rotation, and the translation of the sensed point from the viewpoint.
• Given the translation d of the sensed point from the viewpoint in the discrete tag transform, and according toEQ 14, the sensed point is given byEQ 27.
• Since the physical axis only differs from the optical axis by a y translation and x rotation (i.e. pitch), the physical axis lies in the y-z plane. With reference toFIG. 64, where |AC|=S and |EC|=D (just as inFIG. 62), it is clear that in sensor space the position of the pivot point is given byEQ 28.
• The vector from the sensed point to the pivot point is therefore given byEQ 29.
• The vector from the pivot point to the contact point is by definition a surface normal of length R. It is constructed by applying the 3D tag rotation M to a tag space surface normal, normalizing the result, and scaling by R, as shown inEQ 30 andEQ 31.
• The vector from the sensed point to the contact point is then obtained in accordance withEQ 32.
• This is transformed into tag space by applying the inverse of thetag transform 3D rotation, and is then added to the vector from the tag center to the sensed point, to yield the vector from the tag center to the contact point in tag space, i.e. on the surface, in accordance withEQ 33.
• This is finally added to the tag's absolute location, as implied by its tag ID, to yield the nib's desired absolute location in the tagged region: seeEQ 34.
• The final step is to infer the pen's 3D orientation from the tag's 3D orientation. The pen's discrete rotations are simply the inverses of the tag's discrete rotations, with the pen's pitch also including the effect of the pitch (φ_sensor) of the optical axis with respect to the pen's axis, as defined inEQ 35,EQ 36 andEQ 37.
• 8.4 Inferring the Tag Transform
• The image of thetag4 captured by the image sensor contains perspective distortion due to the position and orientation of the image sensor with respect to the tag. Once the perspective targets of the tag are found in image space, an eight-degree-of-freedom perspective transform is inferred based on solving the well-understood equations relating the four tag-space and image-space point pairs. The discrete transform steps which give rise to the image of the tag are concatenated symbolically, and a set of simultaneous non-linear equations is obtained by equating corresponding terms in the concatenated transform and the perspective transform. Solving these equations yields the discrete transform steps, which include the desired tag offset from the nib, 3D tag rotation, and viewpoint offset from the surface.
8.4.1 Modeling the Tag Transform
• The transform of thetag4 from tag space to image space can be modeled as a concatenation of the following transform steps:
• x-y translate (by tag-to-viewpoint offset)
• z rotate (by tag yaw)
• x rotate (by tag pitch)
• y rotate (by tag roll)
• z translate (by tag-to-viewpoint offset)
• perspective project (with specified focal length)
• x-y scale (to viewport size)
• These are concatenated symbolically to produce a single transform matrix which effects the tag transform. Table 7 summarizes the discrete transform variables used in the following sections, together with the range of each variable.

• TABLE 7
  Discrete transform variables and their ranges

  			Unit
  Variable	Abbrev.	Meaning	transform	Range
  γ	—	yaw	0	0 ≦ γ ≦ 2π
  φ	—	pitch	0	−π/2 < φ < π/2
  ψ	—	roll	0	−π/4 < ψ < π/4
  tx	A	tag-to-viewpoint x	0	—
  		offset
  ty	B	tag-to-viewpoint y	0	—
  		offset
  cosγ	C	cosine ofyaw	1	−1 ≦ C ≦ 1
  sinγ	D	sine ofyaw	0	−1 ≦ D ≦ 1
  cosφ	E	cosine ofpitch	1	0 < E ≦ 1
  sinφ	F	sine ofpitch	0	−1 < F < 1
  cosψ	G	cosine ofroll	1	0 < G ≦ 1
  sinψ	H	sine ofroll	0	−1 < H < 1
  tz	I	tag-to-viewpoint z	—	I < 0
  		offset
  1/λ	J	inverse focal length	—	J > 0
  S	—	viewport scale	—	S > 0

• Translate in x-y plane by G and G according to EQ 42 (where A=t_xand B=t_y).
• Rotate about z by γ according to EQ 43 (where C=cos(γ) and D=sin(γ)), givingEQ 44.
• Rotate about x by φ according to EQ 45 (where E=cos(φ) and F=sin(φ)), givingEQ 46.
• Rotate about y by ψ according to EQ 47 (where G=cos(ψ) and H=sin(ψ)), givingEQ 48, where K and L are defined byEQ 49 andEQ 50.
• Translate in z by t_zaccording to EQ 51 (where I=t_z), givingEQ 52.
• Perspective project with focal length X and projection plane at z=0 according to EQ 53 (where J=1/λ), givingEQ 54.
• Scale to viewport by S according toEQ 55, givingEQ 56.
• Transform a point in the x-y plane (z=0) according toEQ 57, givingEQ 58.
• Finally, expand K and L, givingEQ 59.
• 8.4.2 2D Perspective Transform
• Given an inferred eight-degree-of-freedom 2D perspective transform matrix as defined inEQ 60, multiply by an unknown i to obtain the general nine-degree-of-freedom form of the matrix, as shown inEQ 61.
• Transform a 2D point according toEQ 62, givingEQ 63.
8.4.3 Inferring the Tag Transform8.4.3.1 Equating Coefficients
• Equating the coefficients inEQ 59 with the coefficients inEQ 63 results inEQ 64 toEQ 72, being nine non-linear equations in 11 unknowns.
• These equations are augmented as required by the trigonometric identity relating the sine and cosine of an angle (i.e. the sine and cosine of any one of yaw, pitch and roll), as shown inEQ 73.
• Given the sine and cosine of an angle, the corresponding angle is obtained using a two-argument arctan as shown inEQ 74.
8.4.3.2 Solving for X-Y Offset
• EQ 66 can be simplified usingEQ 64 andEQ 65 to giveEQ 75 and thenEQ 76.
• EQ 69 can be simplified usingEQ 67 andEQ 68 to giveEQ 77 and thenEQ 78.
• EQ 72 can be simplified usingEQ 70 andEQ 71 to giveEQ 79 and thenEQ 80.
• EQ 76 can be re-written asEQ 81, andEQ 78 can be re-written asEQ 82.
• EquatingEQ 81 andEQ 82 and solving forB yields EQ 83 throughEQ 85 and finallyEQ 86, which defines B.
  Substituting the value for B intoEQ 82 and simplifyingyields EQ 87 throughEQ 90 and finallyEQ 91, which defines A.
• This therefore gives the x-y offset of thetag4 from the viewpoint, since A=t_xand B=t_y.
8.4.3.3 Solving for Pitch
• FromEQ 68,EQ 92 can be obtained.
• FromEQ 67,EQ 93 can be obtained.
• FromEQ 64,EQ 92 andEQ 93,EQ 94 can be obtained.
• FromEQ 65,EQ 92 andEQ 93,EQ 95 can be obtained.
• FromEQ 70,EQ 92 andEQ 93,EQ 96 can be obtained.
• FromEQ 71,EQ 92 andEQ 93,EQ 97 can be obtained.
• FromEQ 94,EQ 98 can be obtained.
• FromEQ 95,EQ 99 can be obtained.
• FromEQ 96,EQ 100 can be obtained.
• FromEQ 97,EQ 101 can be obtained.
• FromEQ 98 andEQ 99,EQ 102 and thenEQ 103 can be obtained.
• FromEQ 100 andEQ 101,EQ 104 and thenEQ 105 can be obtained.
• FromEQ 103 andEQ 105,EQ 106 and thenEQ 107 can be obtained.
• EQ 107 only has a valid basis if G and H are both non-zero. Since |ψ|<π/2, the cosine (G) of the roll is always positive and hence non-zero. The sine of the roll (H) is only non-zero if the roll is non-zero. Specific handling for zero pitch and roll is described in Section 6.7.3.10.
• This therefore gives the magnitude of the sine of the pitch, since F=sin(φ), and hence the cosine (E) of the pitch byEQ 73, according toEQ 108.
• Since |φ|<π/2, the cosine (E) of the pitch is always positive, so there is no ambiguity when taking the square root. The sign of the sine (F), however, must be determined by other means, as described in Section 6.7.3.9.
• Given E and F, the pitch is then obtained, according toEQ 109.
8.4.3.4 Solving for Roll
• FromEQ 103,EQ 110 can be obtained.
• FromEQ 73,EQ 111 and thenEQ 112 can be obtained.
• This therefore gives the magnitude of the sine of the roll, since H=sin(ψ), and hence the cosine (G) of the roll byEQ 73, according toEQ 113.
• Since |ψ|<π/4, the cosine (G) of the roll is always positive, so there is no ambiguity when taking the square root. The sign of the sine (H), however, must be determined by other means, as described in Section 6.7.3.9.
• Given G and H, the roll is then obtained according toEQ 114.
8.4.3.5 Solving for Yaw
• FromEQ 73,EQ 92 andEQ 93,EQ 115 and thenEQ 116 can be obtained.
• FromEQ 92 andEQ 116,EQ 117 and thenEQ 118 can be obtained.
• FromEQ 92 andEQ 116,EQ 119 and thenEQ 120 can be obtained.
• InEQ 116, and henceEQ 118 andEQ 120, the sign of the square root is determined by the sign of i, which can be determined fromEQ 80, givingEQ 121.
• Since I (t_z) is negative, J (1/λ) is positive, and IJ<−1 (because |t_z|>λ), thenEQ 122 holds.
• Given C and D, the yaw is then obtained according toEQ 123.
8.4.3.6 Solving for Viewport Scale
• The cosine (C) and sine (D) of the yaw are by definition never simultaneously zero. Since the cosine (E) of the pitch is never zero, eitherEQ 67 orEQ 68 can therefore always be used to determine the viewport scale (S).
• If D is non-zero, then fromEQ 67,EQ 124 can be obtained.
• Otherwise, if C is non-zero, then fromEQ 68,EQ 125 can be obtained.
• 8.4.3.7 Solving for Focal Length Similarly, since the cosine (G) of the roll is never zero, eitherEQ 70 orEQ 71 can be used to determine the inverse focal length (J), so long as either the pitch or roll is non-zero. However, the signs of the sines (F and H) of the pitch and roll may not be known. However, the sign of the product (FH) of the sines of the pitch and roll is given byEQ 103, as shown inEQ 126.
• The sign can be assigned arbitrarily to F, since the sign of J is known a priori. If gi is non-zero, then fromEQ 70,EQ 127 can be obtained.
• If hi is non-zero, then fromEQ 71,EQ 128 can be obtained.
• In practice, the choice between usingEQ 127 andEQ 128 is based on which of gi and hi has the larger magnitude. The inverse focal length is unknown if gi and hi are both zero, i.e. if the pitch and roll are both zero.
8.4.3.8 Solving for Z Offset
• Once the inverse focal length (J) is known, the z offset (I) is obtained fromEQ 80, according toEQ 129.
• Again, the z offset (I) is unknown if the inverse focal length (J) is unknown, i.e. if the pitch and roll are both zero.
8.4.3.9 Determining Direction of Pitch and Roll
• The sign of the product (FH) of the sines of the pitch and roll is given byEQ 126. Since −π/4<ψ<π/4, a roll adjustment of +π/4 can be introduced to ensure the roll is always positive, without invalidating any other assumptions. Once the roll adjustment is introduced,EQ 126 gives the sign of the sine (F) of the pitch alone.
• The roll adjustment is introduced as follows. The viewport scale (S), inverse focal length (J), and z offset (I) are all computed as described. A 3D transform matrix is created from the 2D perspective transform matrix. The inverses of the viewport scale, focal length projection and z translation are applied to the 3D matrix in reverse order. The roll adjustment is then applied by pre-multiplying the matrix by a π/4 y rotation matrix. The roll, pitch and yaw are computed as described. Since the roll is positive, the pitch direction is now known. The π/4 roll adjustment is finally subtracted from the roll to give the actual roll.
• When the roll and pitch are both zero, the focal length and z offset are both unknown as described above. However, in this case there is no need to adjust the roll since the pitch and roll are already known.
8.4.3.10 Handling Zero Pitch and Roll
• When either the pitch or roll is zero, the general solution based onEQ 107 becomes invalid. The table ofFIG. 85 shows the 12 degenerate forms ofEQ 64 throughEQ 71 which result when the yaw is variously zero (or π), π/2 (or 3π/2), and non-zero, and the pitch and roll are variously zero and non-zero. The table ofFIGS. 86 and 87 sets out the required logic for detecting and handling cases where the pitch and/or roll are zero, with each case motivated by zeros appearing in the table ofFIG. 85. The cases in the table ofFIG. 85 are labelled with the case numbers from the table ofFIGS. 86 and 87.
CONCLUSION
• The present invention has been described with reference to a preferred embodiment and number of specific alternative embodiments. However, it will be appreciated by those skilled in the relevant fields that a number of other embodiments, differing from those specifically described, will also fall within the spirit and scope of the present invention. Accordingly, it will be understood that the invention is not intended to be limited to the specific embodiments described in the present specification, including documents incorporated by cross-reference as appropriate. The scope of the invention is only limited by the attached claims.

Claims (18)

1. An optically imaging stylus for interacting with a substrate having an imageable position-coding pattern, said position-coding pattern identifying a plurality of locations on the substrate, said stylus comprising:

a stylus body;

a nib for interacting with the substrate;

an image sensor for imaging an area of the position-coding pattern; and

a processor configured for:

(i) inferring a perspective transform using perspective-distorted features of the imaged position-coding pattern, said features being perspective-distorted due to a tilt of the stylus;

(ii) determining, from the imaged position-coding pattern, a rotational orientation of the stylus relative to the position-coding pattern;

(iii) acquiring and decoding coded data contained in the imaged position-coding pattern, the decoded coded data identifying an imaged location on the substrate;

(iv) calculating a nib position using: the imaged location, the perspective transform and the determined rotational orientation, said nib position being different than the imaged location; and

(v) generating digital ink identifying the nib position.

2. The optically imaging stylus ofclaim 1, further comprising a force sensor for detecting a nib force.

3. The optically imaging stylus ofclaim 2, wherein the processor is configured to interpret said nib force as an indication of contact between the nib and the substrate.

4. The optically imaging stylus ofclaim 1, wherein said stylus contains a unique identity.

5. The optically imaging stylus ofclaim 1, wherein said digital ink comprises a plurality of nib positions representing handwritten input on the substrate.

6. The optically imaging stylus ofclaim 1, wherein said image sensor is offset from said nib.

7. The optically imaging stylus ofclaim 1, further comprising a transceiver for communicating the digital ink to a computer system, such that the computer system can interpret the digital ink and perform an action in response to the interaction with the substrate.

8. The optically imaging stylus ofclaim 1, wherein said nib is a non-marking stylus nib.

9. The optically imaging ofclaim 1, wherein said image sensor comprises an infrared filter.

10. An imaging system comprising:

a substrate having an imageable position-coding, said position-coding pattern identifying a plurality of locations on the substrate; and

an optically imaging stylus for interacting with the substrate, said stylus comprising:

a nib for interacting with the substrate;

an image sensor for imaging an area of the position-coding pattern; and

a processor configured for:

(i) inferring a perspective transform using perspective-distorted features of the imaged position-coding pattern due to a tilt of the stylus;

(ii) determining from the imaged position-coding pattern a rotational orientation of the stylus relative to the position-coding pattern;

(iii) acquiring and decoding coded data contained in the imaged position-coding pattern, the decoded coded data identifying an imaged location on the substrate;

(iv) calculating a nib position using: the imaged location, the perspective transform and the determined rotational orientation, said nib position being different than the imaged location; and

(v) generating digital ink identifying the nib position.

11. The imaging system ofclaim 10, wherein the position-coding pattern is printed on the substrate.

12. The imaging system ofclaim 11, wherein the position-coding pattern is printed with an infrared absorbing ink.

13. The imaging system ofclaim 10, wherein the stylus further comprises a force sensor for detecting a nib force.

14. The imaging system ofclaim 13, wherein the processor is configured to interpret said nib force as an indication of contact between said nib and said substrate.

15. The imaging system ofclaim 10, wherein said stylus contains a unique identity.

16. The imaging system ofclaim 10, wherein said digital ink comprises a plurality of nib positions representing handwritten input on the substrate.

17. The imaging system ofclaim 10, wherein said image sensor is offset from said nib.

18. The imaging system ofclaim 10, wherein said stylus further comprises a transceiver for communicating the digital ink to a computer system, such that the computer system can interpret the digital ink and perform an action in response to the interaction with the substrate.

Images