Digital representation of historical globes : methods to make 3D and pseudo-3D models of sixteenth century Mercator globes

In this paper, the construction of digital representations of a terrestrial and celestial globe will be discussed. Virtual digital (3D) models play an important role in recent research and publications on cultural heritage. The globes discussed in this paper were made by Gerardus Mercator (1512-1594) in 1541 and 1551. Four techniques for the digital representation are discussed and analysed, all using high-resolution photographs of the globes. These photographs were taken under studio conditions in order to get equal lighting and to avoid unwanted light spots. These lighting conditions are important, since the globes have a highly reflective varnish covering. Processing these images using structure from motion, georeferencing of separate scenes and the combination of the photographs with terrestrial laser scanning data results in true 3D representations of the globes. Besides, pseudo-3D models of these globes were generated using dynamic imaging, which is an extensively used technique for visualisations over the Internet. The four techniques and the consequent results are compared on geometric and radiometric quality, with a special focus on their usefulness for distribution and visualisation during an exhibition in honour of the five hundredth birthday of Gerardus Mercator

A Comparison of Visualisation Methods for Disambiguating Verbal Requests in Human-Robot Interaction

Picking up objects requested by a human user is a common task in human-robot interaction. When multiple objects match the user's verbal description, the robot needs to clarify which object the user is referring to before executing the action. Previous research has focused on perceiving user's multimodal behaviour to complement verbal commands or minimising the number of follow up questions to reduce task time. In this paper, we propose a system for reference disambiguation based on visualisation and compare three methods to disambiguate natural language instructions. In a controlled experiment with a YuMi robot, we investigated real-time augmentations of the workspace in three conditions -- mixed reality, augmented reality, and a monitor as the baseline -- using objective measures such as time and accuracy, and subjective measures like engagement, immersion, and display interference. Significant differences were found in accuracy and engagement between the conditions, but no differences were found in task time. Despite the higher error rates in the mixed reality condition, participants found that modality more engaging than the other two, but overall showed preference for the augmented reality condition over the monitor and mixed reality conditions

A deep reinforcement learning based homeostatic system for unmanned position control

Deep Reinforcement Learning (DRL) has been proven to be capable of designing an optimal control theory by minimising the error in dynamic systems. However, in many of the real-world operations, the exact behaviour of the environment is unknown. In such environments, random changes cause the system to reach different states for the same action. Hence, application of DRL for unpredictable environments is difficult as the states of the world cannot be known for non-stationary transition and reward functions. In this paper, a mechanism to encapsulate the randomness of the environment is suggested using a novel bio-inspired homeostatic approach based on a hybrid of Receptor Density Algorithm (an artificial immune system based anomaly detection application) and a Plastic Spiking Neuronal model. DRL is then introduced to run in conjunction with the above hybrid model. The system is tested on a vehicle to autonomously re-position in an unpredictable environment. Our results show that the DRL based process control raised the accuracy of the hybrid model by 32%.N/

Virtual integration platform for computational fluid dynamics

Computational Fluid Dynamics (CFD) tools used in shipbuilding industry involve multiple disciplines, such as resistance, manoeuvring, and cavitation. Traditionally, the analysis was performed separately and sequentially in each discipline, which often resulted in conflict and inconsistency of hydrodynamic prediction. In an effort to solve such problems for future CFD computations, a Virtual Integration Platform (VIP) has been developed in the University of Strathclyde within two EU FP6 projects - VIRTUE and SAFEDOR1. The VIP provides a holistic collaborative environment for designers with features such as Project/Process Management, Distributed Tools Integration, Global Optimisation, Version Management, and Knowledge Management. These features enhance collaboration among customers, ship design companies, shipyards, and consultancies not least because they bring together the best expertise and resources around the world. The platform has been tested in seven European ship design companies including consultancies. Its main functionalities along with advances are presented in this paper with two industrial applications

A virtual coaching environment for improving golf swing technique

As a proficient golf swing is a key element of success in golf, many golfers make significant effort improving their stroke mechanics. In order to help enhance golfing performance, it is important to identify the performance determining factors within the full golf swing. In addition, explicit instructions on specific features in stroke technique requiring alterations must be imparted to the player in an unambiguous and intuitive manner. However, these two objectives are difficult to achieve due to the subjective nature of traditional coaching techniques and the predominantly implicit knowledge players have of their movements. In this work, we have developed a set of visualisation and analysis tools for use in a virtual golf coaching environment. In this virtual coaching studio, the analysis tools allow for specific areas require improvement in a player's 3D stroke dynamics to be isolated. An interactive 3D virtual coaching environment then allows detailed and unambiguous coaching information to be visually imparted back to the player via the use of two virtual human avatars; the first mimics the movements performed by the player; the second takes the role of a virtual coach, performing ideal stroke movement dynamics. The potential of the coaching tool is highlighted in its use by sports science researchers in the evaluation of competing approaches for calculating the X-Factor, a significant performance determining factor for hitting distance in a golf swing

Cosmology as Geodesic Motion

For gravity coupled to N scalar fields with arbitrary potential V, it is shown that all flat (homogeneous and isotropic) cosmologies correspond to geodesics in an (N+1)-dimensional `augmented' target space of Lorentzian signature (1,N), timelike if V>0, null if V=0 and spacelike if V<0. Accelerating cosmologies correspond to timelike geodesics that lie within an `acceleration subcone' of the `lightcone'. Non-flat (k=-1,+1) cosmologies are shown to evolve as projections of geodesic motion in a space of dimension (N+2), of signature (1,N+1) for k=-1 and signature (2,N) for k=+1. This formalism is illustrated by cosmological solutions of models with an exponential potential, which are comprehensively analysed; the late-time behviour for other potentials of current interest is deduced by comparison.Comment: 26 pages, 2 figures, journal version with additional reference

Treatment of biodiesel wastewater using ferric chloride and ferric sulfate

The production of biodiesel through the transesterification method produces a large amount of wastewater that contains high level of chemical oxygen demand (COD) and oil and grease. In this study, coagulation was adopted to treat the biodiesel wastewater. Two types of coagulants were examined using standard jar test apparatus, i.e. ferric chloride and ferric sulfate. The effects of pH and coagulant dosage were examined at 150 rpm of rapid mixing and 20 rpm slow mixing and 30 min settling time, higher removal of SS (over 80%), colour (over 80%), COD (over 50%) and Oil and Grease (over 90%) were achieved at pH 6. Ferric Chloride was found to be superior was observed at reasonable lower amount of coagulant i.e. 300 mg/L. The result indicated that coagulation and flocculation process had contributed bigger roles in integrated treatment system