Real time feature-based facial tracking using Lie algebras

We have developed a novel human facial tracking system that operates in real time at a video frame rate without needing any special hardware. The approach is based on the use of Lie algebra, and uses three-dimensional feature points on the targeted human face. It is assumed that the roughly estimated facial model (relative coordinates of the three-dimensional feature points) is known. First, the initial feature positions of the face are determined using a model fitting technique. Then, the tracking is operated by the following sequence: (1) capture the new video frame and render feature points to the image plane; (2) search for new positions of the feature points on the image plane; (3) get the Euclidean matrix from the moving vector and the three-dimensional information for the points; and (4) rotate and translate the feature points by using the Euclidean matrix, and render the new points on the image plane. The key algorithm of this tracker is to estimate the Euclidean matrix by using a least square technique based on Lie algebra. The resulting tracker performed very well on the task of tracking a human face.

Coordinated motion design on lie groups

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integrator dynamics. It thereby shows that coordination can be studied in a systematic way once the Lie group geometry of the configuration space is well characterized. Applying the proposed general methodology to particular examples allows to retrieve control laws that have been proposed in the literature on intuitive grounds. A link with Brockett's double bracket flows is also made. The concepts are illustrated on SO(3), SE(2) and SE(3). © 2010 IEEE.

Coordination on Lie groups

This paper studies the coordinated motion of a group of agents evolving on a Lie group. Left-or rightinvariance with respect to the absolute position on the group lead to two different characterizations of relative positions and two associated definitions of coordination (fixed relative positions). Conditions for each type of coordination are derived in the associated Lie algebra. This allows to formulate the coordination problem on Lie groups as consensus in a vector space. Total coordination occurs when both types of coordination hold simultaneously. The discussion in this paper provides a common geometric framework for previously published coordination control laws on SO(3), SE(2) and SE(3). The theory is illustrated on the group of planar rigid motion SE(2). © 2008 IEEE.

Optimal data fitting on lie groups: A coset approach

This work considers the problem of fitting data on a Lie group by a coset of a compact subgroup. This problem can be seen as an extension of the problem of fitting affine subspaces in n to data which can be solved using principal component analysis. We show how the fitting problem can be reduced for biinvariant distances to a generalized mean calculation on an homogeneous space. For biinvariant Riemannian distances we provide an algorithm based on the Karcher mean gradient algorithm. We illustrate our approach by some examples on SO(n). © 2010 Springer -Verlag Berlin Heidelberg.

Infrared Magnitude-Redshift Relations for Luminous Radio Galaxies

Infrared magnitude-redshift relations for the 3CR and 6C samples of radio galaxies are presented for a wide range of plausible cosmological models, including those with non-zero cosmological constant OmegaLambda. Variations in the galaxy formation redshift, metallicity and star formation history are also considered. The results of the modelling are displayed in terms of magnitude differences between the models and no-evolution tracks, illustrating the amount of K-band evolution necessary to account for the observational data. Given a number of plausible assumptions, the results of these analyses suggest that: (i) cosmologies which predict T_0xH_0>1 (where T_0 denotes the current age of the universe) can be excluded; (ii) the star formation redshift should lie in the redshift interval 5de Sitter model provides a reasonable fit to the data; (iv) models with finite values of OmegaLambda can provide good agreement with the observations only if appropriate adjustments of other parameters such as the galaxy metallicities and star-formation histories are made. Without such modifications, even after accounting for stellar evolution, the high redshift radio galaxies are more luminous (ie. more massive) than those nearby in models with finite OmegaLambda, including the favoured model with Omega=0.3, OmegaLambda=0.7. For cosmological models with larger values of T_0xH_0, the conclusions are the same regardless of whether any adjustments are made or not. The implications of these results for cosmology and models of galaxy formation are discussed.

Electronic structure and surface properties of SrBi2Ta2O9 and related oxides

The electronic structure of SrBi2Ta2O9 and related oxides such as SrBi2Nb2O9, Bi2WO6 and Bi3Ti4O12 have been calculated by the tight-binding method. In each case, the band gap is about 4.1 eV and the band edge states occur on the Bi-O layers and consist of mixed O p/Bi s states at the top of the valence band and Bi p states at the bottom of the conduction band. The main difference between the compounds is that Nb 5d and Ti 4d states in the Nb and Ti compounds lie lower than the Ta 6d states in the conduction band. The surface pinning levels are found to pin Schottky barriers 0.8 eV below the conduction band edge.

Design and simulations of SOI CMOS micro-hotplate gas sensors

This paper describes a new generation of integrated solid-state gas-sensors embedded in SOI micro-hotplates. The micro-hotplates lie on a SOI membrane and consist of MOSFET heaters that elevate the operating temperature, through self-heating, of a gas sensitive material. These sensors are fully compatible with SOI CMOS or BiCMOS technologies, offer ultra-low power consumption (under 100 mW), high sensitivity, low noise, low unit cost, reproducibility and reliability through the use of on-chip integration. In addition, the new integrated sensors offer a nearly uniform temperature distribution over the active area at its operating temperatures at up to about 300-350°C. This makes SOI-based gas-sensing devices particularly attractive for use in handheld battery-operated gas monitors. This paper reports on the design of a chemo-resistive gas sensor and proposes for the first time an intelligent SOI membrane microcalorimeter using active micro-FET heaters and temperature sensors. A comprehensive set of numerical and analogue simulations is also presented including complex 2D and 3D electro-thermal numerical analyses. © 2001 Elsevier Science B.V. All rights reserved.

The influence of stacks on flow patterns and stratification associated with natural ventilation

We investigate the steady state natural ventilation of an enclosed space in which vent A, located at height hA above the floor, is connected to a vertical stack with a termination at height H, while the second vent, B, at height hB above the floor, connects directly to the exterior. We first examine the flow regimes which develop with a distributed source of heating at the base of the space. If hBhB>hA, then two different flow regimes may develop. Either (i) there is inflow through vent B and outflow through vent A, or (ii) the flow reverses, with inflow down the stack into vent A and outflow through vent B. With inflow through vent A, the internal temperature and ventilation rate depend on the relative height of the two vents, A and B, while with inflow through vent B, they depend on the height of vent B relative to the height of the termination of the stack H. With a point source of heating, a similar transition occurs, with a unique flow regime when vent B is lower than vent A, and two possible regimes with vent B higher than vent A. In general, with a point source of buoyancy, each steady state is characterised by a two-layer density stratification. Depending on the relative heights of the two vents, in the case of outflow through vent A connected to the stack, the interface between these layers may lie above, at the same level as or below vent A, leading to discharge of either pure upper layer, a mixture of upper and lower layer, or pure lower layer fluid. In the case of inflow through vent A connected to the stack, the interface always lies below the outflow vent B. Also, in this case, if the inflow vent A lies above the interface, then the lower layer becomes of intermediate density between the upper layer and the external fluid, whereas if the interface lies above the inflow vent A, then the lower layer is composed purely of external fluid. We develop expressions to predict the transitions between these flow regimes, in terms of the heights and areas of the two vents and the stack, and we successfully test these with new laboratory experiments. We conclude with a discussion of the implications of our results for real buildings.

CLADP: THE CAMBRIDGE LINEAR ANALYSIS AND DESIGN PROGRAMS.

An interactive software facility for designing multivariable control systems is described. The paper discusses the desirable characteristics of such a facility, the particular capabilities of CLADP and the numerical algorithms which lie behind them.

A procedure for automatically estimating model parameters in optical motion capture

Model-based optical motion capture systems require knowledge of the position of the markers relative to the underlying skeleton, the lengths of the skeleton's limbs, and which limb each marker is attached to. These model parameters are typically assumed and entered into the system manually, although techniques exist for calculating some of them, such as the position of the markers relative to the skeleton's joints. We present a fully automatic procedure for determining these model parameters. It tracks the 2D positions of the markers on the cameras' image planes and determines which markers lie on each limb before calculating the position of the underlying skeleton. The only assumption is that the skeleton consists of rigid limbs connected with ball joints. The proposed system is demonstrated on a number of real data examples and is shown to calculate good estimates of the model parameters in each. © 2004 Elsevier B.V. All rights reserved.

The double dance of agency: a socio-theoretic account of how machines and humans interact

The nature of the relationship between information technology (IT) and organizations has been a long-standing debate in the Information Systems literature. Does IT shape organizations, or do people in organisations control how IT is used? To formulate the question a little differently: does agency (the capacity to make a difference) lie predominantly with machines (computer systems) or humans (organisational actors)? Many proposals for a middle way between the extremes of technological and social determinism have been put advanced; in recent years researchers oriented towards social theories have focused on structuration theory and (lately) actor network theory. These two theories, however, adopt different and incompatible views of agency. Thus, structuration theory sees agency as exclusively a property of humans, whereas the principle of general symmetry in actor network theory implies that machines may also be agents. Drawing on critiques of both structuration theory and actor network theory, this paper develops a theoretical account of the interaction between human and machine agency: the double dance of agency. The account seeks to contribute to theorisation of the relationship between technology and organisation by recognizing both the different character of human and machine agency, and the emergent properties of their interplay.