Efficient and precise interactive hand tracking through joint, continuous optimization of pose and correspondences

Fully articulated hand tracking promises to enable fundamentally new interactions with virtual and augmented worlds, but the limited accuracy and efficiency of current systems has prevented widespread adoption. Today's dominant paradigm uses machine learning for initialization and recovery followed by iterative model-fitting optimization to achieve a detailed pose fit. We follow this paradigm, but make several changes to the model-fitting, namely using: (1) a more discriminative objective function; (2) a smooth-surface model that provides gradients for non-linear optimization; and (3) joint optimization over both the model pose and the correspondences between observed data points and the model surface. While each of these changes may actually increase the cost per fitting iteration, we find a compensating decrease in the number of iterations. Further, the wide basin of convergence means that fewer starting points are needed for successful model fitting. Our system runs in real-time on CPU only, which frees up the commonly over-burdened GPU for experience designers. The hand tracker is efficient enough to run on low-power devices such as tablets. We can track up to several meters from the camera to provide a large working volume for interaction, even using the noisy data from current-generation depth cameras. Quantitative assessments on standard datasets show that the new approach exceeds the state of the art in accuracy. Qualitative results take the form of live recordings of a range of interactive experiences enabled by this new approach.

Feature-based tracking of urethral motion in low-resolution trans-perineal ultrasound

This paper describes a novel algorithm for tracking the motion of the urethra from trans-perineal ultrasound. Our work is based on the structure-from-motion paradigm and therefore handles well structures with ill-defined and partially missing boundaries. The proposed approach is particularly well-suited for video sequences of low resolution and variable levels of blurriness introduced by anatomical motion of variable speed. Our tracking method identifies feature points on a frame by frame basis using the SURF detector/descriptor. Inter-frame correspondence is achieved using nearest-neighbor matching in the feature space. The motion is estimated using a non-linear bi-quadratic model, which adequately describes the deformable motion of the urethra. Experimental results are promising and show that our algorithm performs well when compared to manual tracking.

Tracking of fatness during childhood, adolescence and young adulthood: a 7-year follow-up study in Madeira Island, Portugal

Aims: Investigating tracking of fatness from childhood to adolescence, early adolescence to young adulthood and late adolescence to young adulthood. Subjects and methods: Participants from the Madeira Growth Study were followed during an average period of 7.2 years. Height, body mass, skin-folds and circumferences were measured, nine health- and performance-related tests were administered and the Baecke questionnaire was used to assess physical activity. Skeletal maturity was estimated using the TW3 method. Results: The prevalence of overweight plus obesity ranged from 8.2–20.0% at baseline and from 20.4–40.0% at followup, in boys. Corresponding percentages for girls were 10.6– 12.0% and 13.2–18.0%. Inter-age correlations for fatness indicators ranged from 0.43–0.77. BMI, waist circumference and sum of skin-folds at 8, 12 and 16-years old were the main predictors of these variables at 15, 19 and 23-years old, respectively. Strength, muscular endurance and aerobic fitness were negatively related to body fatness. Physical activity and maturation were independently associated with adolescent (15 years) and young adult (19 years) fatness. Conclusions: Over 7.2 years, tracking was moderate-to-high for fatness. Variance was explained by fatness indicators and to a small extent by physical fitness, physical activity and maturation.

Tracking biochemical changes during adventitious root formation in olive (Olea europaea L.)

The activity of oxidative enzymes and the levels of free auxins were determined during adventitious root formation in olive explants. Rooting trials were performed both with in vitro-cultured micro shoots of the cultivar ‘Galega Vulgar’, treated with indole-3-butyric acid (IBA) and with salicylhydroxamic acid(SHAM) + IBA, as well as with semi-hardwood cuttings of the cultivars ‘Galega Vulgar’ (difficult-to-root)and ‘Cobrançosa’ (easy-to-root), treated with IBA. The auxin (IBA) was used in all experiments as a rooting promoter, while SHAM was used in micropropagation trials as rooting inhibitor, providing a negative control. Free indole-3-acetic acid (IAA) and IBA concentrations were determined in microshoots, as well as in semi-hardwood cuttings, throughout the rooting period at pre-established time-points. At the sametime-points, the enzymatic activity of polyphenol oxidases (PPO), peroxidases (POX), and IAA oxidase(IAAox) was evaluated in the microshoots. Microshoots treated with SHAM + IBA revealed higher POX and IAAox activity, as well as lower PPO activity, than those treated only with IBA. IAA levels were higher in IBA-treated microshoots during induction phase, but lower during early initiation phase. Incontrast, free IBA levels were higher in microshoots treated with SHAM + IBA during induction, but lower during initiation. A similar pattern of free auxin levels was observed in semi-hardwood cuttings of the two contrasting cultivars under evaluation. The similarities found on the auxin patterns of microshoots treated with SHAM and those of semi-hardwood cuttings of the difficult-to-root olive cultivar allow considering SHAM a reliable control for when simulation of a difficult-to-root behavior is necessary. The inhibitory effect of SHAM in root formation could be related with 1) the inhibition of alternative oxidase(AOX), leading to a down regulation of phenylpropanoid biosynthetic pathways, which would decrease the concentration of phenolic substrates for PPO; 2) an increase in IAAox activity resulting in lower free IAA levels or; 3) a defective conversion of IBA into IAA.

Tracking the Origin of a Rabbit Haemorrhagic Virus 2 Outbreak in a Wild Rabbit Breeding Centre in Portugal; Epidemiological and Genetic Investigation

As key prey, the wild rabbit downsize constitutes a major drawback on the endangered Iberian lynx (Lynx pardinus) re-introduction in the Iberia. Several captive breeding units mostly located in Alentejo, endeavour the wild rabbit repopulation of depleted areas assigned for the lynx re-introduction. Here we report an RHDV2 outbreak that occurred in early 2016 in a wild rabbit captive breeding unit located in Barrancos municipality. The estimated mortality rate between March and April 2016 was approximately 8.67%. Anatomopathologic examination was carried out for 13 victimized rabbits. Molecular characterization was based on the complete vp60 capsid gene. The 13 rabbit carcasses investigated showed typical macroscopic RHD lesions testing positive to RHDV2-RNA. Comparison of the vp60 nucleotide sequences obtained from two specimens with others publically available disclosed similarities below 98.22% with RHDV2 strains originated in the Iberia and Azores and revealed that the two identical strains from Barrancos-2016 contain six unique single synonymous nucleotide polymorphisms. In the phylogenetic analysis performed, the Barrancos-2016 strains clustered apart from other known strains,meaning they may represent new evolutionary RHDV2 lineages. No clear epidemiological link could be traced for this outbreak where the mortalities were lower compared with previous years. Yet, network analysis suggested a possible connection between the missing intermediates from which the strains from Barrancos 2013, 2014 and 2016 have derived. It is therefore possible that RHDV2 has circulated endemically in the region since 2012, with periodic epizootic occurrences. Still, six years after its emergence in wild rabbits, RHDV2 continues to pose difficulties to the establishment of natural wild rabbit populations that are crucial for the self-sustainability of the local ecosystems.

Tracking the Origin of a Rabbit Haemorrhagic Virus 2 Outbreak in a Wild Rabbit Breeding Centre in Portugal; Epidemiological and Genetic Investigation

As key prey, the wild rabbit downsize constitutes a major drawback on the endangered Iberian lynx (Lynx pardinus) re-introduction in the Iberia. Several captive breeding units mostly located in Alentejo, endeavour the wild rabbit repopulation of depleted areas assigned for the lynx re-introduction. Here we report an RHDV2 outbreak that occurred in early 2016 in a wild rabbit captive breeding unit located in Barrancos municipality. The estimated mortality rate between March and April 2016 was approximately 8.67%. Anatomopathologic examination was carried out for 13 victimized rabbits. Molecular characterization was based on the complete vp60 capsid gene. The 13 rabbit carcasses investigated showed typical macroscopic RHD lesions testing positive to RHDV2- RNA. Comparison of the vp60 nucleotide sequences obtained from two specimens with others publically available disclosed similarities below 98.22% with RHDV2 strains originated in the Iberia and Azores and revealed that the two identical strains from Barrancos-2016 contain six unique single synonymous nucleotide polymorphisms. In the phylogenetic analysis performed, the Barrancos-2016 strains clustered apart from other known strains, meaning they may represent new evolutionary RHDV2 lineages. No clear epidemiological link could be traced for this outbreak where the mortalities were lower compared with previous years. Yet, network analysis suggested a possible connection between the missing intermediates from which the strains from Barrancos 2013, 2014 and 2016 have derived. It is therefore possible that RHDV2 has circulated endemically in the region since 2012, with periodic epizootic occurrences. Still, six years after its emergence in wild rabbits, RHDV2 continues to pose difficulties to the establishment of natural wild rabbit populations that are crucial for the self-sustainability of the local ecosystems.

Mobile application for Asian soybean rust tracking in Brazil.

ABSTRACT: Brazil is the second - largest soybean producer. With the arrival of Asian soybean rust in the Western Hemisphere in 2001, a considerable amount of resources has been allocated to understand and control this important yield - limiting disease. Due its rapidly dissemination, in 2004, the federal government led an effort to create the Asian soybean rust consortium, with the main goal of coordinating research activities involving public and private sector. This paper describes the development of a mobile application, designed to support the Asian Soybean Rust Consortium to monitor, in time and space, occurrences of Asian soybean rust in Brazil. RESUMO: O Brasil é o segundo maior produtor de soja do mundo. Com a chegada da ferrugem da soja no hemisfério ocidental em 2001, uma quantidade considerável de recursos foram alocados para entender e controlar esta importante doença. Devido a sua rápida disseminação, em 2004, o governo federal uniu esforços e criou o Consórcio Antiferrugem, cujo objetivo principal seria de coordenar atividades de pesquisa envolvendo empresas públicas e privadas. Este artigo apresenta o desenvolvimento de um aplicativo móvel, projetado para auxiliar este Consórcio no monitoramento em tempo e espaço, de ocorrências de ferrugem asiática de soja no Brasil.

Smart tracking of composite parts: feasibility study and effect on mechanical behaviour

This research proposes a solution for integrating RFID - Radio Frequency Identification technology within a structure based on CFRPs - Carbon Fiber Reinforced Polymers. Therefore, the main objective is to use technology to monitor and track composite components during manufacturing and service life. The study can be divided into two macro-areas. The first portion of the research evaluates the impact of the composite materials used on transmitting the electromagnetic signal to and from the tag. RFID technology communicates through radio frequencies to to track and trace items associated with the tags. In the first instance, a feasibility study was carried out to assess using commercially available tags. Then, after evaluating different solutions, it was decided to incorporate the tags into coupons during production. The second portion of the research is focused on evaluating the impact on the composite material's resistance to tag embedding. It starts with designing tensile test specimens through the FEM model with different housing configurations. Subsequently, the best configuration was tested in the facilities of the In the Faculty of Aerospace Engineering at TU Delft, particularly in the Structure & Materials Laboratory, two tests were conducted: the first one based on ASTM D3039/D3039 - 14 - Standard Test Method for Tensile Properties of Polymer Matrix Composite Materials, the second one dividing the path to failure into failure intervals in a load-unload-reload. Both tests were accompanied by instruments such as DIC, AE, C-Scan and Optical Microscopes. The expected result of the inclusion of RFID tags in composite components is that it brings added value to the parts with which it is associated without affecting too much its mechanical properties. This comes first from the automatic identification of RFID during the production cycle and its useful life. As a result, improvements were made in the design of production facilities.

Study of the tracking performance of a liquid Argon detector based on a novel optical imaging concept

The Deep Underground Neutrino Experiment (DUNE) is a long-baseline accelerator experiment designed to make a significant contribution to the study of neutrino oscillations with unprecedented sensitivity. The main goal of DUNE is the determination of the neutrino mass ordering and the leptonic CP violation phase, key parameters of the three-neutrino flavor mixing that have yet to be determined. An important component of the DUNE Near Detector complex is the System for on-Axis Neutrino Detection (SAND) apparatus, which will include GRAIN (GRanular Argon for Interactions of Neutrinos), a novel liquid Argon detector aimed at imaging neutrino interactions using only scintillation light. For this purpose, an innovative optical readout system based on Coded Aperture Masks is investigated. This dissertation aims to demonstrate the feasibility of reconstructing particle tracks and the topology of CCQE (Charged Current Quasi Elastic) neutrino events in GRAIN with such a technique. To this end, the development and implementation of a reconstruction algorithm based on Maximum Likelihood Expectation Maximization was carried out to directly obtain a three-dimensional distribution proportional to the energy deposited by charged particles crossing the LAr volume. This study includes the evaluation of the design of several camera configurations and the simulation of a multi-camera optical system in GRAIN.

Deep and near space tracking stations in support of lunar and planetary exploration missions

The aim of this dissertation is to describe the methodologies required to design, operate, and validate the performance of ground stations dedicated to near and deep space tracking, as well as the models developed to process the signals acquired, from raw data to the output parameters of the orbit determination of spacecraft. This work is framed in the context of lunar and planetary exploration missions by addressing the challenges in receiving and processing radiometric data for radio science investigations and navigation purposes. These challenges include the designing of an appropriate back-end to read, convert and store the antenna voltages, the definition of appropriate methodologies for pre-processing, calibration, and estimation of radiometric data for the extraction of information on the spacecraft state, and the definition and integration of accurate models of the spacecraft dynamics to evaluate the goodness of the recorded signals. Additionally, the experimental design of acquisition strategies to perform direct comparison between ground stations is described and discussed. In particular, the evaluation of the differential performance between stations requires the designing of a dedicated tracking campaign to maximize the overlap of the recorded datasets at the receivers, making it possible to correlate the received signals and isolate the contribution of the ground segment to the noise in the single link. Finally, in support of the methodologies and models presented, results from the validation and design work performed on the Deep Space Network (DSN) affiliated nodes DSS-69 and DSS-17 will also be reported.

Study of the rotational state of Titan using radio tracking data of the Dragonfly mission

Our solar system contains an impressive amount of celestial bodies. For example Saturn posses a huge variety of natural satellites, the diversity in size and physical proprieties of which might amaze imagination. The observational data gathered in 30 years range of deep space missions revealed, that some of these bodies can hide subsurface oceans under their crust. The water, as we know, serves as a fundamental base for a possible appearance of life. This statement is quite exited for the scientific society and serves as a reason for studying so called ”ocean worlds”. In order to detect the celestial bodies with the hidden subsurface ocean, one of the key aspects is the study of their rotational state, which is strongly coupled with the body internal structure. It can be done through the various techniques mentioned in Chapter 1. The main goal of the thesis is the study of rotational state of Titan, whose interior structure expectedly contains liquid ocean layer under its icy crust. Titan is the largest moon of Saturn and it is the second largest moon in the solar system in general. This natural satellite is of particular scientific interest, because it is one of a kind which has substantial atmosphere. The present work was done using radio tracking data of the Dragonfly mission which is one of the next NASA’s missions destined for Titan selected as a part of the New Frontiers Program in 2019. The detailed characteristic of the Dragonfly regarding the landing site and mission lifetime was reported in Chapter 2. The radio-tracking communication link from Titan side was performed using Dragonfly X band transponder according to the schedule tracking opportunity. From Earth side according to the mission, Deep Space Station 25 which is a part of NASA’s Deep Space Network was considered. Only Doppler data was used for studying Titan rotational state, even though there are other reliable techniques described in Chapter 3, that in general could be implemented.

Characterization of Mars rotational dynamics from Doppler tracking of the InSight lander

In the last decades the evolution of radio science has made it possible to infer the atmosphere composition, the surface and the internal structure of the planets. Since the arrival of the first landers on Mars it was possible to make accurate measurements of the dynamics of this planet; in this thesis we will focus on InSight, considering the data disclosed by the JPL relative to the period from November 26th, 2018 to August 15th, 2021. In particular, the Doppler and Range measurements conducted by the RISE (Rotation and Interior Structure Experiment) will be analyzed. Since the accuracy of these measurements was improved significantly the effects due to the atmosphere of Mars might be measured so it should thus be possible to obtain a better estimate of the parameters characterizing the rotational dynamic of Mars. A large part of this study will therefore be dedicated to the study, modeling, implementation and analysis of the atmosphere of Mars, in both its components: troposphere and ionosphere. Once the complete model of Mars had been built, i.e. including the atmosphere, it was then possible to analyze the residuals, obtained between the data of the measurements carried out and the values predicted by the developed model, in order to obtain an estimate of the rotational dynamic of Mars.

Analysis of Tracking Algorithms for Extended Target Radar Problems

This work proposes the analysis of tracking algorithms for point objects and extended targets particle filter on a radar application problem. Through simulations, the number of particles, the process and measurement noise of particle filter have been optimized. Four different scenarios have been considered in this work: point object with linear trajectory, point object with non-linear trajectory, extended object with linear trajectory, extended object with non-linear trajectory. The extended target has been modelled as an ellipse parametrized by the minor and major axes, the orientation angle, and the center coordinates (5 parameters overall).

Implementazione e caratterizzazione di PLL digitali per doppler tracking di sonde deep space

I Phase-Locked Loops sono circuiti ancora oggi utilizzati per la generazione di segnali coerenti in frequenza e in fase con i segnali in ingresso, motivo per cui sono uno degli strumenti della radio scienza per la ricostruzione dei segnali scambiati con le sonde e nascosti dal rumore accumulato nel tragitto che separa le sonde stesse dalle stazioni di tracking a terra. Questa tesi illustra l'implementazione di un PLL digitale linearizzato in Matlab e Simulink in una nuova veste rispetto al modello implementato durante l'attività di tirocinio curricolare, al fine di migliorarne le prestazioni per bassi carrier-to-noise density ratios. Il capitolo 1 si compone di due parti: la prima introduce all'ambito nel quale si inserisce il lavoro proposto, ossia la determinazione d'orbita; la seconda illustra i fondamenti della teoria dei segnali. Il capitolo 2 è incentrato sull'analisi dei Phase-Locked Loops, partendo da un'introduzione teorica e approdando all'implementazione di un modello in Simulink. Il capitolo 3, infine, mostra i risultati dell'applicazione del modello implementato in Simulink nell'analisi dei segnali di una missione realmente svolta.

Development of a health parameters tracking wearable device for detection of stress episodes and principles of panic attacks

A proof of concept for a wearable device is presented to help patients who suffer from panic attacks due to panic disorder. The aim of this device is to enable such patients manage these stressful episodes by guiding them to regulate their breathing and by informing the care taker. Panic attack prediction is deployed that can enable the healthcare providers to not only monitor and manage the panic attacks of a patient but also carry out an early intervention to reduce the symptom severity of the approaching panic attack. The patient can acquire the help they need, ultimately regaining control. The concept of panic attack prediction can lead to a personalized treatment of the patient. The study is conducted using a small real-world dataset, and only two primary symptoms of panic attack are used. These symptoms include pacing heart rate and hyperventilation or abnormal breathing rate. This thesis project is developed in collaboration with ALTEN italia and all the required hardware is provided by them.