Reinforcement learning utilizes proxemics: an avatar learns to manipulate the position of people in immersive virtual reality

A reinforcement learning (RL) method was used to train a virtual character to move participants to a specified location. The virtual environment depicted an alleyway displayed through a wide field-of-view head-tracked stereo head-mounted display. Based on proxemics theory, we predicted that when the character approached within a personal or intimate distance to the participants, they would be inclined to move backwards out of the way. We carried out a between-groups experiment with 30 female participants, with 10 assigned arbitrarily to each of the following three groups: In the Intimate condition the character could approach within 0.38m and in the Social condition no nearer than 1.2m. In the Random condition the actions of the virtual character were chosen randomly from among the same set as in the RL method, and the virtual character could approach within 0.38m. The experiment continued in each case until the participant either reached the target or 7 minutes had elapsed. The distributions of the times taken to reach the target showed significant differences between the three groups, with 9 out of 10 in the Intimate condition reaching the target significantly faster than the 6 out of 10 who reached the target in the Social condition. Only 1 out of 10 in the Random condition reached the target. The experiment is an example of applied presence theory: we rely on the many findings that people tend to respond realistically in immersive virtual environments, and use this to get people to achieve a task of which they had been unaware. This method opens up the door for many such applications where the virtual environment adapts to the responses of the human participants with the aim of achieving particular goals.

Increasing the efficiency of disparity computation by interpolation

Tässä diplomityössä tutkitaan dispariteettikartan laskennan tehostamista interpoloimalla. Kolmiomittausta käyttämällä stereokuvasta muodostetaan ensin harva dispariteettikartta, jonka jälkeen koko kuvan kattava dispariteettikartta muodostetaan interpoloimalla. Kolmiomittausta varten täytyy tietää samaa reaalimaailman pistettä vastaavat kuvapisteet molemmissa kameroissa. Huolimatta siitä, että vastaavien pisteiden hakualue voidaan pienentää kahdesta ulottuvuudesta yhteen ulottuvuuteen käyttämällä esimerkiksi epipolaarista geometriaa, on laskennallisesti tehokkaampaa määrittää osa dispariteetikartasta interpoloimalla, kuin etsiä vastaavia kuvapisteitä stereokuvista. Myöskin johtuen stereonäköjärjestelmän kameroiden välisestä etäisyydestä, kaikki kuvien pisteet eivät löydy toisesta kuvasta. Näin ollen on mahdotonta määrittää koko kuvan kattavaa dispariteettikartaa pelkästään vastaavista pisteistä. Vastaavien pisteiden etsimiseen tässä työssä käytetään dynaamista ohjelmointia sekä korrelaatiomenetelmää. Reaalimaailman pinnat ovat yleisesti ottaen jatkuvia, joten geometrisessä mielessä on perusteltua approksimoida kuvien esittämiä pintoja interpoloimalla. On myöskin olemassa tieteellistä näyttöä, jonkamukaan ihmisen stereonäkö interpoloi objektien pintoja.

A Database of >20 keV Electron Green's Functions of Interplanetary Transport at 1 AU

We use interplanetary transport simulations to compute a database of electron Green's functions, i.e., differential intensities resulting at the spacecraft position from an impulsive injection of energetic (>20 keV) electrons close to the Sun, for a large number of values of two standard interplanetary transport parameters: the scattering mean free path and the solar wind speed. The nominal energy channels of the ACE, STEREO, and Wind spacecraft have been used in the interplanetary transport simulations to conceive a unique tool for the study of near-relativistic electron events observed at 1 AU. In this paper, we quantify the characteristic times of the Green's functions (onset and peak time, rise and decay phase duration) as a function of the interplanetary transport conditions. We use the database to calculate the FWHM of the pitch-angle distributions at different times of the event and under different scattering conditions. This allows us to provide a first quantitative result that can be compared with observations, and to assess the validity of the frequently used term beam-like pitch-angle distribution.

Reconstruction of 3D Planar Objects with Partial Occlusion

Kolmiulotteisten kappaleiden rekonstruktio on yksi konenäön haastavimmista ongelmista, koska kappaleiden kolmiulotteisia etäisyyksiä ei voida selvittää yhdestä kaksiulotteisesta kuvasta. Ongelma voidaan ratkaista stereonäön avulla, jossa näkymän kolmiulotteinen rakenne päätellään usean kuvan perusteella. Tämä lähestymistapa mahdollistaa kuitenkin vain rekonstruktion niille kappaleiden osille, jotka näkyvät vähintään kahdessa kuvassa. Piilossa olevien osien rekonstruktio ei ole mahdollista pelkästään stereonäön avulla. Tässä työssä on kehitetty uusi menetelmä osittain piilossa olevien kolmiulotteisten tasomaisten kappaleiden rekonstruktioon. Menetelmän avulla voidaan selvittää hyvällä tarkkuudella tasomaisista pinnoista koostuvan kappaleen muoto ja paikka käyttäen kahta kuvaa kappaleesta. Menetelmä perustuu epipolaarigeometriaan, jonka avulla selvitetään molemmissa kuvissa näkyvät kappaleiden osat. Osittain piilossa olevien piirteiden rekonstruointi suoritetaan käyttämäen stereonäköä sekä tietoa kappaleen rakenteesta. Esitettyä ratkaisua voitaisiin käyttää esimerkiksi kolmiulotteisten kappaleiden visualisointiin, robotin navigointiin tai esineentunnistukseen.

Gaia photometry for white dwarfs

Context. White dwarfs can be used to study the structure and evolution of the Galaxy by analysing their luminosity function and initial mass function. Among them, the very cool white dwarfs provide the information for the early ages of each population. Because white dwarfs are intrinsically faint only the nearby (~ 20 pc) sample is reasonably complete. The Gaia space mission will drastically increase the sample of known white dwarfs through its 5-6 years survey of the whole sky up to magnitude V = 20-25. Aims. We provide a characterisation of Gaia photometry for white dwarfs to better prepare for the analysis of the scientific output of the mission. Transformations between some of the most common photometric systems and Gaia passbands are derived. We also give estimates of the number of white dwarfs of the different galactic populations that will be observed. Methods. Using synthetic spectral energy distributions and the most recent Gaia transmission curves, we computed colours of three different types of white dwarfs (pure hydrogen, pure helium, and mixed composition with H/He = 0.1). With these colours we derived transformations to other common photometric systems (Johnson-Cousins, Sloan Digital Sky Survey, and 2MASS). We also present numbers of white dwarfs predicted to be observed by Gaia. Results. We provide relationships and colour-colour diagrams among different photometric systems to allow the prediction and/or study of the Gaia white dwarf colours. We also include estimates of the number of sources expected in every galactic population and with a maximum parallax error. Gaia will increase the sample of known white dwarfs tenfold to about 200 000. Gaia will be able to observe thousands of very cool white dwarfs for the first time, which will greatly improve our understanding of these stars and early phases of star formation in our Galaxy.

Measurement systems in wall production applications

Tässä tutkimuksessa kehitettiin prototyyppi betonielementin dimension mittaus järjestelmästä. Tämä järjestelmä mahdollistaa kolmiulotteisen kappaleen mittauksen. Tutkimuksessa kehitettiin myös stereonäköön perustuva kappaleen mittaus. Prototyyppiä testailin ja tulokset osoittautuivat luotettaviksi. Tutkimuksessa selvitetään ja vertaillaan myös muita lähestymistapoja ja olemassa olevia järjestelmiä kappaleen kolmiuloitteiseen mittaukseen, joita Suomalaiset yhtiöt käyttävät tällä alalla.

Extending body space in immersive virtual reality: a very long arm illusion

Recent studies have shown that a fake body part can be incorporated into human body representation through synchronous multisensory stimulation on the fake and corresponding real body part- the most famous example being the Rubber Hand Illusion. However, the extent to which gross asymmetries in the fake body can be assimilated remains unknown. Participants experienced, through a head-tracked stereo head-mounted display a virtual body coincident with their real body. There were 5 conditions in a between-groups experiment, with 10 participants per condition. In all conditions there was visuo-motor congruence between the real and virtual dominant arm. In an Incongruent condition (I), where the virtual arm length was equal to the real length, there was visuo-tactile incongruence. In four Congruent conditions there was visuo-tactile congruence, but the virtual arm lengths were either equal to (C1), double (C2), triple (C3) or quadruple (C4) the real ones. Questionnaire scores and defensive withdrawal movements in response to a threat showed that the overall level of ownership was high in both C1 and I, and there was no significant difference between these conditions. Additionally, participants experienced ownership over the virtual arm up to three times the length of the real one, and less strongly at four times the length. The illusion did decline, however, with the length of the virtual arm. In the C2-C4 conditions although a measure of proprioceptive drift positively correlated with virtual arm length, there was no correlation between the drift and ownership of the virtual arm, suggesting different underlying mechanisms between ownership and drift. Overall, these findings extend and enrich previous results that multisensory and sensorimotor information can reconstruct our perception of the body shape, size and symmetry even when this is not consistent with normal body proportions.

Towards a digital body: the virtual arm illusion

The integration of the human brain with computers is an interesting new area of applied neuroscience, where one application is replacement of a person"s real body by a virtual representation. Here we demonstrate that a virtual limb can be made to feel part of your body if appropriate multisensory correlations are provided. We report an illusion that is invoked through tactile stimulation on a person"s hidden real right hand with synchronous virtual visual stimulation on an aligned 3D stereo virtual arm projecting horizontally out of their shoulder. An experiment with 21 male participants showed displacement of ownership towards the virtual hand, as illustrated by questionnaire responses and proprioceptive drift. A control experiment with asynchronous tapping was carried out with a different set of 20 male participants who did not experience the illusion. After 5 min of stimulation the virtual arm rotated. Evidence suggests that the extent of the illusion was also correlated with the degree of muscle activity onset in the right arm as measured by EMG during this period that the arm was rotating, for the synchronous but not the asynchronous condition. A completely virtual object can therefore be experienced as part of one"s self, which opens up the possibility that an entire virtual body could be felt as one"s own in future virtual reality applications or online games, and be an invaluable tool for the understanding of the brain mechanisms underlying body ownership.

Comission 49: Interplanetary plasma and heliosphere. TRIENNIAL REPORT 2006 - 2009

Commission 49 covers research on the solar wind, shocks and particle acceleration, both transient and steady-state, e.g., corotating, structures within the heliosphere, and the termination shock and boundary of the heliosphere. The present triennal report is particularly rich in important results and events. The crossing of the solar wind termination shock by Voyager 2 in 2007 is a highlight and a milestone that will certainly have important consequences for astrophysical processes in general (Section 7). The fiftieth anniversary of the International Geophysical Year (19571958), which is also the fiftieth anniversary of the birth of the Space Age, was marked not only by celebrations and a strong Education and Public Outreach Program, but also by efforts in coordinating present observations and in starting new scientific programs, particularly implying developing countries (Section 8). Studies of solar energetic particles (Section 3) and the related radio bursts (Section 4) benefited from new data from a number of spacecraft. The STEREO mission was launched in October 2006 and has obtained new results on 3-D aspects of the inner heliosphere. Meanwhile, solar cycle 24 is expected to become active soon, following what is already the deepest solar minimum of the space age...

Fatigue resistance of denture teeth

AIMS: There is no standard test to determine the fatigue resistance of denture teeth. With the increasing number of patients with implant-retained dentures the mechanical strength of the denture teeth requires more attention and valid laboratory test set-ups. The purpose of the present study was to determine the fatigue resistance of various denture teeth using a dynamic load testing machine. METHODS: Four denture teeth were used: Bonartic II (Candulor), Physiodens (Vita), SR Phonares II (Ivoclar Vivadent) and Trubyte (Dentsply). For dynamic load testing, first upper molars with a similar shape and cusp inclination were selected. The molar teeth were embedded in cylindrical steel molds with denture base material (ProBase, Ivoclar Vivadent). Dynamic fatigue loading was carried out on the mesio-buccal cusp at a 45° angle using dynamic testing machines and 2,000,000 cycles at 2Hz in water (37°C). Three specimens per group and load were submitted to decreasing load levels (at least 4) until all the three specimens no longer showed any failures. All the specimens were evaluated under a stereo microscope (20× magnification). The number of cycles reached before observing a failure, and its dependence on the load and on the material, has been modeled using a parametric survival regression model with a lognormal distribution. This allowed to estimate the fatigue resistance for a given material as the maximal load for which one would observe less than 1% failure after 2,000,000 cycles. RESULTS: The failure pattern was similar for all denture teeth, showing a large chipping of the loaded mesio-buccal cusp. In our regression model, there were statistically significant differences among the different materials, with SR Phonares II and Bonartic II showing a higher resistance than Physiodens and Trubyte, the fatigue resistance being estimated at around 110N for the former two, and at about 60N for the latter two materials. CONCLUSION: The fatigue resistance may be a useful parameter to assess and to compare the clinical risk of chipping and fracture of denture tooth materials.

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

Conceptual Design of Embedded Weather Display

The objective of this thesis work is to describe the Conceptual Design process of an embedded electronic display device. The work presents the following sub processes: definition of device specifications, introduction to the technological alternatives for system components and their comparison, comparative photometric measurements of selected display panels, and the design and building of a functional concept prototype. This work focuses mainly on electronics design, albeit the mechanical issues and fields of the software architecture that significantly affect the decisions are also discussed when necessary. The VESA Flat Panel Display Measurement (FPDM) 2.0 Standard was applied to the appropriate extent into photometric measurements. The results were analyzed against the requirement standards of a customer-specific display development project. An Active Matrix LCD was selected as the display of concept prototype, but also the excellent visual characteristics of Active Matrix OLED technology were noted. Should the reliability of the OLED products be significantly improved in the future, utilizing such products in the described application must be reconsidered.

3D Surface Modeling From Point Clouds

The goal of this thesis is to implement software for creating 3D models from point clouds. Point clouds are acquired with stereo cameras, monocular systems or laser scanners. The created 3D models are triangular models or NURBS (Non-Uniform Rational B-Splines) models. Triangular models are constructed from selected areas from the point clouds and resulted triangular models are translated into a set of quads. The quads are further translated into an estimated grid structure and used for NURBS surface approximation. Finally, we have a set of NURBS surfaces which represent the whole model. The problem wasn’t so easy to solve. The selected triangular surface reconstruction algorithm did not deal well with noise in point clouds. To handle this problem, a clustering method is introduced for simplificating the model and removing noise. As we had better results with the smaller point clouds produced by clustering, we used points in clusters to better estimate the grids for NURBS models. The overall results were good when the point cloud did not have much noise. The point clouds with small amount of error had good results as the triangular model was solid. NURBS surface reconstruction performed well on solid models.

Influência do material do destilador na composição química das aguardentes de cana: parte II

The quantitative chemical analysis of the Brazilian sugar cane spirit distilled from glass column packaged with copper, stainless steel, aluminum sponge, or porcelain balls is described. The main chemical compounds determined by gas chromatography coupled with flame ionization (FID) and flame photometric (FPD) detectors and liquid chromatography coupled with diode array detector are aldehydes, ketones, carboxylic acids, alcohols, esters and dimethylsulfite (DMS). The spirits produced either in columns filled with copper or aluminum pot still exhibits the lowest DMS contents but the higher sulfate and methanol contents, whereas spirits produced in stainless steel or porcelain showed higher DMS concentration and lower teors of sulfate ion and methanol. These observations are coherent with DMS oxidation to sulfate, with methanol as by product, in the presence of either copper or aluminum.