LIST OF FIGURES

2.1. Types of interactions supported by the system.

2.2. Prototype of wearable robot.

2.3. Hardware architecture of the wearable robot prototype.

2.4. Service registration.

2.5. All clients and services must contact the lookup service upon joining the federation.

2.6. Components in the service-based architecture.

2.7. Incorporation of the task coordinator service to the original Jini model.

2.8. Pushing the service proxy automatically to the client based on the processing result of the matching service.

2.9. Automatic delivery of service based on the processing results of the matching service.

2.10. Relationship between the matching service and other components in the federation.

2.11. Relationship between the time to register a new service and the number of registered services.

2.12. Relationship between the time to search for the lookup service or a normal service and the number of registered services.

2.13. Setup of the two rooms in the application.

2.14. Flowchart of the application.

3.1. The three main components.

3.2. Detailed system architecture.

3.3. Characters are composed in line segments.

3.4. Gray-level difference curve of one row in an image.

3.5. A sketch map of the noise filtering method.

3.6. Filtering the long line.

3.7. Confining the texts.

3.8. A sketch map of gray level for a detected character confining the text.

3.9. A subimage example after binarization.

3.10. An output interface shown in the headset display.

4.1. Interface on a cap.

4.2

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