Deformable Prototypes for Encoding Shape Categories in Image Databases

We describe a method for shape-based image database search that uses deformable prototypes to represent categories. Rather than directly comparing a candidate shape with all shape entries in the database, shapes are compared in terms of the types of nonrigid deformations (differences) that relate them to a small subset of representative prototypes. To solve the shape correspondence and alignment problem, we employ the technique of modal matching, an information-preserving shape decomposition for matching, describing, and comparing shapes despite sensor variations and nonrigid deformations. In modal matching, shape is decomposed into an ordered basis of orthogonal principal components. We demonstrate the utility of this approach for shape comparison in 2-D image databases.Office of Naval Research (Young Investigator Award N00014-06-1-0661

Trajectory Deformations from Physical Human-Robot Interaction

Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that---despite provisions for the human to modify the robot's current trajectory---the human cannot affect the robot's future desired trajectory through pHRI. In this paper, we present an algorithm for physically interactive trajectory deformations which, when combined with impedance control, allows the human to modulate both the actual and desired trajectories of the robot. Unlike related works, our method explicitly deforms the future desired trajectory based on forces applied during pHRI, but does not require constant human guidance. We present our approach and verify that this method is compatible with traditional impedance control. Next, we use constrained optimization to derive the deformation shape. Finally, we describe an algorithm for real time implementation, and perform simulations to test the arbitration parameters. Experimental results demonstrate reduction in the human's effort and improvement in the movement quality when compared to pHRI with impedance control alone

Four New Capabilities in NASTRAN for Dynamic and Aeroelastic Analyses of Rotating Cyclic Structures

Static aerothermoelastic design/analysis of axial-flow compressors, modal flutter analysis of axial-flow turbomachines, forced vibration analysis of rotating cyclic structures and modal flutter analysis of advanced turbopropellers with highly swept blades are four new capabilities developed and implemented in NASTRAN Level 17.7. The contents, applicability and usefulness of these capabilities which were developed and documented under the sponsorship of NASA's Lewis Research Center are discussed. Overall flowcharts and selected examples are presented

Space-time editing of elastic motion through material optimization and reduction

We present a novel method for elastic animation editing with space-time constraints. In a sharp departure from previous approaches, we not only optimize control forces added to a linearized dynamic model, but also optimize material properties to better match user constraints and provide plausible and consistent motion. Our approach achieves efficiency and scalability by performing all computations in a reduced rotation-strain (RS) space constructed with both cubature and geometric reduction, leading to two orders of magnitude improvement over the original RS method. We demonstrate the utility and versatility of our method in various applications, including motion editing, pose interpolation, and estimation of material parameters from existing animation sequences

Calipso: Physics-based Image and Video Editing through CAD Model Proxies

We present Calipso, an interactive method for editing images and videos in a physically-coherent manner. Our main idea is to realize physics-based manipulations by running a full physics simulation on proxy geometries given by non-rigidly aligned CAD models. Running these simulations allows us to apply new, unseen forces to move or deform selected objects, change physical parameters such as mass or elasticity, or even add entire new objects that interact with the rest of the underlying scene. In Calipso, the user makes edits directly in 3D; these edits are processed by the simulation and then transfered to the target 2D content using shape-to-image correspondences in a photo-realistic rendering process. To align the CAD models, we introduce an efficient CAD-to-image alignment procedure that jointly minimizes for rigid and non-rigid alignment while preserving the high-level structure of the input shape. Moreover, the user can choose to exploit image flow to estimate scene motion, producing coherent physical behavior with ambient dynamics. We demonstrate Calipso's physics-based editing on a wide range of examples producing myriad physical behavior while preserving geometric and visual consistency.Comment: 11 page

Lithospheric 3D gravity modelling using upper-mantle density constraints: Towards a characterization of the crustal configuration in the North Patagonian Massif area, Argentina

The North Patagonian Massif is an Argentinean plateau that has an average height of 1200 m and stands from 500 to 700 m above the neighboring areas. During Paleogene, it suffered a sudden uplift of more than 1200 m without noticeable internal deformation; thus, it could be related to isostatic disequilibrium. To shed light on the geodynamic development of the area it is necessary to characterize the present-day configuration of the crust. In this study, a lithospheric-scale 3D density model was developed by integrating all the available data of the area with the objective of assessing the depth of the crust–mantle discontinuity (Moho). During the construction of the initial density model, we tested different mantle density scenarios obtained using P- and S-wave velocities from tomographic models, converting them into densities and comparing the conversions with densities obtained from xenoliths. Below the North Patagonian Massif plateau, we have derived a Moho depth between 40 and 50 km which is from 2 to 7 km deeper than its surroundings. There is an evident correlation between high topography and deep Moho that would indicate isostatic equilibrium at present. The model results provide a new approach to the Moho depth in an area where there is no seismic constraining information about this discontinuity. In addition, we found a spatial correlation between the variation of the mean crustal density and the location of the Paleozoic terranes that were proposed to constitute the basement of Argentina.Fil: Gómez Dacal, María Laura. Universidad Nacional de La Plata. Facultad de Ciencias Astronómicas y Geofísicas. Departamento de Gravimetría; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Tocho, Claudia. Universidad Nacional de La Plata. Facultad de Ciencias Astronómicas y Geofísicas. Departamento de Gravimetría; Argentina. Comisión de Investigaciones Científicas de la Provincia de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Aragon, Eugenio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Centro de Investigaciones Geológicas. Universidad Nacional de La Plata. Facultad de Ciencias Naturales y Museo. Centro de Investigaciones Geológicas; ArgentinaFil: Sippel, Judith. Universitat Potsdam; AlemaniaFil: Scheck Wenderoth, Magdalena. German Research Centre for Geosciences; AlemaniaFil: Ponce, Alexis Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Ciencias de la Tierra y Ambientales de La Pampa. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Instituto de Ciencias de la Tierra y Ambientales de La Pampa; Argentin