Robust Hand Motion Capture and Physics-Based Control for Grasping in Real Time

Hand motion capture technologies are being explored due to high demands in the fields such as video game, virtual reality, sign language recognition, human-computer interaction, and robotics. However, existing systems suffer a few limitations, e.g. they are high-cost (expensive capture devices), intrusive (additional wear-on sensors or complex configurations), and restrictive (limited motion varieties and restricted capture space). This dissertation mainly focus on exploring algorithms and applications for the hand motion capture system that is low-cost, non-intrusive, low-restriction, high-accuracy, and robust. More specifically, we develop a realtime and fully-automatic hand tracking system using a low-cost depth camera. We first introduce an efficient shape-indexed cascaded pose regressor that directly estimates 3D hand poses from depth images. A unique property of our hand pose regressor is to utilize a low-dimensional parametric hand geometric model to learn 3D shape-indexed features robust to variations in hand shapes, viewpoints and hand poses. We further introduce a hybrid tracking scheme that effectively complements our hand pose regressor with model-based hand tracking. In addition, we develop a rapid 3D hand shape modeling method that uses a small number of depth images to accurately construct a subject-specific skinned mesh model for hand tracking. This step not only automates the whole tracking system but also improves the robustness and accuracy of model-based tracking and hand pose regression. Additionally, we also propose a physically realistic human grasping synthesis method that is capable to grasp a wide variety of objects. Given an object to be grasped, our method is capable to compute required controls (e.g. forces and torques) that advance the simulation to achieve realistic grasping. Our method combines the power of data-driven synthesis and physics-based grasping control. We first introduce a data-driven method to synthesize a realistic grasping motion from large sets of prerecorded grasping motion data. And then we transform the synthesized kinematic motion to a physically realistic one by utilizing our online physics-based motion control method. In addition, we also provide a performance interface which allows the user to act out before a depth camera to control a virtual object

Robust Hand Motion Capture and Physics-Based Control for Grasping in Real Time

Hand motion capture technologies are being explored due to high demands in the fields such as video game, virtual reality, sign language recognition, human-computer interaction, and robotics. However, existing systems suffer a few limitations, e.g. they are high-cost (expensive capture devices), intrusive (additional wear-on sensors or complex configurations), and restrictive (limited motion varieties and restricted capture space). This dissertation mainly focus on exploring algorithms and applications for the hand motion capture system that is low-cost, non-intrusive, low-restriction, high-accuracy, and robust. More specifically, we develop a realtime and fully-automatic hand tracking system using a low-cost depth camera. We first introduce an efficient shape-indexed cascaded pose regressor that directly estimates 3D hand poses from depth images. A unique property of our hand pose regressor is to utilize a low-dimensional parametric hand geometric model to learn 3D shape-indexed features robust to variations in hand shapes, viewpoints and hand poses. We further introduce a hybrid tracking scheme that effectively complements our hand pose regressor with model-based hand tracking. In addition, we develop a rapid 3D hand shape modeling method that uses a small number of depth images to accurately construct a subject-specific skinned mesh model for hand tracking. This step not only automates the whole tracking system but also improves the robustness and accuracy of model-based tracking and hand pose regression. Additionally, we also propose a physically realistic human grasping synthesis method that is capable to grasp a wide variety of objects. Given an object to be grasped, our method is capable to compute required controls (e.g. forces and torques) that advance the simulation to achieve realistic grasping. Our method combines the power of data-driven synthesis and physics-based grasping control. We first introduce a data-driven method to synthesize a realistic grasping motion from large sets of prerecorded grasping motion data. And then we transform the synthesized kinematic motion to a physically realistic one by utilizing our online physics-based motion control method. In addition, we also provide a performance interface which allows the user to act out before a depth camera to control a virtual object

The dependence of the IR-radio correlation on the metallicity

We have compiled a sample of 26 metal-poor galaxies with 12 + log(O/H) < 8.1 with both infrared continuum and 1.4 GHz radio continuum data. By comparing to galaxies at higher metallicity, we have investigated the dependence on the metallicity of the IR-radio relationship at 24 um, 70 um, 100 um and 160 um bands as well as the integrated FIR luminosity. It is found that metal-poor galaxies have on average lower qIR than metal-rich ones with larger offsets at longer IR wavelengths, from -0.06 dex in q24um to -0.6 dex in q160um. The qIR of all galaxies as a whole at 160 um show positive trends with the metallicity and IR-to-FUV ratio, and negative trends with the IR color, while those at lower IR wavelengths show weaker correlations. We proposed a mechanism that invokes combined effects of low obscured-SFR/total-SFR fraction and warm dust temperature at low metallicity to interpret the above behavior of qIR, with the former reducing the IR radiation and the latter further reducing the IR emission at longer IR wavelength. Other mechanisms that are related to the radio emission including the enhanced magnetic field strength and increased thermal radio contribution are unable to reconcile the IR-wavelength-dependent differences of qIR between metal-poor and metal- rich galaxies. In contrast to qIR, the mean total-SFR/radio ratio of metal-poor galaxies is the same as the metal-rich one, indicating the 1.4 GHz radio emission is still an effective tracer of SFRs at low metallicity.Comment: 25 pages, 11 figures, 4 tables. ApJ in pres

Antitumor effect of salidroside on mice bearing HepA hepatocellular carcinoma

Salidroside, a phenylpropanoid glycoside extracted from Rhodiola rosea L., has antiproliferative effects on tumour cells in mice. However it’s antitumor mechanism remains largely unknown. In this study, 4 groups of mice bearing hepatocarcinoma cells were given treatment with vehicle alone, cyclophosphamide (25 mg/kg, i.p.) and salidroside, either 100 or 200 mg/kg (p.o.) for 14 days. The morphology of tumour specimens was analysed by transmission electron microscopy. Apoptotic cells in sections of mouse tumour tissue were analysed using an in situ apoptosis kit. The expression of Bcl-2, Bax and caspase 3 mRNA were examined with RT-PCR. The results showed that the tumour weights in groups 100 or 200 mg/kg/day of salidroside were reduced significantly (45.34 and 52.48% respectively), compared to vehicle groups. Salidroside increased apoptotic cells index, e.g. in 200 mg/kg group, it was four times higher compared to the control group. Even more, treatment with salidroside decreased Bcl-2 mRNA expression and increased Bax and caspase 3 mRNA expressions. These indicated that the antitumor mechanism of salidroside may induce tumour cell apoptosis in mice by triggering the mitochondrial-dependent pathway and activation of caspase 3

Brake Strategy Analysis for Industrial Normal-closed Brake Based on Rotational Inertia Test and Simulation

Industrial brakes pose the dilemma of weighing brake capability against brake impact since the brake torque cannot be adjusted. On the one hand, the brake torque may be insufficient to stop the movement within a limited distance or parking position. On the other hand, the brake torque may be so high it can damage the transmission chain. In this study, the traditional brake strategy and the field oriented control (FOC) brake strategy were compared through simulation and a rotational inertia test. The influence of the rated brake torque and the open-closed ratio were obtained. Based on the test and simulation results, a semi-empirical formula that defines the relationship between relative brake capability and open-closed ratio was developed. Additional simulations were performed to analyze the performance of the brake in a flexible transmission chain. As an industrial application example, the benefits and the cost of a 'smart brake' based on the FOC brake strategy were analyzed. The results indicate that the equivalent brake torque with the FOC brake strategy is a function of the real-time controllable input and open-closed ratio, which can be conducted during the braking procedure. This can be an efficient way to solve the above problems

Combined helical tomotherapy and Gamma Knife stereotactic radiosurgery for high-grade recurrent orbital meningioma: a case report

Orbital meningioma is a rare type of orbital tumor with high invasiveness and recurrence rates, making it extremely challenging to treat. Due to the special location of the disease, surgery often cannot completely remove the tumor, requiring postoperative radiation therapy. Here, we report a case of an elderly male patient with right-sided proptosis, visual impairment, and diplopia. Imaging diagnosis revealed a space-occupying lesion in the extraconal space of the right orbit. Pathological and immunohistochemical examination of the resected tumor confirmed it as a grade 3 anaplastic meningioma. Two months after surgery, the patient complained of right eye swelling and a magnetic resonance imaging (MRI) scan showed a recurrence of the tumor. The patient received helical tomotherapy (TOMO) in the postoperative tumor bed and high-risk areas within the orbit with a total dose of 48Gy. However, there was no significant improvement in the patient’s right eye swelling, and the size of the recurrent lesion showed no significant change on imaging. Gamma knife multifractionated stereotactic radiosurgery (MF-SRS) was then given to the recurrent lesion with 50% prescription dose 13.5Gy/3f, once every other day. An imaging diagnosis performed 45 days later showed that the tumor had disappeared completely. The patient’s vision remained unchanged, but diplopia was significantly relieved after MF-SRS. We propose a new hybrid treatment model for recurrent orbital meningioma, where conventional radiation therapy ensures local control of high-risk areas around the postoperative cavity, and MF-SRS maximizes the radiation dose to recurrent lesion areas while protecting surrounding tissues and organs