Towards a complete dense geometric and photometric reconstruction under varying pose and illumination

This paper proposes a novel framework to construct a geometric and photometric model of a viewed object that can be used for visualisation in arbitrary pose and illumination. The method is solely based on images and does not require any specialised equipment. We assume that the object has a piece-wise smooth surface and that its reflectance can be modelled using a parametric bidirectional reflectance distribution function. Without assuming any prior knowledge on the object, geometry and reflectance have to be estimated simultaneously and occlusion and shadows have to be treated consistently. We exploit the geometric and photometric consistency using the fact that surface orientation and reflectance are local invariants. In a first implementation, we demonstrate the method using a Lambertian object placed on a turn-table and illuminated by a number of unknown point light-sources. A discrete voxel model is initialised to the visual hull and voxels identified as inconsistent with the invariants are removed iteratively. The resulting model is used to render images in novel pose and illumination. © 2004 Elsevier B.V. All rights reserved.

Model-based approaches to handling additive noise in reverberant environments

Model-based approaches to handle additive and convolutional noise have been extensively investigated and used. However, the application of these schemes to handling reverberant noise has received less attention. This paper examines the extension of two standard additive/convolutional noise approaches to handling reverberant noise. The first is an extension of vector Taylor series (VTS) compensation, reverberant VTS, where a mismatch function including reverberant noise is used. The second scheme modifies constrained MLLR to allow a wide-span of frames to be taken into account and projected into the required dimensionality. To allow additive noise to be handled, both these schemes are combined with standard VTS. The approaches are evaluated and compared on two tasks, MC-WSJ-AV, and a reverberant simulated version of AURORA-4. © 2011 IEEE.

Impedance control balances stability with metabolically costly muscle activation.

Humans are able to stabilize their movements in environments with unstable dynamics by selectively modifying arm impedance independently of force and torque. We further investigated adaptation to unstable dynamics to determine whether the CNS maintains a constant overall level of stability as the instability of the environmental dynamics is varied. Subjects performed reaching movements in unstable force fields of varying strength, generated by a robotic manipulator. Although the force fields disrupted the initial movements, subjects were able to adapt to the novel dynamics and learned to produce straight trajectories. After adaptation, the endpoint stiffness of the arm was measured at the midpoint of the movement. The stiffness had been selectively modified in the direction of the instability. The stiffness in the stable direction was relatively unchanged from that measured during movements in a null force field prior to exposure to the unstable force field. This impedance modification was achieved without changes in force and torque. The overall stiffness of the arm and environment in the direction of instability was adapted to the force field strength such that it remained equivalent to that of the null force field. This suggests that the CNS attempts both to maintain a minimum level of stability and minimize energy expenditure.

Interactions between building integrated photovoltaics and microclimate in urban environments

BIPV (building integrated photovoltaics) has progressed in the past years and become an element to be considered in city planning. BIPV has significant influence on microclimate in urban environments and the performance of BIPV is also affected by urban climate. The thermal model and electrical performance model of ventilated BIPV are combined to predict PV temperature and PV power output in Tianjin, China. Then, by using dynamic building energy model, the building cooling load for installing BIPV is calculated. A multi-layer model AUSSSM of urban canopy layer is used to assess the effect of BIPV on the Urban Heat Island (UHI). The simulation results show that in comparison with the conventional roof, the total building cooling load with ventilation PV roof may be decreased by 10%. The UHI effect after using BIPV relies on the surface absorptivity of original building. In this case, the daily total PV electricity output in urban areas may be reduced by 13% compared with the suburban areas due to UHI and solar radiation attenuation because of urban air pollution. The calculation results reveal that it is necessary to pay attention to and further analyze interactions between BIPV and microdimate in urban environments to decrease urban pollution, improve BIPV performance and reduce cooling load. Copyright © 2006 by ASME.

Interactions between Building Integrated Photovoltaics and microclimate in urban environments

BIPV(Building Integrated Photovoltaics) has progressed in the past years and become an element to be considered in city planning. BIPV has influence on microclimate in urban environments and the performance of BIPV is also affected by urban climate. The effect of BIPV on urban microclimate can be summarized under the following four aspects. The change of absorptivity and emissivity from original building surface to PV will change urban radiation balance. After installation of PV, building cooling load will be reduced because of PV shading effect, so urban anthropogenic heat also decreases to some extent. Because PV can reduce carbon dioxide emissions which is one of the reasons for urban heat island, BIPV is useful to mitigate this phenomena. The anthropogenic heat will alter after using BIPV, because partial replacement of fossil fuel means to change sensible heat from fossil fuel to solar energy. Different urban microclimate may have various effects on BIPV performance that can be analyzed from two perspectives. Firstly, BIPV performance may decline with the increase of air temperature in densely built areas because many factors in urban areas cause higher temperature than that of the surrounding countryside. Secondly, the change of solar irradiance at the ground level under urban air pollution will lead to the variation of BIPV performance because total solar irradiance usually is reduced and each solar cell has a different spectral response characteristic. The thermal model and performance model of ventilated BIPV according to actual meteorologic data in Tianjin(China) are combined to predict PV temperature and power output in the city of Tianjin. Then, using dynamic building energy model, cooling load is calculated after BIPV installation. The calculation made based in Tianjin shows that it is necessary to pay attention to and further analyze interaction between them to decrease urban pollution, improve BIPV Performance and reduce colling load. Copyright © 2005 by ASME.

Measuring stiffness during arm movements in various dynamic environments

The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality. We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.