2,012 research outputs found

    RoboCoDraw: Robotic Avatar Drawing with GAN-based Style Transfer and Time-efficient Path Optimization

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    Robotic drawing has become increasingly popular as an entertainment and interactive tool. In this paper we present RoboCoDraw, a real-time collaborative robot-based drawing system that draws stylized human face sketches interactively in front of human users, by using the Generative Adversarial Network (GAN)-based style transfer and a Random-Key Genetic Algorithm (RKGA)-based path optimization. The proposed RoboCoDraw system takes a real human face image as input, converts it to a stylized avatar, then draws it with a robotic arm. A core component in this system is the Avatar-GAN proposed by us, which generates a cartoon avatar face image from a real human face. AvatarGAN is trained with unpaired face and avatar images only and can generate avatar images of much better likeness with human face images in comparison with the vanilla CycleGAN. After the avatar image is generated, it is fed to a line extraction algorithm and converted to sketches. An RKGA-based path optimization algorithm is applied to find a time-efficient robotic drawing path to be executed by the robotic arm. We demonstrate the capability of RoboCoDraw on various face images using a lightweight, safe collaborative robot UR5.Comment: Accepted by AAAI202

    A Coloring Algorithm for Disambiguating Graph and Map Drawings

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    Drawings of non-planar graphs always result in edge crossings. When there are many edges crossing at small angles, it is often difficult to follow these edges, because of the multiple visual paths resulted from the crossings that slow down eye movements. In this paper we propose an algorithm that disambiguates the edges with automatic selection of distinctive colors. Our proposed algorithm computes a near optimal color assignment of a dual collision graph, using a novel branch-and-bound procedure applied to a space decomposition of the color gamut. We give examples demonstrating the effectiveness of this approach in clarifying drawings of real world graphs and maps

    Rectangular Maze Construction by Combining Algorithms and Designed Graph Patterns

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    Rectangular digital mazes can beconstructed by algorithms automatically. However, visualaesthetics such as the shapes and structures of mazescan’t be created gracefully due to the mechaniccharacteristics of algorithms. This study proposed amethod to combine the maze generation algorithm andthe graph patterns designed by designers, in order tomake mazes can be constructed not only automaticallybut also creatively

    Characterization and Coherent Spin Selective Manipulation of Quantum Dot Energy Levels

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    Semiconductor quantum dots (QDs) are promising candidates to fulfill a wide range of applications in real-world quantum computing, communication, and networks. Their excellent optical properties such as high brightness, single-photon purity, and narrow linewidths show potential utility in many areas. In order to realize long term goals of integration into complex and scalable quantum information systems, many current challenges must be overcome. One of these challenges is accomplishment of all necessary computing operations within a QD, which might be enabled by coherent manipulation of single QD energy level structures. In the realm of scalability for quantum devices, a way to address problems posed by the inhomogeneous distribution of individual QD spectral properties is necessary. This dissertation presents record large AC Stark shifts applied to the energy level structure of a single semiconductor QD, as well as an automated spectroscopy method for efficient characterization of many QDs. The AC Stark shifts are spin-selective and fast, which are highly desirable qualities in a mechanism for energy level reconfiguration. The AC stark shifts are measured by resonant excitation spectroscopy; a coherent technique which explicitly shows the change in energetic structure. A novel optical filtering scheme is developed to discriminate the high-powered laser inducing the shifts from the weak QD photoluminescence, and a polarimeter device is constructed to accurately measure the polarization state of a laser beam. Machine vision is used to automate spectroscopy of many QDs in bulk by acquiring high-resolution emission spectra, which allows characterization of individual QD energy level structures prior to device fabrication

    Quasiconvex Programming

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    We define quasiconvex programming, a form of generalized linear programming in which one seeks the point minimizing the pointwise maximum of a collection of quasiconvex functions. We survey algorithms for solving quasiconvex programs either numerically or via generalizations of the dual simplex method from linear programming, and describe varied applications of this geometric optimization technique in meshing, scientific computation, information visualization, automated algorithm analysis, and robust statistics.Comment: 33 pages, 14 figure

    Traveling Salesman Problem

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    This book is a collection of current research in the application of evolutionary algorithms and other optimal algorithms to solving the TSP problem. It brings together researchers with applications in Artificial Immune Systems, Genetic Algorithms, Neural Networks and Differential Evolution Algorithm. Hybrid systems, like Fuzzy Maps, Chaotic Maps and Parallelized TSP are also presented. Most importantly, this book presents both theoretical as well as practical applications of TSP, which will be a vital tool for researchers and graduate entry students in the field of applied Mathematics, Computing Science and Engineering
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