Synthesis of neural networks for spatio-temporal spike pattern recognition and processing

The advent of large scale neural computational platforms has highlighted the lack of algorithms for synthesis of neural structures to perform predefined cognitive tasks. The Neural Engineering Framework offers one such synthesis, but it is most effective for a spike rate representation of neural information, and it requires a large number of neurons to implement simple functions. We describe a neural network synthesis method that generates synaptic connectivity for neurons which process time-encoded neural signals, and which makes very sparse use of neurons. The method allows the user to specify, arbitrarily, neuronal characteristics such as axonal and dendritic delays, and synaptic transfer functions, and then solves for the optimal input-output relationship using computed dendritic weights. The method may be used for batch or online learning and has an extremely fast optimization process. We demonstrate its use in generating a network to recognize speech which is sparsely encoded as spike times.Comment: In submission to Frontiers in Neuromorphic Engineerin

QuickCSG: Fast Arbitrary Boolean Combinations of N Solids

QuickCSG computes the result for general N-polyhedron boolean expressions without an intermediate tree of solids. We propose a vertex-centric view of the problem, which simplifies the identification of final geometric contributions, and facilitates its spatial decomposition. The problem is then cast in a single KD-tree exploration, geared toward the result by early pruning of any region of space not contributing to the final surface. We assume strong regularity properties on the input meshes and that they are in general position. This simplifying assumption, in combination with our vertex-centric approach, improves the speed of the approach. Complemented with a task-stealing parallelization, the algorithm achieves breakthrough performance, one to two orders of magnitude speedups with respect to state-of-the-art CPU algorithms, on boolean operations over two to dozens of polyhedra. The algorithm also outperforms GPU implementations with approximate discretizations, while producing an output without redundant facets. Despite the restrictive assumptions on the input, we show the usefulness of QuickCSG for applications with large CSG problems and strong temporal constraints, e.g. modeling for 3D printers, reconstruction from visual hulls and collision detection

QuickCSG: Fast Arbitrary Boolean Combinations of N Solids

QuickCSG computes the result for general N-polyhedron boolean expressions without an intermediate tree of solids. We propose a vertex-centric view of the problem, which simplifies the identification of final geometric contributions, and facilitates its spatial decomposition. The problem is then cast in a single KD-tree exploration, geared toward the result by early pruning of any region of space not contributing to the final surface. We assume strong regularity properties on the input meshes and that they are in general position. This simplifying assumption, in combination with our vertex-centric approach, improves the speed of the approach. Complemented with a task-stealing parallelization, the algorithm achieves breakthrough performance, one to two orders of magnitude speedups with respect to state-of-the-art CPU algorithms, on boolean operations over two to dozens of polyhedra. The algorithm also outperforms GPU implementations with approximate discretizations, while producing an output without redundant facets. Despite the restrictive assumptions on the input, we show the usefulness of QuickCSG for applications with large CSG problems and strong temporal constraints, e.g. modeling for 3D printers, reconstruction from visual hulls and collision detection

Analytical representation of architectural built heritage. A Sketch-to-Bim approach

HBIM methodology is increasingly used for the management of all aspects of architectural heritage, from survey and analysis to conservation, management and restoration issues. Application of HBIM are the so-called Scan-to-BIM processes in which the artifact is surveyed with digital techniques of laser scanning and photogrammetry. These techniques result in point clouds, the basis of the subsequent process of informative and geometric modelling of the artifact. The resulting "smart models" are composed of parametric objects rich in information that can be easily updated at any time. The proposed methodology aims at integrating a study of architectural orders, whose results become preparatory to the subsequent phases of survey and modeling, to the classic Scan-to-BIM workflows. In particular, in the modeling these results have allowed a more targeted choice of techniques used. The method has been applied to the atrium of the former Jesuit College of Santa Croce in Cagliari, which today hosts one of the seats of the Faculty of Engineering and Architecture of the University of Cagliari; in particular, the atrium of the east body of the former Jesuit College, designed by the Piedmontese architect Antonio Felice De Vincenti, has been modelled

Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: an overview

© . This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/Cloth manipulation by robots is gaining popularity among researchers because of its relevance, mainly (but not only) in domestic and assistive robotics. The required science and technologies begin to be ripe for the challenges posed by the manipulation of soft materials, and many contributions have appeared in the last years. This survey provides a systematic review of existing techniques for the basic perceptual tasks of grasp point localization, state estimation and classification of cloth items, from the perspective of their manipulation by robots. This choice is grounded on the fact that any manipulative action requires to instruct the robot where to grasp, and most garment handling activities depend on the correct recognition of the type to which the particular cloth item belongs and its state. The high inter- and intraclass variability of garments, the continuous nature of the possible deformations of cloth and the evident difficulties in predicting their localization and extension on the garment piece are challenges that have encouraged the researchers to provide a plethora of methods to confront such problems, with some promising results. The present review constitutes for the first time an effort in furnishing a structured framework of these works, with the aim of helping future contributors to gain both insight and perspective on the subjectPeer ReviewedPostprint (author's final draft

Tessellations and Pattern Formation in Plant Growth and Development

The shoot apical meristem (SAM) is a dome-shaped collection of cells at the apex of growing plants from which all above-ground tissue ultimately derives. In Arabidopsis thaliana (thale cress), a small flowering weed of the Brassicaceae family (related to mustard and cabbage), the SAM typically contains some three to five hundred cells that range from five to ten microns in diameter. These cells are organized into several distinct zones that maintain their topological and functional relationships throughout the life of the plant. As the plant grows, organs (primordia) form on its surface flanks in a phyllotactic pattern that develop into new shoots, leaves, and flowers. Cross-sections through the meristem reveal a pattern of polygonal tessellation that is suggestive of Voronoi diagrams derived from the centroids of cellular nuclei. In this chapter we explore some of the properties of these patterns within the meristem and explore the applicability of simple, standard mathematical models of their geometry.Comment: Originally presented at: "The World is a Jigsaw: Tessellations in the Sciences," Lorentz Center, Leiden, The Netherlands, March 200