Rotation Correction Method Using Depth-Value Symmetry of Human Skeletal Joints for Single RGB-D Camera System

Most red-green-blue and depth (RGB-D) motion-recognition technologies employ both depth and RGB cameras to recognize a user\u27s body. However, motion-recognition solutions using a single RGB-D camera struggle with rotation recognition depending on the device-user distance and field-of-view. This paper proposes a near-real-time rotational-coordinate-correction method that rectifies a depth error unique Microsoft Kinect by using the symmetry of the depth coordinates of the human body. The proposed method is most effective within 2 m, a key range in which the unique depth error of Kinect occurs, and is anticipated to be utilized in applications requiring low cost and fast installation. It could also be useful in areas such as media art that involve unspecified users because it does not require a learning phase. Experimental results indicate that the proposed method has an accuracy of 85.38%, which is approximately 12% higher than that of the reference installation method

A Framework and Process Library for Human-Robot Collaboration in Creative Design and Fabrication

In the last two decades, the increasing affordability of industrial robots, along with the growing maturity of computational design software, has led architects to integrate robots into their design process. Robots have exceptional capabilities that enable the fabrication of geometrically complicated components and assembly of complex structures. However, the robot control and motion programming tools currently being adopted by designers were all initially intended for engineering-based manufacturing industries. When using computer-controlled tools, designers cannot adapt their designs to the production process in real time. Current industrial robot control systems force the designer to envision and embed all of the required machining data in the digital model before the fabrication process begins. This requirement makes the process of design to fabrication a unidirectional workflow. In pursuit of a solution, a growing body of research is exploring various human-robot collaboration methods for architectural practices. However, many of these studies are project- based, targeting the ad hoc needs of a particular robotic application or fabrication process. Consequently, this dissertation investigates a generalizable framework for human-robot collaboration that is rooted in the principles of distributed cognition. As an essential part of the research argument, the role of the tools of production in the formation of a designer's cognitive system is considered. This framework, defined for a bi-directional design and fabrication workflow, relies on and integrates material and fabrication feedback into the design process. The framework has three main components: interactive design, adaptive control, and a design and fabrication library. While different aspects of these components have been studied to various extents by other researchers, this dissertation is the first to define them in an integrated manner. Next, the requirements for each of these elements are introduced and discussed in detail. This dissertation focuses in more detail on the library component of the framework because compared to the first two components, it is the least investigated solution to date. A structure for the library is proposed so that the tacit knowledge of makers could be structured, captured, and reused. At its core, the library is a process-centric database where each process is supported by a set of tools, instructions, materials, and geometries required for the transformation of a part into its final form. Finally, this study demonstrates the generalizability of the library concept through a series of experiments developed for different material systems and with various robotic operations.Ph.D

Technology and Management for Sustainable Buildings and Infrastructures

A total of 30 articles have been published in this special issue, and it consists of 27 research papers, 2 technical notes, and 1 review paper. A total of 104 authors from 9 countries including Korea, Spain, Taiwan, USA, Finland, China, Slovenia, the Netherlands, and Germany participated in writing and submitting very excellent papers that were finally published after the review process had been conducted according to very strict standards. Among the published papers, 13 papers directly addressed words such as sustainable, life cycle assessment (LCA) and CO2, and 17 papers indirectly dealt with energy and CO2 reduction effects. Among the published papers, there are 6 papers dealing with construction technology, but a majority, 24 papers deal with management techniques. The authors of the published papers used various analysis techniques to obtain the suggested solutions for each topic. Listed by key techniques, various techniques such as Analytic Hierarchy Process (AHP), the Taguchi method, machine learning including Artificial Neural Networks (ANNs), Life Cycle Assessment (LCA), regression analysis, Strength–Weakness–Opportunity–Threat (SWOT), system dynamics, simulation and modeling, Building Information Model (BIM) with schedule, and graph and data analysis after experiments and observations are identified

Novel applications of multipurpose robotic arms spanning design fabrication, utility, and art

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 204-208).This work investigates, defines, and expands on the use of robotic arms in digital fabrication, design, and art through methods including 3D printing, milling, sculpting, functionally graded fabrication, construction-scale additive manufacturing, jammable granular system design, light painting, and volumetric sensing. While most current applications of robotics in manufacturing rely on repetitive automation and assembly tasks, the flexibility, dexterity, and precision of industrial robotic arms provide for design opportunities of multi-functionary roles. Through exploration and demonstration, a multipurpose fabrication platform was developed using a KUKA KR5 sixx R850 robotic arm. The platform is capable of conventional manufacturing techniques spanning the three traditional fabrication categories: additive, subtractive, and formative. Case studies and digital design fabrication protocols were developed as part of the robotic platform to demonstrate these three types of fabrication including 3D printing, multi-axis milling, and clay sculpting, respectively. Compound processes, such as combining 3D printing and milling, were developed that offer product-, and process-based improvements over standalone techniques. The benefits and drawbacks of a multi-fabrication platform are discussed, including cost, physical footprint, resolution, and flexibility. In addition to replicating conventional manufacturing techniques with a single robotic platform, several novel applications were developed which take advantage of the flexibility of an arm system. First, functionally graded 3D printing was explored using concrete through which density gradients were shown to achieve higher structural efficiency. A novel construction-scale additive manufacturing process capable of 3D printing building components was developed. Secondly, direct recycling 3D printing was developed where waste thermoplastic products are transformed into feedstock and printed into new components within a single operation. Work conducted on jammed granular structures, where external pressure controls system stiffness and strength, resulted in several new formative fabrication possibilities. Combined with robotics, waste-free digital casting using jammable materials was enabled along with a variety of design projects including the design of robotic arms themselves. Finally, the use of robotic arms for fabrication of material and environmental properties without mechanical force transfer was explored. Coined immaterial fabrication,t his fabrication category captures methods that do not fall within the definitions of additive, subtractive, or formative processes. Work produced in this area includes a volumetric sensing technique and robotic light paintings that reveal thermal, electromagnetic, and optical fields.by Steven J. Keating.S.M

Bildbasierte Frischbetonprüfung zur digitalen Qualitätsregelung

Massivbauwerke gehören mit einer Lebensdauer von zumeist weit über 50 Jahren zu extrem langlebigen Investitionsgütern. Insbesondere bei Betonbauwerken werden die Qualitätsmerkmale, wie z. B. die sichere Gewährleistung der Tragfähigkeit oder der Dauerhaftigkeit, in hohem Maße durch Prozesse bestimmt, die in einem im Vergleich zur Nutzungsdauer des Bauwerks extrem kurzen Zeitraum von wenigen Stunden ablaufen. Dementsprechend kommt der präzisen Prüfung und Bewertung der Eigenschaften bei der Herstellung und Verarbeitung des Frischbetons eine besondere Bedeutung zu. Auf der Baustelle ist die Ermittlung der (Frisch-)Betoneigenschaften gegenwärtig noch immer rein empirisch geprägt. Zur Prüfung der Eigenschaften bei der Identitätsprüfung wird zumeist allein das Ausbreitmaß in Verbindung mit einer subjektiven Augenscheinprüfung eingesetzt. Eine mögliche Integration digitaler Methoden zur Qualitätsprüfung scheitert gegenwärtig an entsprechenden Sensorsystemen und Auswertemethoden. Zur Einführung solcher digitalen Methoden in der Betontechnologie muss es gelingen, die bisher rein subjektiv wahrgenommenen Eigenschaften des Frischbetons, im speziellen der Augenscheinprüfung bei der Identitätsprüfung, z. B. mit bildbasierten Methoden zu erfassen und in digitale Kennwerte zu überführen. Zur Überwindung der Grenzen der subjektiven Augenscheinprüfung wurde im Rahmen dieser Arbeit eine bildbasierte Messmethodik entwickelt und validiert, die es gestattet maßgebende (Frisch-)Betoneigenschaften im Rahmen der Konsistenzprüfung (Ausbreitmaß) digital zu erfassen und zu bewerten. Durch Anwendung photogrammetrischer Messprinzipien und digitaler Bildanalyseverfahren sowie Methoden der künstlichen Intelligenz können maßgebende (Frisch-)Betoneigenschaften aus Bilddaten prädiziert werden und somit die Identitätsprüfung des Frischbetons durch eine Vielzahl zusätzlicher Parameter erweitert werden. Darauf aufbauend können die ermittelten Daten in einen digitalen Regelkreislauf integriert werden, der eine unmittelbare Anpassung der Eigenschaften bei der weiteren Produktion ermöglicht. Die Ergebnisse umfangreicher experimenteller Untersuchungen zeigen deutlich, dass eine zielsichere digitale Erfassung und Bewertung von (Frisch-)Betoneigenschaften mit der entwickelten bildbasierten Methodik im Rahmen der Konsistenzprüfung möglich ist. Als zu bewertende Oberflächeneigenschaften des ausgebreiteten Frischbetons eignen sich sowohl 3D-Kennwerte der Oberflächengestalt sowie geometrische 2D-Eigenschaften als auch die Oberflächenreflexion. Darauf aufbauend bietet das Konzept der digitalen Qualitätsregelung die Möglichkeit, den Betonproduktionszyklus direkt mit den Qualitätsmerkmalen des Frischbetons zu verknüpfen und so Industrie 4.0-Standards im Betonbau zu etablieren

Análise de propriedades intrínsecas e extrínsecas de amostras biométricas para detecção de ataques de apresentação

Orientadores: Anderson de Rezende Rocha, Hélio PedriniTese (doutorado) - Universidade Estadual de Campinas, Instituto de ComputaçãoResumo: Os recentes avanços nas áreas de pesquisa em biometria, forense e segurança da informação trouxeram importantes melhorias na eficácia dos sistemas de reconhecimento biométricos. No entanto, um desafio ainda em aberto é a vulnerabilidade de tais sistemas contra ataques de apresentação, nos quais os usuários impostores criam amostras sintéticas, a partir das informações biométricas originais de um usuário legítimo, e as apresentam ao sensor de aquisição procurando se autenticar como um usuário válido. Dependendo da modalidade biométrica, os tipos de ataque variam de acordo com o tipo de material usado para construir as amostras sintéticas. Por exemplo, em biometria facial, uma tentativa de ataque é caracterizada quando um usuário impostor apresenta ao sensor de aquisição uma fotografia, um vídeo digital ou uma máscara 3D com as informações faciais de um usuário-alvo. Em sistemas de biometria baseados em íris, os ataques de apresentação podem ser realizados com fotografias impressas ou com lentes de contato contendo os padrões de íris de um usuário-alvo ou mesmo padrões de textura sintéticas. Nos sistemas biométricos de impressão digital, os usuários impostores podem enganar o sensor biométrico usando réplicas dos padrões de impressão digital construídas com materiais sintéticos, como látex, massa de modelar, silicone, entre outros. Esta pesquisa teve como objetivo o desenvolvimento de soluções para detecção de ataques de apresentação considerando os sistemas biométricos faciais, de íris e de impressão digital. As linhas de investigação apresentadas nesta tese incluem o desenvolvimento de representações baseadas nas informações espaciais, temporais e espectrais da assinatura de ruído; em propriedades intrínsecas das amostras biométricas (e.g., mapas de albedo, de reflectância e de profundidade) e em técnicas de aprendizagem supervisionada de características. Os principais resultados e contribuições apresentadas nesta tese incluem: a criação de um grande conjunto de dados publicamente disponível contendo aproximadamente 17K videos de simulações de ataques de apresentações e de acessos genuínos em um sistema biométrico facial, os quais foram coletados com a autorização do Comitê de Ética em Pesquisa da Unicamp; o desenvolvimento de novas abordagens para modelagem e análise de propriedades extrínsecas das amostras biométricas relacionadas aos artefatos que são adicionados durante a fabricação das amostras sintéticas e sua captura pelo sensor de aquisição, cujos resultados de desempenho foram superiores a diversos métodos propostos na literature que se utilizam de métodos tradicionais de análise de images (e.g., análise de textura); a investigação de uma abordagem baseada na análise de propriedades intrínsecas das faces, estimadas a partir da informação de sombras presentes em sua superfície; e, por fim, a investigação de diferentes abordagens baseadas em redes neurais convolucionais para o aprendizado automático de características relacionadas ao nosso problema, cujos resultados foram superiores ou competitivos aos métodos considerados estado da arte para as diferentes modalidades biométricas consideradas nesta tese. A pesquisa também considerou o projeto de eficientes redes neurais com arquiteturas rasas capazes de aprender características relacionadas ao nosso problema a partir de pequenos conjuntos de dados disponíveis para o desenvolvimento e a avaliação de soluções para a detecção de ataques de apresentaçãoAbstract: Recent advances in biometrics, information forensics, and security have improved the recognition effectiveness of biometric systems. However, an ever-growing challenge is the vulnerability of such systems against presentation attacks, in which impostor users create synthetic samples from the original biometric information of a legitimate user and show them to the acquisition sensor seeking to authenticate themselves as legitimate users. Depending on the trait used by the biometric authentication, the attack types vary with the type of material used to build the synthetic samples. For instance, in facial biometric systems, an attempted attack is characterized by the type of material the impostor uses such as a photograph, a digital video, or a 3D mask with the facial information of a target user. In iris-based biometrics, presentation attacks can be accomplished with printout photographs or with contact lenses containing the iris patterns of a target user or even synthetic texture patterns. In fingerprint biometric systems, impostor users can deceive the authentication process using replicas of the fingerprint patterns built with synthetic materials such as latex, play-doh, silicone, among others. This research aimed at developing presentation attack detection (PAD) solutions whose objective is to detect attempted attacks considering different attack types, in each modality. The lines of investigation presented in this thesis aimed at devising and developing representations based on spatial, temporal and spectral information from noise signature, intrinsic properties of the biometric data (e.g., albedo, reflectance, and depth maps), and supervised feature learning techniques, taking into account different testing scenarios including cross-sensor, intra-, and inter-dataset scenarios. The main findings and contributions presented in this thesis include: the creation of a large and publicly available benchmark containing 17K videos of presentation attacks and bona-fide presentations simulations in a facial biometric system, whose collect were formally authorized by the Research Ethics Committee at Unicamp; the development of novel approaches to modeling and analysis of extrinsic properties of biometric samples related to artifacts added during the manufacturing of the synthetic samples and their capture by the acquisition sensor, whose results were superior to several approaches published in the literature that use traditional methods for image analysis (e.g., texture-based analysis); the investigation of an approach based on the analysis of intrinsic properties of faces, estimated from the information of shadows present on their surface; and the investigation of different approaches to automatically learning representations related to our problem, whose results were superior or competitive to state-of-the-art methods for the biometric modalities considered in this thesis. We also considered in this research the design of efficient neural networks with shallow architectures capable of learning characteristics related to our problem from small sets of data available to develop and evaluate PAD solutionsDoutoradoCiência da ComputaçãoDoutor em Ciência da Computação140069/2016-0 CNPq, 142110/2017-5CAPESCNP

Influencia del bacillus-subtilis y nanopartículas de óxido de hierro en el diseño de mezcla de concreto para zonas salitrosas, VES, 2023

El presente trabajo de investigación tuvo como objetivo general determinar la Influencia del bacillus-subtilis y nanopartículas de óxido de hierro en el diseño de mezcla de concreto para zonas salitrosas, VES, 2023. El tipo de investigación que se realizó es del tipo aplicada con un diseño experimental, se tuvo una población total de 120 especímenes de concreto f’c= 210kg/cm2. 84 probetas cilíndricas, de las cuales 21 serán con concreto patrón, 63 incorporando Bacterias del género Bacillus Subtilis y 36 probetas prismáticas de concreto (0.50m x 0.15m x 0.15m), 9 serán con concreto patrón y 27 incorporando Bacterias del género Bacillus Subtilis, al 0.1%, al 0.2% y 0.3%, durante la investigación se utilizó Fichas técnicas de recolección de datos y una ficha de observación. Los resultados mejoraron el contenido de aire de 1.5 % hasta 0.86%; se aumentó el asentamiento desde 84.67 hasta un 87.00 mm; la densidad desde 2387.38 hasta 2258.22 kg/cm3. Se logró aumentar de manera óptima la resistencia del concreto desde 217.06 kg/cm2 hasta 236.20 kg/cm2; finalmente se disminuyó la degradación del concreto desde 1.974 m3 (patrón) hasta 0.561 m3, todos ellos para la incorporación de 0.30 % de Bacillus Subtilis y nanopartículas de óxido de hierro respectivamente

Narrative exploration via media art

Mika 'Lumi' Tuomola introduces a selected chronological collection of Media Lab's, Crucible Studio research group's artistic productions. The Art of Storytelling in New Media research group, Crucible Studio, was originally established in 2002 as a collaboration of the Media Lab with the Media Centre LUMB, when I was the visiting artist at Media Lab Helsinki. As the lead author of the artistic and practice-based research studio proposal, I also started to head it until now. The studio per se does not focus on (Media) Art, but on any generative, interactive and enactive use of narrative in New Media production and design. However, in the investigation of storytelling and drama, experimental Media Art productions - while usually maintaining their standing as art works of their own right as well- have been and are useful tools of exploration via research questions like: • How to bring both designers' I authors' and users' I participants' internal intentions into a dramatically interesting dialogue/chorus within a mediated interaction environment? • What kinds of media database, system, interaction and narrative logics may be able to generate a dramatic interactive experience with coherent audiovisual language? • What are the ethics of (narrative) aesthetics, when designed participatory processes orchestrate multiple points of view? • How have the audience genre expectations evolved (e.g. via games and social media) considering what an interactive/enactive drama/art experience is and how does it influence our design work