Rigid body dynamics and Kalman filtering

X-ray computed log tomography has always been applied for qualitative reconstructions. In most cases, a series of consecutive slices of the timber are scanned to estimate the 3D image reconstruction of the entire log. However, the unexpected movement of the timber under study influences the quality of image reconstruction since the position and orientation of some scanned slices can be incorrectly estimated. In addition, the reconstruction time remains a significant challenge for practical applications. The present study investigates the possibility to employ modern physics engines for the problem of estimating the position of a moving rigid body and its scanned slices which are subject to X-ray computed tomography. The current work includes implementations of the extended Kalman filter and an algebraic reconstruction method for fan-bean computer tomography. In addition, modern techniques such as NVidia PhysX and CUDA are used in current study. As the result, it is numerically shown that it is possible to apply the extended Kalman filter together with a real-time physics engine, known as PhysX, in order to determine the position of a moving object. It is shown that the position of the rigid body can be determined based only on reconstructions of its slices. However, the simulation of the body movement sometimes is subject to an error during Kalman filter employment as PhysX is not always able to continue simulating the movement properly because of incorrect state estimation.

Matka serkamolaiseen teatteriin : kohti sanatonta kerrontaa

A travelogue to serkamoan theater deals, just like its name implies, with the molding process of one theater opinion. It has been influenced by both Aristotle's poetry and Bertold Brecht's epic theater. Side by side with theater goes dance, whose development the thesis also considers briefly. Of today's theater makers, Päivi Ketonen (playback theater), Juha Hurme and Nigel Charnock (dance theater) have had a definitive impact on the Serkamoan theater view. Their relation to theater and dance is clarified in the interviews conducted by the writer, which can be found in their entirety among the appendices of this thesis. Serkamoan theater has also been influenced by the writer's studies in Portuguese theater school in 2004. In Portugal the writer had a chance to work a theater piece in a new cultural environment where, for example, a novel and paintings were used as inspiration. The strongest legacy from Portugal however was the desire to do theater that can be understood without words. Serkamoan theater considers the combinations of theater and dance in performing arts, agreeing with, among others, Pina Bausch's footsteps. Serkamoan theater ladles its inspiration from theater, dance, human being, human body and movement. It is theater that cannot be understood through intellect but through the heart.

Luovuus ja itsetuntemus ohjaajantyössä

This research deals with obstacles and opportunities with respect to creativity. It mainly focuses on the author's most meaningful discoveries as an individual and a professional in the field of theatre during the past two years of her education. The research is a description of that transitional phase in her life. Firstly, the research discusses creativity and presence. Secondly, it describes the author personally and professionally and compares her earlier and current ways of working. It contemplates the obstacles and opportunities considering her self-knowledge and creativity, and disucsses the problems she has faced on the way to freedom and well-being. Following this, the author presents the tools for increasing her creativity, self-knowledge and body awareness in theatre work: the Gestalt Method, Acting with the Inner Partner and the Authentic Movement. She discusses the relativity between overall well-being in life and the quality of theatre work. The final section of the present research discusses the process of directing the play Suurin on rakkaus in 2006. It deals with issues such as self-knowledge in directing, group management, the importance of terror and excitement in directing and ways of enduring both. The conclusion explanes the reasons behind the author's capability of working with small groups, with creative and passionate theatre workers. It also lists the benefits of exploring one's passions, cooperating with enthusiastic and creative artists and the pursuit for balance in art and in everyday life.

Predicting body weight from body measurements of pre-pubertal Ayshire heifers

Selostus: Hiehojen elopainon määrittäminen mittauksin alkukasvatusvaiheessa