New Results on Triangulation, Polynomial Equation Solving and Their Application in Global Localization

This thesis addresses the problem of global localization from images. The overall goal is to find the location and the direction of a camera given an image taken with the camera relative a 3D world model. In order to solve the problem several subproblems have to be handled. The two main steps for constructing a system for global localization consist of model building and localization. For the model construction phase we give a new method for triangulation that guarantees that the globally optimal position is attained under the assumption of Gaussian noise in the image measurements. A common framework for the triangulation of points, lines and conics is presented. The second contribution of the thesis is in the field of solving systems of polynomial equations. Many problems in geometrical computer vision lead to computing the real roots of a system of polynomial equations, and several such geometry problems appear in the localization problem. The method presented in the thesis gives a significant improvement in the numerics when Gröbner basis methods are applied. Such methods are often plagued by numerical problems, but by using the fact that the complete Gröbner basis is not needed, the numerics can be improved. In the final part of the thesis we present several new minimal, geometric problems that have not been solved previously. These minimal cases make use of both two and three dimensional correspondences at the same time. The solutions to these minimal problems form the basis of a localization system which aims at improving robustness compared to the state of the art

Operator bases, SS-matrices, and their partition functions

Relativistic quantum systems that admit scattering experiments are quantitatively described by effective field theories, where $S$-matrix kinematics and symmetry considerations are encoded in the operator spectrum of the EFT. In this paper we use the $S$-matrix to derive the structure of the EFT operator basis, providing complementary descriptions in (i) position space utilizing the conformal algebra and cohomology and (ii) momentum space via an algebraic formulation in terms of a ring of momenta with kinematics implemented as an ideal. These frameworks systematically handle redundancies associated with equations of motion (on-shell) and integration by parts (momentum conservation). We introduce a partition function, termed the Hilbert series, to enumerate the operator basis--correspondingly, the $S$-matrix--and derive a matrix integral expression to compute the Hilbert series. The expression is general, easily applied in any spacetime dimension, with arbitrary field content and (linearly realized) symmetries. In addition to counting, we discuss construction of the basis. Simple algorithms follow from the algebraic formulation in momentum space. We explicitly compute the basis for operators involving up to $n=5$ scalar fields. This construction universally applies to fields with spin, since the operator basis for scalars encodes the momentum dependence of $n$-point amplitudes. We discuss in detail the operator basis for non-linearly realized symmetries. In the presence of massless particles, there is freedom to impose additional structure on the $S$-matrix in the form of soft limits. The most na\"ive implementation for massless scalars leads to the operator basis for pions, which we confirm using the standard CCWZ formulation for non-linear realizations.Comment: 75 pages plus appendice

A new construction of Calabi-Yau manifolds: Generalized CICYs

We present a generalization of the complete intersection in products of projective space (CICY) construction of Calabi-Yau manifolds. CICY three-folds and four-folds have been studied extensively in the physics literature. Their utility stems from the fact that they can be simply described in terms of a 'configuration matrix', a matrix of integers from which many of the details of the geometries can be easily extracted. The generalization we present is to allow negative integers in the configuration matrices which were previously taken to have positive semi-definite entries. This broadening of the complete intersection construction leads to a larger class of Calabi Yau manifolds than that considered in previous work, which nevertheless enjoys much of the same degree of calculational control. These new Calabi Yau manifolds are complete intersections in (not necessarily Fano) ambient spaces with an effective anticanonical class. We find examples with topology distinct from any that has appeared in the literature to date. The new manifolds thus obtained have many interesting features. For example, they can have smaller Hodge numbers than ordinary CICYs and lead to many examples with elliptic and K3-fibration structures relevant to F-theory and string dualities. (C) 2016 The Authors. Published by Elsevier B.V

Modular and Analytical Methods for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots

While serial robots are known for their versatility in applications, larger workspace, simpler modeling and control, they have certain disadvantages like limited precision, lower stiffness and poor dynamic characteristics in general. A parallel robot can offer higher stiffness, speed, accuracy and payload capacity, at the downside of a reduced workspace and a more complex geometry that needs careful analysis and control. To bring the best of the two worlds, parallel submechanism modules can be connected in series to achieve a series-parallel hybrid robot with better dynamic characteristics and larger workspace. Such a design philosophy is being used in several robots not only at DFKI (for e.g., Mantis, Charlie, Recupera Exoskeleton, RH5 humanoid etc.) but also around the world, for e.g. Lola (TUM), Valkyrie (NASA), THOR (Virginia Tech.) etc.These robots inherit the complexity of both serial and parallel architectures. Hence, solving their kinematics and dynamics is challenging because they are subjected to additional geometric loop closure constraints. Most approaches in multi-body dynamics adopt numerical resolution of these constraints for the sake of generality but may suffer from inaccuracy and performance issues. They also do not exploit the modularity in robot design. Further, closed loop systems can have variable mobility, different assembly modes and can impose redundant constraints on the equations of motion which deteriorates the quality of many multi-body dynamics solvers. Very often only a local view to the system behavior is possible. Hence, it is interesting for geometers or kinematics researchers, to study the analytical solutions to geometric problems associated with a specific type of parallel mechanism and their importance over numerical solutions is irrefutable. Techniques such as screw theory, computational algebraic geometry, elimination and continuation methods are popular in this domain. But this domain specific knowledge is often underrepresented in the design of model based kinematics and dynamics software frameworks. The contributions of this thesis are two-fold. Firstly, a rigorous and comprehensive kinematic analysis is performed for the novel parallel mechanisms invented recently at DFKI-RIC such as RH5 ankle mechanism and Active Ankle using approaches from computational algebraic geometry and screw theory. Secondly, the general idea of a modular software framework called Hybrid Robot Dynamics (HyRoDyn) is presented which can be used to solve the geometry, kinematics and dynamics of series-parallel hybrid robotic systems with the help of a software database which stores the analytical solutions for parallel submechanism modules in a configurable and unit testable manner. HyRoDyn approach is suitable for both high fidelity simulations and real-time control of complex series-parallel hybrid robots. The results from this thesis has been applied to two robotic systems namely Recupera-Reha exoskeleton and RH5 humanoid. The aim of this software tool is to assist both designers and control engineers in developing complex robotic systems of the future. Efficient kinematic and dynamic modeling can lead to more compliant behavior, better whole body control, walking and manipulating capabilities etc. which are highly desired in the present day and future robotic applications

Moduli spaces of gauge theories in 3 dimensions.

The objective of this thesis is to study the moduli spaces of pairs of mirror theories in 3 dimensions with N = 4. The original conjecture of 3d mirror symmetry was motivated by the fact that in these pairs of theories the Higgs and Coulomb branches are swapped. After a brief introduction to supersymmetry we will first focus on the Higgs branch. This will be investigated through the Hilbert series and the plethystic program. The methods used for the Higgs branch are very well known in literature, more difficult is the case of the Coulomb branch since it receives quantum corrections. We will explain how it is parametrized in term of monopole operators and having both Higgs and Coulomb branches for theories with different gauge groups we will be able to show how mirror symmetry works in the case of ADE theories. We will show in which cases these Yang- Mills vacua are equivalent to one instanton moduli spaces.ope

Computer Science for Continuous Data:Survey, Vision, Theory, and Practice of a Computer Analysis System

Building on George Boole's work, Logic provides a rigorous foundation for the powerful tools in Computer Science that underlie nowadays ubiquitous processing of discrete data, such as strings or graphs. Concerning continuous data, already Alan Turing had applied "his" machines to formalize and study the processing of real numbers: an aspect of his oeuvre that we transform from theory to practice.The present essay surveys the state of the art and envisions the future of Computer Science for continuous data: natively, beyond brute-force discretization, based on and guided by and extending classical discrete Computer Science, as bridge between Pure and Applied Mathematics

Artin Approximation

In 1968, M. Artin proved that any formal power series solution of a system of analytic equations may be approximated by convergent power series solutions. Motivated by this result and a similar result of P{\l}oski, he conjectured that this remains true when the ring of convergent power series is replaced by a more general kind of ring. This paper presents the state of the art on this problem, aimed at non-experts.Comment: Final versio