Motion Imitation Based on Sparsely Sampled Correspondence

Existing techniques for motion imitation often suffer a certain level of latency due to their computational overhead or a large set of correspondence samples to search. To achieve real-time imitation with small latency, we present a framework in this paper to reconstruct motion on humanoids based on sparsely sampled correspondence. The imitation problem is formulated as finding the projection of a point from the configuration space of a human's poses into the configuration space of a humanoid. An optimal projection is defined as the one that minimizes a back-projected deviation among a group of candidates, which can be determined in a very efficient way. Benefited from this formulation, effective projections can be obtained by using sparse correspondence. Methods for generating these sparse correspondence samples have also been introduced. Our method is evaluated by applying the human's motion captured by a RGB-D sensor to a humanoid in real-time. Continuous motion can be realized and used in the example application of tele-operation.Comment: 8 pages, 8 figures, technical repor

Multiple correspondence analysis of a subset of response categories

In the analysis of multivariate categorical data, typically the analysis of questionnaire data, it is often advantageous, for substantive and technical reasons, to analyse a subset of response categories. In multiple correspondence analysis, where each category is coded as a column of an indicator matrix or row and column of Burt matrix, it is not correct to simply analyse the corresponding submatrix of data, since the whole geometric structure is different for the submatrix . A simple modification of the correspondence analysis algorithm allows the overall geometric structure of the complete data set to be retained while calculating the solution for the selected subset of points. This strategy is useful for analysing patterns of response amongst any subset of categories and relating these patterns to demographic factors, especially for studying patterns of particular responses such as missing and neutral responses. The methodology is illustrated using data from the International Social Survey Program on Family and Changing Gender Roles in 1994.Categorical data, correspondence analysis, questionnaire survey

NASA's experience in the international exchange of scientific and technical information in the aerospace field

The early NASA international scientific and technical information exchange arrangements were usually detailed in correspondence with the librarians of the institutions involved. While this type of exchange grew to include some 200 organizations in 43 countries, NASA's main focus shifted to the relationship with the European Space Agency (ESA), which began in 1964. The NASA/ESA Tripartite Exchange Program provides more than 4000 technical reports from the NASA-produced Aerospace Database. The experience in the evolving cooperation between NASA and ESA has established the model for more recent exchange agreements with Israel, Australia, and Canada. The results of these agreements are made available to participating European organizations through the NASA File

Probing Quantum Gravity Through Exactly Soluble Midi-Superspaces I

It is well-known that the Einstein-Rosen solutions to the 3+1 dimensional vacuum Einstein's equations are in one to one correspondence with solutions of 2+1 dimensional general relativity coupled to axi-symmetric, zero rest mass scalar fields. We first re-examine the quanization of this midi-superspace paying special attention to the asymptotically flat boundary conditions and to certain functional analytic subtleties associated with regularization. We then use the resulting quantum theory to analyze several conceptual and technical issues of quantum gravity.Comment: 28 pages, late

Coupled Oscillator Model for Nonlinear Gravitational Perturbations

Motivated by the gravity/fluid correspondence, we introduce a new method for characterizing nonlinear gravitational interactions. Namely we map the nonlinear perturbative form of the Einstein equation to the equations of motion of a collection of nonlinearly-coupled harmonic oscillators. These oscillators correspond to the quasinormal or normal modes of the background spacetime. We demonstrate the mechanics and the utility of this formalism within the context of perturbed asymptotically anti-de Sitter black brane spacetimes. We confirm in this case that the boundary fluid dynamics are equivalent to those of the hydrodynamic quasinormal modes of the bulk spacetime. We expect this formalism to remain valid in more general spacetimes, including those without a fluid dual. In other words, although borne out of the gravity/fluid correspondence, the formalism is fully independent and it has a much wider range of applicability. In particular, as this formalism inspires an especially transparent physical intuition, we expect its introduction to simplify the often highly technical analytical exploration of nonlinear gravitational dynamics.Comment: 17 pages, 3 figures. Minor fix to match published versio

Technical notes and correspondence: Stochastic robustness of linear time-invariant control systems

A simple numerical procedure for estimating the stochastic robustness of a linear time-invariant system is described. Monte Carlo evaluations of the system's eigenvalues allows the probability of instability and the related stochastic root locus to be estimated. This analysis approach treats not only Gaussian parameter uncertainties but non-Gaussian cases, including uncertain-but-bounded variation. Confidence intervals for the scalar probability of instability address computational issues inherent in Monte Carlo simulation. Trivial extensions of the procedure admit consideration of alternate discriminants; thus, the probabilities that stipulated degrees of instability will be exceeded or that closed-loop roots will leave desirable regions can also be estimated. Results are particularly amenable to graphical presentation