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.

Reduction of porosity in RE1Ba2Cu3Oy pseudo crystals

The distribution of porosity in Y1Ba2Cu3Oy (Y-123) pseudo-crystals prepared by hot seeded melt growth of precursor pellet samples pre-sintered at elevated temperatures in air or vacuum has been investigated. The results demonstrate that the porosity within the Y-123 pseudo-crystal matrix could be reduced dramatically by pre-sintering in vacuum, compared with that for precursor pellets processed in air.

Seasonal dynamics in the occurrence and abundance of Pseudo-nitzschia species in the Maheshkhali channel of the Bay of Bengal, Bangladesh

Occurrence and abundance of Pseudo-nitzschia spp. at the mouth of the Maheshkhali channel of the Bay of Bengal, Bangladesh were studied. Plankton and water samples were collected monthly from the sub-surface water during high tide at daytime from June 2000 to May 2001. Four species of Pseudo-nitzschia, namely P. pungens, P. pseudodelicatissima, P. delicatissima and P. australis were identified and among them the first three were most commonly encountered and they varied seasonally. Pseudo-nitzschia delicatissima was the dominant species during the autumn and winter months, whereas P. pungens was dominant during the summer and spring months. Pseudo-nitzschia pseudodelicatissima exhibited its highest abundance level during the summer. Surface water temperature, salinity, nitrate-nitrogen (N03-N) and phosphate-phosphorus (P04-P) were recorded and their relationship with the occurrence and abundance of Pseudo-nitzschia species were studied. At the mouth of the Maheshkhali channel, Pseudo-nitzschia cell density was highest in late autumn (November) when highest salinity (35 o/oo) and P04-P (3.2 mg/l) concentrations and low temperature (23 °C) were recorded.

响蜜lie科的新记录

报道并简述了1994年10月在云南省泸水县的老窝捕获到1只响蜜lie科的黄腰响蜜lieIndicator xanthonotus 为我国鸟类科的新记录。模式标本保存于作者单位。

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.

An important pitfall of pseudo-static finite element analysis

Finite Element (FE) pseudo-static analysis can provide a good compromise between simplified methods of dynamic analysis and time domain analysis. The pseudo-static FE approach can accurately model the in situ, stresses prior to seismic loading (when it follows a static analysis simulating the construction sequence) is relatively simple and not as computationally expensive as the time domain approach. However this method should be used with caution as the results can be sensitive to the choice of the mesh dimensions. In this paper two simple examples of pseudo-static finite element analysis are examined parametrically, a homogeneous slope and a cantilever retaining wall, exploring the sensitivity of the pseudo-static analysis results on the adopted mesh size. The mesh dependence was found to be more pronounced for problems with high critical seismic coefficients values (e.g. gentle slopes or small walls), as in these cases a generalised layer failure mechanism is developed simultaneously with the slope or wall mechanism. In general the mesh width was found not to affect notably the predicted value of critical seismic coefficient but to have a major impact on the predicted movements. © 2012 Elsevier Ltd.