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The inventors have developed a device that tracks the location and detailed trajectory of radio frequency sources (e.g. RFIDs) moving in 3D space. This device can transform any plane or surface into a virtual touch screen, whereby users can interact with a desired computing device by gesturing or writing commands in the air. This interface can be used to interact with a remote screen, to send commands to a cellphone without touching it, or to communicate with small devices (e.g., sensors) that do not have space for a keyboard.