Development and Specification of Virtual Environments

This thesis concerns the issues involved in the development of virtual environments (VEs). VEs are more than virtual reality. We identify four main characteristics of them: graphical interaction, multimodality, interface agents, and multi-user. These characteristics are illustrated with an overview of different classes of VE-like applications, and a number of state-of-the-art VEs. To further define the topic of research, we propose a general framework for VE systems development, in which we identify five major classes of development tools: methodology, guidelines, design specification, analysis, and development environments. Of each, we give an overview of existing best practices

Interim research assessment 2003-2005 - Computer Science

This report primarily serves as a source of information for the 2007 Interim Research Assessment Committee for Computer Science at the three technical universities in the Netherlands. The report also provides information for others interested in our research activities

Actas do 10º Encontro Português de Computação Gráfica

Actas do 10º Encontro Portugês de Computação Gráfica, Lisboa, 1-3 de Outubro de 2001A investigação, o desenvolvimento e o ensino na área da Computação Gráfica constituem, em Portugal, uma realidade positiva e de largas tradições. O Encontro Português de Computação Gráfica (EPCG), realizado no âmbito das actividades do Grupo Português de Computação Gráfica (GPCG), tem permitido reunir regularmente, desde o 1º EPCG realizado também em Lisboa, mas no já longínquo mês de Julho de 1988, todos os que trabalham nesta área abrangente e com inúmeras aplicações. Pela primeira vez no historial destes Encontros, o 10º EPCG foi organizado em ligação estreita com as comunidades do Processamento de Imagem e da Visão por Computador, através da Associação Portuguesa de Reconhecimento de Padrões (APRP), salientando-se, assim, a acrescida colaboração, e a convergência, entre essas duas áreas e a Computação Gráfica. Este é o livro de actas deste 10º EPCG.INSATUniWebIcep PortugalMicrografAutodes

Técnicas de coste reducido para el posicionamiento del paciente en radioterapia percutánea utilizando un sistema de imágenes ópticas

Patient positioning is an important part of radiation therapy which is one of the main solutions for the treatment of malignant tissue in the human body. Currently, the most common patient positioning methods expose healthy tissue of the patient's body to extra dangerous radiations. Other non-invasive positioning methods are either not very accurate or are very costly for an average hospital. In this thesis, we explore the possibility of developing a system comprised of affordable hardware and advanced computer vision algorithms that facilitates patient positioning. Our algorithms are based on the usage of affordable RGB-D sensors, image features, ArUco planar markers, and other geometry registration methods. Furthermore, we take advantage of consumer-level computing hardware to make our systems widely accessible. More specifically, we avoid the usage of approaches that need to take advantage of dedicated GPU hardware for general-purpose computing since they are more costly. In different publications, we explore the usage of the mentioned tools to increase the accuracy of reconstruction/localization of the patient in its pose. We also take into account the visualization of the patient's target position with respect to their current position in order to assist the person who performs patient positioning. Furthermore, we make usage of augmented reality in conjunction with a real-time 3D tracking algorithm for better interaction between the program and the operator. We also solve more fundamental problems about ArUco markers that could be used in the future to improve our systems. These include highquality multi-camera calibration and mapping using ArUco markers plus detection of these markers in event cameras which are very useful in the presence of fast camera movement. In the end, we conclude that it is possible to increase the accuracy of 3D reconstruction and localization by combining current computer vision algorithms with fiducial planar markers with RGB-D sensors. This is reflected in the low amount of error we have achieved in our experiments for patient positioning, pushing forward the state of the art for this application.En el tratamiento de tumores malignos en el cuerpo, el posicionamiento del paciente en las sesiones de radioterapia es una cuestión crucial. Actualmente, los métodos más comunes de posicionamiento del paciente exponen tejido sano del mismo a radiaciones peligrosas debido a que no es posible asegurar que la posición del paciente siempre sea la misma que la que tuvo cuando se planificó la zona a radiar. Los métodos que se usan actualmente, o no son precisos o tienen costes que los hacen inasequibles para ser usados en hospitales con financiación limitada. En esta Tesis hemos analizado la posibilidad de desarrollar un sistema compuesto por hardware de bajo coste y métodos avanzados de visión por ordenador que ayuden a que el posicionamiento del paciente sea el mismo en las diferentes sesiones de radioterapia, con respecto a su pose cuando fue se planificó la zona a radiar. La solución propuesta como resultado de la Tesis se basa en el uso de sensores RGB-D, características extraídas de la imagen, marcadores cuadrados denominados ArUco y métodos de registro de la geometría en la imagen. Además, en la solución propuesta, se aprovecha la existencia de hardware convencional de bajo coste para hacer nuestro sistema ampliamente accesible. Más específicamente, evitamos el uso de enfoques que necesitan aprovechar GPU, de mayores costes, para computación de propósito general. Se han obtenido diferentes publicaciones para conseguir el objetivo final. Las mismas describen métodos para aumentar la precisión de la reconstrucción y la localización del paciente en su pose, teniendo en cuenta la visualización de la posición ideal del paciente con respecto a su posición actual, para ayudar al profesional que realiza la colocación del paciente. También se han propuesto métodos de realidad aumentada junto con algoritmos para seguimiento 3D en tiempo real para conseguir una mejor interacción entre el sistema ideado y el profesional que debe realizar esa labor. De forma añadida, también se han propuesto soluciones para problemas fundamentales relacionados con el uso de marcadores cuadrados que han sido utilizados para conseguir el objetivo de la Tesis. Las soluciones propuestas pueden ser empleadas en el futuro para mejorar otros sistemas. Los problemas citados incluyen la calibración y el mapeo multicámara de alta calidad utilizando los marcadores y la detección de estos marcadores en cámaras de eventos, que son muy útiles en presencia de movimientos rápidos de la cámara. Al final, concluimos que es posible aumentar la precisión de la reconstrucción y localización en 3D combinando los actuales algoritmos de visión por ordenador, que usan marcadores cuadrados de referencia, con sensores RGB-D. Los resultados obtenidos con respecto al error que el sistema obtiene al reproducir el posicionamiento del paciente suponen un importante avance en el estado del arte de este tópico

Spatial CPU-GPU data structures for interactive rendering of large particle data

In this work, I investigate the interactive visualization of arbitrarily large particle data sets which ft into system memory, but not into GPU memory. With conventional rendering techniques, interactivity of visualizations is drastically reduced when rendering tens- or hundreds of millions of objects. At the same time, graphics hardware memory capabilities limit the size of data sets which can be placed in GPU memory for rendering. To circumvent these obstacles, a progressive rendering approach is employed, which gradually streams and renders all particle data to the GPU without reducing or altering the particle data itself. The particle data is rendered according to a visibility sorting derived from occlusion relations between different parts of the data set, leading to a rendering order of scene contents guided by importance for the rendered image. I analyze and compare possible implementation choices for rendering particles as opaque spheres in OpenGL, which forms the basis of the particle rendering application developed within this work. The application utilizes a multi-threaded architecture, where data preprocessing on a CPU-thread and a rendering algorithm on a GPU-thread ensure that the user can interact with the application at any time. In particular it is guaranteed that the user can explore the particle data interactively, by ensuring minimal latency from user input to seeing the effects of that input. This is achieved by favoring user inputs over completeness of the rendered image at all stages during rendering. At the same time the user is provided with an immediate feedback about interactions by re-projecting all currently visible particles to the next rendered image. The re-projection is realized with an on-GPU particle-cache of visible particles that is built during particle data streaming and rendering, and drawn upon user interaction using the most recent camera confguration according to user inputs. The combination of the developed techniques allows interactive exploration of particle data sets with up to 1.5 billion particles on a commodity computer.In dieser Arbeit wird die interaktive Visualisierung beliebig großer Partikeldaten untersucht, wobei die Partikeldaten im Arbeitsspeicher hinterlegt sind, aber nicht zwangsläufig in den Grafikspeicher passen. Mit üblichen Rendering Methoden büßen Visualisierungen drastisch an Interaktivität ein, wenn mehrere zehn- bis hunderte Millionen Objekte dargestellt werden. Gleichzeitig ist die Größe möglicher zu visualisierender Datensätze begrenzt durch den Videospeicher von Grafikkarten, auf dem zu visualisierende Daten vorliegen müssen. Um diese Einschränkungen zu umgehen, wird in dieser Arbeit ein progressiver Rendering Ansatz verfolgt, der sukzessive alle Partikeldaten zur Grafikkarte hochlädt und rendert, ohne die Partikeldaten zu reduzieren oder anderweitig zu verändern. Die Partikeldaten werden entsprechend einer vorgenommenen Sichtbarkeitssortierung gerendert, die aus gegenseitigen Verdeckungen verschiedener Teile des Partikeldatensatzes berechnet wird. Dies führt dazu, dass Teile der Szene nach ihrer Wichtigkeit für das aktuelle Bild sortiert und dargestellt werden. Es werden verschiedene Möglichkeiten analysiert und verglichen, Partikel als opake Kugeln in OpenGL zu rendern. Dies formt die Grundlage für die Partikel-Rendering Software, die in dieser Arbeit entwickelt wurde. Die Architektur der Rendering-Software benutzt mehrere Threads, sodass durch eine Daten-Vorverarbeitung auf einem CPUThread und durch Rendering-Algorithmen auf einem GPU-Thread sichergestellt ist, dass der Benutzer mit der Software jederzeit interagieren kann. Insbesondere ist sichergestellt, dass der Benutzer die Partikeldaten interaktiv untersuchen kann, indem die Latenz zwischen Benutzereingaben und dem Anzeigen der daraus resultierenden Veränderungen minimal gehalten wird. Dies wird erreicht indem der Verarbeitung von Benutzereingaben an allen Stellen des Rendering-Prozesses höhere Priorität eingeräumt wird als der Vollständigkeit des gerenderten Bildes. Gleichzeitig wird dem Benutzer eine sofortige Rückmeldung über getätigte Benutzereingaben gegeben, indem alle sichtbaren Partikel in das nächste gerenderte Bild neu projeziert werden. Diese Neu-Projektion wird durch einen GPU-seitigen Partikel-Cache aller aktuell sichtbaren Partikel realisiert, der während des sukzessiven Partikelstreamings und -renderns aufgebaut wird. Sobald der Benutzer eine Eingabe tätigt, wird der auf der GPU liegende Partikel-Cache unter der aktuellsten benutzerdefinierten Kameraposition neu gerendert. Die Kombination dieser entwickelten Methoden erlaubt ein interaktives Betrachten von Partikeldaten mit bis zu 1,5 Milliarden Partikeln auf einem handelsüblichen Computer

A Field Guide to Genetic Programming

xiv, 233 p. : il. ; 23 cm.Libro ElectrónicoA Field Guide to Genetic Programming (ISBN 978-1-4092-0073-4) is an introduction to genetic programming (GP). GP is a systematic, domain-independent method for getting computers to solve problems automatically starting from a high-level statement of what needs to be done. Using ideas from natural evolution, GP starts from an ooze of random computer programs, and progressively refines them through processes of mutation and sexual recombination, until solutions emerge. All this without the user having to know or specify the form or structure of solutions in advance. GP has generated a plethora of human-competitive results and applications, including novel scientific discoveries and patentable inventions. The authorsIntroduction -- Representation, initialisation and operators in Tree-based GP -- Getting ready to run genetic programming -- Example genetic programming run -- Alternative initialisations and operators in Tree-based GP -- Modular, grammatical and developmental Tree-based GP -- Linear and graph genetic programming -- Probalistic genetic programming -- Multi-objective genetic programming -- Fast and distributed genetic programming -- GP theory and its applications -- Applications -- Troubleshooting GP -- Conclusions.Contents xi 1 Introduction 1.1 Genetic Programming in a Nutshell 1.2 Getting Started 1.3 Prerequisites 1.4 Overview of this Field Guide I Basics 2 Representation, Initialisation and GP 2.1 Representation 2.2 Initialising the Population 2.3 Selection 2.4 Recombination and Mutation Operators in Tree-based 3 Getting Ready to Run Genetic Programming 19 3.1 Step 1: Terminal Set 19 3.2 Step 2: Function Set 20 3.2.1 Closure 21 3.2.2 Sufficiency 23 3.2.3 Evolving Structures other than Programs 23 3.3 Step 3: Fitness Function 24 3.4 Step 4: GP Parameters 26 3.5 Step 5: Termination and solution designation 27 4 Example Genetic Programming Run 4.1 Preparatory Steps 29 4.2 Step-by-Step Sample Run 31 4.2.1 Initialisation 31 4.2.2 Fitness Evaluation Selection, Crossover and Mutation Termination and Solution Designation Advanced Genetic Programming 5 Alternative Initialisations and Operators in 5.1 Constructing the Initial Population 5.1.1 Uniform Initialisation 5.1.2 Initialisation may Affect Bloat 5.1.3 Seeding 5.2 GP Mutation 5.2.1 Is Mutation Necessary? 5.2.2 Mutation Cookbook 5.3 GP Crossover 5.4 Other Techniques 32 5.5 Tree-based GP 39 6 Modular, Grammatical and Developmental Tree-based GP 47 6.1 Evolving Modular and Hierarchical Structures 47 6.1.1 Automatically Defined Functions 48 6.1.2 Program Architecture and Architecture-Altering 50 6.2 Constraining Structures 51 6.2.1 Enforcing Particular Structures 52 6.2.2 Strongly Typed GP 52 6.2.3 Grammar-based Constraints 53 6.2.4 Constraints and Bias 55 6.3 Developmental Genetic Programming 57 6.4 Strongly Typed Autoconstructive GP with PushGP 59 7 Linear and Graph Genetic Programming 61 7.1 Linear Genetic Programming 61 7.1.1 Motivations 61 7.1.2 Linear GP Representations 62 7.1.3 Linear GP Operators 64 7.2 Graph-Based Genetic Programming 65 7.2.1 Parallel Distributed GP (PDGP) 65 7.2.2 PADO 67 7.2.3 Cartesian GP 67 7.2.4 Evolving Parallel Programs using Indirect Encodings 68 8 Probabilistic Genetic Programming 8.1 Estimation of Distribution Algorithms 69 8.2 Pure EDA GP 71 8.3 Mixing Grammars and Probabilities 74 9 Multi-objective Genetic Programming 75 9.1 Combining Multiple Objectives into a Scalar Fitness Function 75 9.2 Keeping the Objectives Separate 76 9.2.1 Multi-objective Bloat and Complexity Control 77 9.2.2 Other Objectives 78 9.2.3 Non-Pareto Criteria 80 9.3 Multiple Objectives via Dynamic and Staged Fitness Functions 80 9.4 Multi-objective Optimisation via Operator Bias 81 10 Fast and Distributed Genetic Programming 83 10.1 Reducing Fitness Evaluations/Increasing their Effectiveness 83 10.2 Reducing Cost of Fitness with Caches 86 10.3 Parallel and Distributed GP are Not Equivalent 88 10.4 Running GP on Parallel Hardware 89 10.4.1 Master–slave GP 89 10.4.2 GP Running on GPUs 90 10.4.3 GP on FPGAs 92 10.4.4 Sub-machine-code GP 93 10.5 Geographically Distributed GP 93 11 GP Theory and its Applications 97 11.1 Mathematical Models 98 11.2 Search Spaces 99 11.3 Bloat 101 11.3.1 Bloat in Theory 101 11.3.2 Bloat Control in Practice 104 III Practical Genetic Programming 12 Applications 12.1 Where GP has Done Well 12.2 Curve Fitting, Data Modelling and Symbolic Regression 12.3 Human Competitive Results – the Humies 12.4 Image and Signal Processing 12.5 Financial Trading, Time Series, and Economic Modelling 12.6 Industrial Process Control 12.7 Medicine, Biology and Bioinformatics 12.8 GP to Create Searchers and Solvers – Hyper-heuristics xiii 12.9 Entertainment and Computer Games 127 12.10The Arts 127 12.11Compression 128 13 Troubleshooting GP 13.1 Is there a Bug in the Code? 13.2 Can you Trust your Results? 13.3 There are No Silver Bullets 13.4 Small Changes can have Big Effects 13.5 Big Changes can have No Effect 13.6 Study your Populations 13.7 Encourage Diversity 13.8 Embrace Approximation 13.9 Control Bloat 13.10 Checkpoint Results 13.11 Report Well 13.12 Convince your Customers 14 Conclusions Tricks of the Trade A Resources A.1 Key Books A.2 Key Journals A.3 Key International Meetings A.4 GP Implementations A.5 On-Line Resources 145 B TinyGP 151 B.1 Overview of TinyGP 151 B.2 Input Data Files for TinyGP 153 B.3 Source Code 154 B.4 Compiling and Running TinyGP 162 Bibliography 167 Inde

An Integrated Formal Task Specification Method for Smart Environments

This thesis is concerned with the development of interactive systems for smart environments. In such scenario different interaction paradigms need to be supported and according methods and development strategies need to be applied to comprise not only explicit interaction (e.g., pressing a button to adjust the light) but also implicit interactions (e.g., walking to the speaker’s desk to give a talk) to assist the user appropriately. A task-based modeling approach is introduced allowing basing the implementing of different interaction paradigms on the same artifact

Declarative Support for Prototyping Interactive Systems

The development of complex, multi-user, interactive systems is a difficult process that requires both a rapid iterative approach, and the ability to reason carefully about system designs. This thesis argues that a combination of declarative prototyping and formal specification provides a suitable way of satisfying these requirements. The focus of this thesis is on the development of software tools for prototyping interactive systems. In particular, it uses a declarative approach, based on the functional programming paradigm. This thesis makes two contributions. The most significant contribution is the presentation of FranTk, a new Graphical User Interface language, embedded in the functional language Haskell. It is suitable for prototyping complex, concurrent, multi-user systems. It allows systems to be built in a high level, structured manner. In particular, it provides good support for specifying real-time properties of such systems. The second contribution is a mechanism that allows a formal specification to be derived from a high level FranTk prototype. The approach allows this to be done automatically. This specification can then be checked, with tool support, to verify some safety properties about a system. To avoid the state space explosion problem that would be faced when verifying an entire system, we focus on partial verification. This concentrates on key areas of a design: in particular this means that we only derive a specification from parts of a prototype. To demonstrate the scalability of both the prototyping and verification approaches, this thesis uses a series of case studies including a multi-user design rationale editor and a prototype data-link Air Traffic Control system