Finding antipodal point grasps on irregularly shaped objects

Two-finger antipodal point grasping of arbitrarily shaped smooth 2-D and 3-D objects is considered. An object function is introduced that maps a finger contact space to the object surface. Conditions are developed to identify the feasible grasping region, F, in the finger contact space. A “grasping energy function”, E , is introduced which is proportional to the distance between two grasping points. The antipodal points correspond to critical points of E in F. Optimization and/or continuation techniques are used to find these critical points. In particular, global optimization techniques are applied to find the “maximal” or “minimal” grasp. Further, modeling techniques are introduced for representing 2-D and 3-D objects using B-spline curves and spherical product surfaces

Principled Design and Implementation of Steerable Detectors

We provide a complete pipeline for the detection of patterns of interest in an image. In our approach, the patterns are assumed to be adequately modeled by a known template, and are located at unknown position and orientation. We propose a continuous-domain additive image model, where the analyzed image is the sum of the template and an isotropic background signal with self-similar isotropic power-spectrum. The method is able to learn an optimal steerable filter fulfilling the SNR criterion based on one single template and background pair, that therefore strongly responds to the template, while optimally decoupling from the background model. The proposed filter then allows for a fast detection process, with the unknown orientation estimation through the use of steerability properties. In practice, the implementation requires to discretize the continuous-domain formulation on polar grids, which is performed using radial B-splines. We demonstrate the practical usefulness of our method on a variety of template approximation and pattern detection experiments

Einstein equations in the null quasi-spherical gauge III: numerical algorithms

We describe numerical techniques used in the construction of our 4th order evolution for the full Einstein equations, and assess the accuracy of representative solutions. The code is based on a null gauge with a quasi-spherical radial coordinate, and simulates the interaction of a single black hole with gravitational radiation. Techniques used include spherical harmonic representations, convolution spline interpolation and filtering, and an RK4 "method of lines" evolution. For sample initial data of "intermediate" size (gravitational field with 19% of the black hole mass), the code is accurate to 1 part in 10^5, until null time z=55 when the coordinate condition breaks down.Comment: Latex, 38 pages, 29 figures (360Kb compressed

Hybrid Evolutionary Shape Manipulation for Efficient Hull Form Design Optimisation

‘Eco-friendly shipping’ and fuel efficiency are gaining much attention in the maritime industry due to increasingly stringent environmental regulations and volatile fuel prices. The shape of hull affects the overall performance in efficiency and stability of ships. Despite the advantages of simulation-based design, the application of a formal optimisation process in actual ship design work is limited. A hybrid approach which integrates a morphing technique into a multi-objective genetic algorithm to automate and optimise the hull form design is developed. It is envisioned that the proposed hybrid approach will improve the hydrodynamic performance as well as overall efficiency of the design process

Fast space-variant elliptical filtering using box splines

The efficient realization of linear space-variant (non-convolution) filters is a challenging computational problem in image processing. In this paper, we demonstrate that it is possible to filter an image with a Gaussian-like elliptic window of varying size, elongation and orientation using a fixed number of computations per pixel. The associated algorithm, which is based on a family of smooth compactly supported piecewise polynomials, the radially-uniform box splines, is realized using pre-integration and local finite-differences. The radially-uniform box splines are constructed through the repeated convolution of a fixed number of box distributions, which have been suitably scaled and distributed radially in an uniform fashion. The attractive features of these box splines are their asymptotic behavior, their simple covariance structure, and their quasi-separability. They converge to Gaussians with the increase of their order, and are used to approximate anisotropic Gaussians of varying covariance simply by controlling the scales of the constituent box distributions. Based on the second feature, we develop a technique for continuously controlling the size, elongation and orientation of these Gaussian-like functions. Finally, the quasi-separable structure, along with a certain scaling property of box distributions, is used to efficiently realize the associated space-variant elliptical filtering, which requires O(1) computations per pixel irrespective of the shape and size of the filter.Comment: 12 figures; IEEE Transactions on Image Processing, vol. 19, 201

Calibration of the TWIST high-precision drift chambers

A method for the precise measurement of drift times for the high-precision drift chambers used in the TWIST detector is described. It is based on the iterative correction of the space-time relationships by the time residuals of the track fit, resulting in a measurement of the effective drift times. The corrected drift time maps are parametrised individually for each chamber using spline functions. Biases introduced by the reconstruction itself are taken into account as well, making it necessary to apply the procedure to both data and simulation. The described calibration is shown to improve the reconstruction performance and to extend significantly the physics reach of the experiment.Comment: 8 pages, 5 figure