Analysis and Manipulation of Repetitive Structures of Varying Shape

Self-similarity and repetitions are ubiquitous in man-made and natural objects. Such structural regularities often relate to form, function, aesthetics, and design considerations. Discovering structural redundancies along with their dominant variations from 3D geometry not only allows us to better understand the underlying objects, but is also beneficial for several geometry processing tasks including compact representation, shape completion, and intuitive shape manipulation. To identify these repetitions, we present a novel detection algorithm based on analyzing a graph of surface features. We combine general feature detection schemes with a RANSAC-based randomized subgraph searching algorithm in order to reliably detect recurring patterns of locally unique structures. A subsequent segmentation step based on a simultaneous region growing is applied to verify that the actual data supports the patterns detected in the feature graphs. We introduce our graph based detection algorithm on the example of rigid repetitive structure detection. Then we extend the approach to allow more general deformations between the detected parts. We introduce subspace symmetries whereby we characterize similarity by requiring the set of repeating structures to form a low dimensional shape space. We discover these structures based on detecting linearly correlated correspondences among graphs of invariant features. The found symmetries along with the modeled variations are useful for a variety of applications including non-local and non-rigid denoising. Employing subspace symmetries for shape editing, we introduce a morphable part model for smart shape manipulation. The input geometry is converted to an assembly of deformable parts with appropriate boundary conditions. Our method uses self-similarities from a single model or corresponding parts of shape collections as training input and allows the user also to reassemble the identified parts in new configurations, thus exploiting both the discrete and continuous learned variations while ensuring appropriate boundary conditions across part boundaries. We obtain an interactive yet intuitive shape deformation framework producing realistic deformations on classes of objects that are difficult to edit using repetition-unaware deformation techniques

Virtual reality training and assessment in laparoscopic rectum surgery

Background: Virtual-reality (VR) based simulation techniques offer an efficient and low cost alternative to conventional surgery training. This article describes a VR training and assessment system in laparoscopic rectum surgery. Methods: To give a realistic visual performance of interaction between membrane tissue and surgery tools, a generalized cylinder based collision detection and a multi-layer mass-spring model are presented. A dynamic assessment model is also designed for hierarchy training evaluation. Results: With this simulator, trainees can operate on the virtual rectum with both visual and haptic sensation feedback simultaneously. The system also offers surgeons instructions in real time when improper manipulation happens. The simulator has been tested and evaluated by ten subjects. Conclusions: This prototype system has been verified by colorectal surgeons through a pilot study. They believe the visual performance and the tactile feedback are realistic. It exhibits the potential to effectively improve the surgical skills of trainee surgeons and significantly shorten their learning curve. © 2014 John Wiley & Sons, Ltd

Revealing and modifying non-local variations in a single image

We present an algorithm for automatically detecting and visualizing small non-local variations between repeating structures in a single image. Our method allows to automatically correct these variations, thus producing an 'idealized' version of the image in which the resemblance between recurring structures is stronger. Alternatively, it can be used to magnify these variations, thus producing an exaggerated image which highlights the various variations that are difficult to spot in the input image. We formulate the estimation of deviations from perfect recurrence as a general optimization problem, and demonstrate it in the particular cases of geometric deformations and color variations.Israel Science Foundation (Grant 931/14)Shell Researc

The kinematics of hyper-redundant robot locomotion

This paper considers the kinematics of hyper-redundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits”. The analysis and algorithms are based on a continuous backbone curve model which captures the robot's macroscopic geometry. Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are introduced for hyper-redundant robots of both constant and variable length. We also illustrate how the locomotion algorithms can be used to plan the manipulation of objects which are grasped in a tentacle-like manner. Several of these gaits and the manipulation algorithm have been implemented on a 30 degree-of-freedom hyper-redundant robot. Experimental results are presented to demonstrate and validate these concepts and our modeling assumptions

Conservative management of low back pain

Back pain is prevalent worldwide, but back pain disability has reached epidemic proportions in many industrialised societies. Few patients have serious medical pathology or direct neurological involvement requiring surgery. Although the causes remain unclear, physical stress and its consequences on discs, facet joints and supporting soft tissues at work or leisure are important, sometimes aggravated by adverse psychosocial factors. Modern management emphasises the role of self-care, beginning in primary care with the first episode. Without root compression, bed rest should not exceed 48 hours. Emphasis is on encouraging a rapid return to physical fitness and other activities, including employment, acknowledging that returning to a normal life may require working through pain. Medication facilitates this. No one should remain in pain beyond six weeks without being referred to a specialist service for a physical and psychosocial assessment by appropriately trained professionals and with consultant support for investigation, pain management and rehabilitation when needed

Noninvasive brain stimulation techniques can modulate cognitive processing

Recent methods that allow a noninvasive modulation of brain activity are able to modulate human cognitive behavior. Among these methods are transcranial electric stimulation and transcranial magnetic stimulation that both come in multiple variants. A property of both types of brain stimulation is that they modulate brain activity and in turn modulate cognitive behavior. Here, we describe the methods with their assumed neural mechanisms for readers from the economic and social sciences and little prior knowledge of these techniques. Our emphasis is on available protocols and experimental parameters to choose from when designing a study. We also review a selection of recent studies that have successfully applied them in the respective field. We provide short pointers to limitations that need to be considered and refer to the relevant papers where appropriate

Switching of chiral magnetic skyrmions by picosecond magnetic field pulses via transient topological states

Magnetic chiral skyrmions are vortex like spin structures that appear as stable or meta-stable states in magnetic materials due to the interplay between the symmetric and antisymmetric exchange interactions, applied magnetic field and/or uniaxial anisotropy. Their small size and internal stability make them prospective objects for data storage but for this, the controlled switching between skyrmion states of opposite polarity and topological charge is essential. Here we present a study of magnetic skyrmion switching by an applied magnetic field pulse based on a discrete model of classical spins and atomistic spin dynamics. We found a finite range of coupling parameters corresponding to the coexistence of two degenerate isolated skyrmions characterized by mutually inverted spin structures with opposite polarity and topological charge. We demonstrate how for a wide range of material parameters a short inclined magnetic field pulse can initiate the reliable switching between these states at GHz rates. Detailed analysis of the switching mechanism revealed the complex path of the system accompanied with the excitation of a chiral-achiral meron pair and the formation of an achiral skyrmion

User Needs, Benefits, and Integration of Robotic Systems in a Space Station Laboratory

The methodology, results and conclusions of all tasks of the User Needs, Benefits, and Integration Study (UNBIS) of Robotic Systems in a Space Station Laboratory are summarized. Study goals included the determination of user requirements for robotics within the Space Station, United States Laboratory. In Task 1, three experiments were selected to determine user needs and to allow detailed investigation of microgravity requirements. In Task 2, a NASTRAN analysis of Space Station response to robotic disturbances, and acceleration measurement of a standard industrial robot (Intelledex Model 660) resulted in selection of two ranges of microgravity manipulation: Level 1 (10-3 to 10-5 G at greater than 1 Hz) and Level 2 (less than equal 10-6 G at 0.1 Hz). This task included an evaluation of microstepping methods for controlling stepper motors and concluded that an industrial robot actuator can perform milli-G motion without modification. Relative merits of end-effectors and manipulators were studied in Task 3 in order to determine their ability to perform a range of tasks related to the three microgravity experiments. An Effectivity Rating was established for evaluating these robotic system capabilities. Preliminary interface requirements for an orbital flight demonstration were determined in Task 4. Task 5 assessed the impact of robotics

L-systems in Geometric Modeling

We show that parametric context-sensitive L-systems with affine geometry interpretation provide a succinct description of some of the most fundamental algorithms of geometric modeling of curves. Examples include the Lane-Riesenfeld algorithm for generating B-splines, the de Casteljau algorithm for generating Bezier curves, and their extensions to rational curves. Our results generalize the previously reported geometric-modeling applications of L-systems, which were limited to subdivision curves.Comment: In Proceedings DCFS 2010, arXiv:1008.127