Interactive sketching of urban procedural models

International audience3D modeling remains a notoriously difficult task for novices despite significant research effort to provide intuitive and automated systems. We tackle this problem by combining the strengths of two popular domains: sketch-based modeling and procedural modeling. On the one hand, sketch-based modeling exploits our ability to draw but requires detailed, unambiguous drawings to achieve complex models. On the other hand, procedural modeling automates the creation of precise and detailed geometry but requires the tedious definition and parameterization of procedural models. Our system uses a collection of simple procedural grammars, called snippets, as building blocks to turn sketches into realistic 3D models. We use a machine learning approach to solve the inverse problem of finding the procedural model that best explains a user sketch. We use non-photorealistic rendering to generate artificial data for training con-volutional neural networks capable of quickly recognizing the procedural rule intended by a sketch and estimating its parameters. We integrate our algorithm in a coarse-to-fine urban modeling system that allows users to create rich buildings by successively sketching the building mass, roof, facades, windows, and ornaments. A user study shows that by using our approach non-expert users can generate complex buildings in just a few minutes

Holographic Generative Memory: Neurally Inspired One-Shot Learning with Memory Augmented Neural Networks

Humans quickly parse and categorize stimuli by combining perceptual information and previously learned knowledge. We are capable of learning new information quickly with only a few observations, and sometimes even a single observation. This one-shot learning (OSL) capability is still very difficult to realize in machine learning models. Novelty is commonly thought to be the primary driver for OSL. However, neuroscience literature shows that biological OSL mechanisms are guided by uncertainty, rather than novelty, motivating us to explore this idea for machine learning. In this work, we investigate OSL for neural networks using more robust compositional knowledge representations and a biologically inspired uncertainty mechanism to modulate the rate of learning. We introduce several new neural network models that combine Holographic Reduced Representation (HRR) and Variational Autoencoders. Extending these new models culminates in the Holographic Generative Memory (HGMEM) model. HGMEM is a novel unsupervised memory augmented neural network. It offers solutions to many of the practical drawbacks associated with HRRs while also providing storage, recall, and generation of latent compositional knowledge representations. Uncertainty is measured as a native part of HGMEM operation by applying trained probabilistic dropout to fully-connected layers. During training, the learning rate is modulated using these uncertainty measurements in a manner inspired by our motivating neuroscience mechanism for OSL. Model performance is demonstrated on several image datasets with experiments that reflect our theoretical approach

Visual Techniques for Geological Fieldwork Using Mobile Devices

Visual techniques in general and 3D visualisation in particular have seen considerable adoption within the last 30 years in the geosciences and geology. Techniques such as volume visualisation, for analysing subsurface processes, and photo-coloured LiDAR point-based rendering, to digitally explore rock exposures at the earth’s surface, were applied within geology as one of the first adopting branches of science. A large amount of digital, geological surface- and volume data is nowadays available to desktop-based workflows for geological applications such as hydrocarbon reservoir exploration, groundwater modelling, CO2 sequestration and, in the future, geothermal energy planning. On the other hand, the analysis and data collection during fieldwork has yet to embrace this ”digital revolution”: sedimentary logs, geological maps and stratigraphic sketches are still captured in each geologist’s individual fieldbook, and physical rocks samples are still transported to the lab for subsequent analysis. Is this still necessary, or are there extended digital means of data collection and exploration in the field ? Are modern digital interpretation techniques accurate and intuitive enough to relevantly support fieldwork in geology and other geoscience disciplines ? This dissertation aims to address these questions and, by doing so, close the technological gap between geological fieldwork and office workflows in geology. The emergence of mobile devices and their vast array of physical sensors, combined with touch-based user interfaces, high-resolution screens and digital cameras provide a possible digital platform that can be used by field geologists. Their ubiquitous availability increases the chances to adopt digital workflows in the field without additional, expensive equipment. The use of 3D data on mobile devices in the field is furthered by the availability of 3D digital outcrop models and the increasing ease of their acquisition. This dissertation assesses the prospects of adopting 3D visual techniques and mobile devices within field geology. The research of this dissertation uses previously acquired and processed digital outcrop models in the form of textured surfaces from optical remote sensing and photogrammetry. The scientific papers in this thesis present visual techniques and algorithms to map outcrop photographs in the field directly onto the surface models. Automatic mapping allows the projection of photo interpretations of stratigraphy and sedimentary facies on the 3D textured surface while providing the domain expert with simple-touse, intuitive tools for the photo interpretation itself. The developed visual approach, combining insight from all across the computer sciences dealing with visual information, merits into the mobile device Geological Registration and Interpretation Toolset (GRIT) app, which is assessed on an outcrop analogue study of the Saltwick Formation exposed at Whitby, North Yorkshire, UK. Although being applicable to a diversity of study scenarios within petroleum geology and the geosciences, the particular target application of the visual techniques is to easily provide field-based outcrop interpretations for subsequent construction of training images for multiple point statistics reservoir modelling, as envisaged within the VOM2MPS project. Despite the success and applicability of the visual approach, numerous drawbacks and probable future extensions are discussed in the thesis based on the conducted studies. Apart from elaborating on more obvious limitations originating from the use of mobile devices and their limited computing capabilities and sensor accuracies, a major contribution of this thesis is the careful analysis of conceptual drawbacks of established procedures in modelling, representing, constructing and disseminating the available surface geometry. A more mathematically-accurate geometric description of the underlying algebraic surfaces yields improvements and future applications unaddressed within the literature of geology and the computational geosciences to this date. Also, future extensions to the visual techniques proposed in this thesis allow for expanded analysis, 3D exploration and improved geological subsurface modelling in general.publishedVersio

A Dynamical System-based Approach to Modeling Stable Robot Control Policies via Imitation Learning

Despite tremendous advances in robotics, we are still amazed by the proficiency with which humans perform movements. Even new waves of robotic systems still rely heavily on hardcoded motions with a limited ability to react autonomously and robustly to a dynamically changing environment. This thesis focuses on providing possible mechanisms to push the level of adaptivity, reactivity, and robustness of robotic systems closer to human movements. Specifically, it aims at developing these mechanisms for a subclass of robot motions called “reaching movements”, i.e. movements in space stopping at a given target (also referred to as episodic motions, discrete motions, or point-to-point motions). These reaching movements can then be used as building blocks to form more advanced robot tasks. To achieve a high level of proficiency as described above, this thesis particularly seeks to derive control policies that: 1) resemble human motions, 2) guarantee the accomplishment of the task (if the target is reachable), and 3) can instantly adapt to changes in dynamic environments. To avoid manually hardcoding robot motions, this thesis exploits the power of machine learning techniques and takes an Imitation Learning (IL) approach to build a generic model of robot movements from a few examples provided by an expert. To achieve the required level of robustness and reactivity, the perspective adopted in this thesis is that a reaching movement can be described with a nonlinear Dynamical System (DS). When building an estimate of DS from demonstrations, there are two key problems that need to be addressed: the problem of generating motions that resemble at best the demonstrations (the “how-to-imitate” problem), and most importantly, the problem of ensuring the accomplishment of the task, i.e. reaching the target (the “stability” problem). Although there are numerous well-established approaches in robotics that could answer each of these problems separately, tackling both problems simultaneously is challenging and has not been extensively studied yet. This thesis first tackles the problem mentioned above by introducing an iterative method to build an estimate of autonomous nonlinear DS that are formulated as a mixture of Gaussian functions. This method minimizes the number of Gaussian functions required for achieving both local asymptotic stability at the target and accuracy in following demonstrations. We then extend this formulation and provide sufficient conditions to ensure global asymptotic stability of autonomous DS at the target. In this approach, an estimation of the underlying DS is built by solving a constraint optimization problem, where the metric of accuracy and the stability conditions are formulated as the optimization objective and constraints, respectively. In addition to ensuring convergence of all motions to the target within the local or global stability regions, these approaches offer an inherent adaptability and robustness to changes in dynamic environments. This thesis further extends the previous approaches and ensures global asymptotic stability of DS-based motions at the target independently of the choice of the regression technique. Therefore, it offers the possibility to choose the most appropriate regression technique based on the requirements of the task at hand without compromising DS stability. This approach also provides the possibility of online learning and using a combination of two or more regression methods to model more advanced robot tasks, and can be applied to estimate motions that are represented with both autonomous and non-autonomous DS. Additionally, this thesis suggests a reformulation to modeling robot motions that allows encoding of a considerably wider set of tasks ranging from reaching movements to agile robot movements that require hitting a given target with a specific speed and direction. This approach is validated in the context of playing the challenging task of minigolf. Finally, the last part of this thesis proposes a DS-based approach to realtime obstacle avoidance. The presented approach provides a modulation that instantly modifies the robot’s motion to avoid collision with multiple static and moving convex obstacles. This approach can be applied on all the techniques described above without affecting their adaptability, swiftness, or robustness. The techniques that are developed in this thesis have been validated in simulation and on different robotic platforms including the humanoid robots HOAP-3 and iCub, and the robot arms KATANA, WAM, and LWR. Throughout this thesis we show that the DS-based approach to modeling robot discrete movements can offer a high level of adaptability, reactivity, and robustness almost effortlessly when interacting with dynamic environments

The interaction of materials and biology: simulations of peptides, surfaces, and biomaterials

Biomaterials were originally designed to augment or replace damaged tissue in the body, but now encompass a wider range of applications including drug delivery, cancer vaccines, electronic sensor devices, and non-fouling coatings for ship hulls. At the heart of all of these applications is the interface between synthetic materials and biology. Modern techniques for studying this interface are limited to the macro and micro scales. With the advent of high performance computing clusters, molecular simulation is now capable of simulating the interface at the nano-scale. This thesis demonstrates how simulation adds important insights to the understanding of biomaterials. It begins with a comprehensive outline of the theoretical aspects of simulating the interface between water and solid surfaces. After this, small surface-bound biological molecules are modelled to explain experiments showing that they can capture cells on the surface. Finally, a new and practical, scalable technique for controlling biological molecules at the surface is developed. This work advances the field of biomaterials by explaining important processes that occur at the interface of biology and technology

Advances of Italian Machine Design

This 2028 Special Issue presents recent developments and achievements in the field of Mechanism and Machine Science coming from the Italian community with international collaborations and ranging from theoretical contributions to experimental and practical applications. It contains selected contributions that were accepted for presentation at the Second International Conference of IFToMM Italy, IFIT2018, that has been held in Cassino on 29 and 30 November 2018. This IFIT conference is the second event of a series that was established in 2016 by IFToMM Italy in Vicenza. IFIT was established to bring together researchers, industry professionals and students, from the Italian and the international community in an intimate, collegial and stimulating environment

Unsupervised learning in high-dimensional space

Thesis (Ph.D.)--Boston UniversityIn machine learning, the problem of unsupervised learning is that of trying to explain key features and find hidden structures in unlabeled data. In this thesis we focus on three unsupervised learning scenarios: graph based clustering with imbalanced data, point-wise anomaly detection and anomalous cluster detection on graphs. In the first part we study spectral clustering, a popular graph based clustering technique. We investigate the reason why spectral clustering performs badly on imbalanced and proximal data. We then propose the partition constrained minimum cut (PCut) framework based on a novel parametric graph construction method, that is shown to adapt to different degrees of imbalanced data. We analyze the limit cut behavior of our approach, and demonstrate the significant performance improvement through clustering and semi-supervised learning experiments on imbalanced data. [TRUNCATED