40,353 research outputs found
Procedural function-based modelling of volumetric microstructures
We propose a new approach to modelling heterogeneous objects containing internal volumetric structures with size of details orders of magnitude smaller than the overall size of the object. The proposed function-based procedural representation provides compact, precise, and arbitrarily parameterised models of coherent microstructures, which can undergo blending, deformations, and other geometric operations, and can be directly rendered and fabricated without generating any auxiliary representations (such as polygonal meshes and voxel arrays). In particular, modelling of regular lattices and cellular microstructures as well as irregular porous media is discussed and illustrated. We also present a method to estimate parameters of the given model by fitting it to microstructure data obtained with magnetic resonance imaging and other measurements of natural and artificial objects. Examples of rendering and digital fabrication of microstructure models are presented
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
BSP-fields: An Exact Representation of Polygonal Objects by Differentiable Scalar Fields Based on Binary Space Partitioning
The problem considered in this work is to find a dimension independent algorithm for the generation of signed scalar fields exactly representing polygonal objects and satisfying the following requirements: the defining real function takes zero value exactly at the polygonal object boundary; no extra zero-value isosurfaces should be generated; C1 continuity of the function in the entire domain. The proposed algorithms are based on the binary space partitioning (BSP) of the object by the planes passing through the polygonal faces and are independent of the object genus, the number of disjoint components, and holes in the initial polygonal mesh. Several extensions to the basic algorithm are proposed to satisfy the selected optimization criteria. The generated BSP-fields allow for applying techniques of the function-based modeling to already existing legacy objects from CAD and computer animation areas, which is illustrated by several examples
From 3D Models to 3D Prints: an Overview of the Processing Pipeline
Due to the wide diffusion of 3D printing technologies, geometric algorithms
for Additive Manufacturing are being invented at an impressive speed. Each
single step, in particular along the Process Planning pipeline, can now count
on dozens of methods that prepare the 3D model for fabrication, while analysing
and optimizing geometry and machine instructions for various objectives. This
report provides a classification of this huge state of the art, and elicits the
relation between each single algorithm and a list of desirable objectives
during Process Planning. The objectives themselves are listed and discussed,
along with possible needs for tradeoffs. Additive Manufacturing technologies
are broadly categorized to explicitly relate classes of devices and supported
features. Finally, this report offers an analysis of the state of the art while
discussing open and challenging problems from both an academic and an
industrial perspective.Comment: European Union (EU); Horizon 2020; H2020-FoF-2015; RIA - Research and
Innovation action; Grant agreement N. 68044
Anticipating Daily Intention using On-Wrist Motion Triggered Sensing
Anticipating human intention by observing one's actions has many
applications. For instance, picking up a cellphone, then a charger (actions)
implies that one wants to charge the cellphone (intention). By anticipating the
intention, an intelligent system can guide the user to the closest power
outlet. We propose an on-wrist motion triggered sensing system for anticipating
daily intentions, where the on-wrist sensors help us to persistently observe
one's actions. The core of the system is a novel Recurrent Neural Network (RNN)
and Policy Network (PN), where the RNN encodes visual and motion observation to
anticipate intention, and the PN parsimoniously triggers the process of visual
observation to reduce computation requirement. We jointly trained the whole
network using policy gradient and cross-entropy loss. To evaluate, we collect
the first daily "intention" dataset consisting of 2379 videos with 34
intentions and 164 unique action sequences. Our method achieves 92.68%, 90.85%,
97.56% accuracy on three users while processing only 29% of the visual
observation on average
Query processing of spatial objects: Complexity versus Redundancy
The management of complex spatial objects in applications, such as geography and cartography,
imposes stringent new requirements on spatial database systems, in particular on efficient
query processing. As shown before, the performance of spatial query processing can be improved
by decomposing complex spatial objects into simple components. Up to now, only decomposition
techniques generating a linear number of very simple components, e.g. triangles or trapezoids, have
been considered. In this paper, we will investigate the natural trade-off between the complexity of
the components and the redundancy, i.e. the number of components, with respect to its effect on
efficient query processing. In particular, we present two new decomposition methods generating
a better balance between the complexity and the number of components than previously known
techniques. We compare these new decomposition methods to the traditional undecomposed representation
as well as to the well-known decomposition into convex polygons with respect to their
performance in spatial query processing. This comparison points out that for a wide range of query
selectivity the new decomposition techniques clearly outperform both the undecomposed representation
and the convex decomposition method. More important than the absolute gain in performance
by a factor of up to an order of magnitude is the robust performance of our new decomposition
techniques over the whole range of query selectivity
A Flexible Patch-Based Lattice Boltzmann Parallelization Approach for Heterogeneous GPU-CPU Clusters
Sustaining a large fraction of single GPU performance in parallel
computations is considered to be the major problem of GPU-based clusters. In
this article, this topic is addressed in the context of a lattice Boltzmann
flow solver that is integrated in the WaLBerla software framework. We propose a
multi-GPU implementation using a block-structured MPI parallelization, suitable
for load balancing and heterogeneous computations on CPUs and GPUs. The
overhead required for multi-GPU simulations is discussed in detail and it is
demonstrated that the kernel performance can be sustained to a large extent.
With our GPU implementation, we achieve nearly perfect weak scalability on
InfiniBand clusters. However, in strong scaling scenarios multi-GPUs make less
efficient use of the hardware than IBM BG/P and x86 clusters. Hence, a cost
analysis must determine the best course of action for a particular simulation
task. Additionally, weak scaling results of heterogeneous simulations conducted
on CPUs and GPUs simultaneously are presented using clusters equipped with
varying node configurations.Comment: 20 pages, 12 figure
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