Humanoid synthesis using clifford algebra

One of the challenges in the simulation of human motion, either applied to humanoid robots or avatars in virtual environments, is to design a kinematics structure and a set of joint trajectories that move a robot or avatar in a human-like manner. In this paper, a technique is introduced to create accurate humanlike motion with a simplified topology as a reference. Using an optical motion capture system, a finite number of key poses are captured from different subjects performing full body articulated movements. Motion is modeled using the Clifford algebra of dual quaternions and dimensional synthesis techniques are applied to generate the kinematic skeleton of a 3D avatar or robot. The synthesized kinematic skeleton provides location of joints and dimensions of the links forming the limbs, as well as the joint trajectories. Five serial chains constitute our approximation to the human skeleton. Revolute, universal and spherical joints are employed, although other topologies can be used in a similar fashion. Several real datasets are evaluated and results demonstrate that good accuracy can be obtained at interactive rates using the presented methodology. The results show that using simple serial chains in combination with dimensional synthesis suffices to generate the mechanical structure and trajectories of a humanoid robot or 3D avatar mimicking human motion.Postprint (author’s final draft

The Role of Computational Fluid Dynamics in the Management of Unruptured Intracranial Aneurysms: A Clinicians' View

Objective. The importance of hemodynamics in the etiopathogenesis of intracranial aneurysms (IAs) is widely accepted. Computational fluid dynamics (CFD) is being used increasingly for hemodynamic predictions. However, alogn with the continuing development and validation of these tools, it is imperative to collect the opinion of the clinicians. Methods. A workshop on CFD was conducted during the European Society of Minimally Invasive Neurological Therapy (ESMINT) Teaching Course, Lisbon, Portugal. 36 delegates, mostly clinicians, performed supervised CFD analysis for an IA, using the @neuFuse software developed within the European project @neurIST. Feedback on the workshop was collected and analyzed. The performance was assessed on a scale of 1 to 4 and, compared with experts' performance. Results. Current dilemmas in the management of unruptured IAs remained the most important motivating factor to attend the workshop and majority of participants showed interest in participating in a multicentric trial. The participants achieved an average score of 2.52 (range 0–4) which was 63% (range 0–100%) of an expert user. Conclusions. Although participants showed a manifest interest in CFD, there was a clear lack of awareness concerning the role of hemodynamics in the etiopathogenesis of IAs and the use of CFD in this context. More efforts therefore are required to enhance understanding of the clinicians in the subject