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A 3D face modelling approach for pose-invariant face recognition in a human-robot environment
(2017)
Face analysis techniques have become a crucial component of human-machine interaction in the fields of assistive and humanoid robotics. However, the variations in head-pose that arise naturally in these environments are still a great challenge. In this paper, we present a real-time capable 3D face modelling framework for 2D in-the-wild images that is applicable for robotics. The fitting of the 3D Morphable Model is based exclusively on automatically detected landmarks. After fitting, the face can be corrected in pose and transformed back to a frontal 2D representation that is more suitable for face recognition. We conduct face recognition experiments with non-frontal images from the MUCT database and uncontrolled, in the wild images from the PaSC database, the most challenging face recognition database to date, showing an improved performance. Finally, we present our SCITOS G5 robot system, which incorporates our framework as a means of image pre-processing for face analysis.
An interactive clothing design and a personalized virtual display with user’s own face are presented in this paper to meet the requirement of personalized clothing customization. A customer interactive clothing design approach based on genetic engineering ideas is analyzed by taking suit as an example. Thus, customers could rearrange the clothing style elements, chose available color, fabric and come up with their own personalized suit style. A web 3D customization prototype system of personalized clothing is developed based on the Unity3D and VR technology. The layout of the structure and functions combined with the flow of the system are given. Practical issues such as 3D face scanning, suit style design, fabric selection, and accessory choices are addressed also. Tests to the prototype system indicate that it could show realistic clothing and fabric effect and offer effective visual and customization experience to users.
To illustrate the power and the pitfalls of Bionic Optimization, we will show some examples spanning classes of applications and employing various strategies. These applications cover a broad range of engineering tasks. Nevertheless, there is no guarantee that our experiences and our examples will be sufficient to deal with all questions and issues in a comprehensive way. As general rule it might be stated, that for each class of problems, novices should begin with a learning phase. So, in this introductory phase, we use simple and quick examples, e.g., using small FE-models, linear load cases, short time intervals and simple material models. Here beginners within the Bionic Optimization community can learn which parameter combinations to use. In Sect. 3.3 we discuss strategies for optimization study acceleration. Making use of these parameters as starting points is one way to set the specific ranges, e.g., number of parents and kids, crossing, mutation radii and, numbers of generations. On the other hand, these trial runs will doubtless indicate that Bionic Optimization needs large numbers of individual designs, and considerable time and computing power. We recommend investing enough time preparing each task in order to avoid the frustration should large jobs fail after long calculation times.
Application to CAE systems
(2016)
Due to the broad acceptance of CAD-systems based on 3D solids, the geometric data of all common CAE (Computer-Aided Engineering) software, at least in mechanical engineering, are based on these solids. We use solid models, where the space filled by material is defined in a simple and easily useable way. Solid models allow for the development of automated meshers that transform solid volumes into finite elements. Even after some unacceptable initial trials, users are able to generate meshes of non-trivial geometries within minutes to hours, instead of days or weeks. Once meshing had no longer been the cost limiting factor of finite element studies, numerical simulation became a tool for smaller industries as well.
Due to the broad acceptance of CAD-systems based on 3D solids , the geometric data of all common CAE (Computer-Aided Engineering) software, at least in mechanical engineering, are based on these solids. We use solid models , where the space filled by material is defined in a simple and easily useable way. Solid models allow for the development of automated meshers that transform solid volumes into finite elements. Even after some unacceptable initial trials, users are able to generate meshes of non-trivial geometries within minutes to hours, instead of days or weeks. Once meshing had no longer been the cost limiting factor of finite element studies, numerical simulation became a tool for smaller industries as well.
In the early days of automated meshing development, there were discussions over the use of tetragonal (Fig. 4.1) or hexagonal based meshes. But, after a short period of time, it became evident, that there were and will always be many problems using automated meshers to generate hexagonal elements . So today nearly all automated 3D-meshing systems use tetragonal elements .
Annotations of character IDs in news images are critical as ground truth for news retrieval and recommendation system. Universality and accuracy optimization of deep neural network models constitutes the key technology to improve the precision and computing efficiency of automatic news character identification, which is attracting increased attention globally. This paper explores the optimized deep neural network model for automatic focus personage identification in multi-lingual news. First, the face model of the focus personage is trained by using the corresponding face images from German news as positive samples. Next, the scheme of Recurrent Convolutional Neural Network (RCNN) + Bi-directional Long-Short Term Memory (Bi-LSTM) + Conditional Random Field (CRF) is utilized to label the focus name, and the RCNN-RCNN encoder–decoder is applied to translate names of people into multiple languages. Third, face features are described by combining the advantages of Local Gabor Binary Pattern Histogram Sequence (LGBPHS) and RCNN, and iterative quantization (ITQ) is used to binarize codes. Finally, a name semantic network is built for different domains. Experiments are performed on a dataset which comprises approximately 100,000 news images. The experimental results demonstrate that the proposed method achieves a significant improvement over other algorithms.
Silicon neurons represent different levels of biological details and accuracies as a trade-off between complexity and power consumption. With respect to this trade-off and high similarity to neuron behaviour models, relaxation-type oscillator circuits often yield a good compromise to emulate neurons. In this chapter, two exemplified relaxation-type silicon neurons are presented that emulate neural behaviour with energy consumption under the scale of nJ/spike. The first proposed fully CMOS relaxation SiN is based on mathematical Izhikevich model and can mimic a broad range of physiologically observable spike patterns. The results of kinds of biologically plausible output patterns and coupling process of two SiNs are presented in 0.35 μm CMOS technology. The second type is a novel ultra-low-frequency hybrid CMOS-memristive SiN based on relaxation oscillators and analog memristive devices. The hybrid SiN directly emulates neuron behaviour in the range of physiological spiking frequencies (less than 100 Hz). The relaxation oscillator is implemented and fabricated in 0.13 μm CMOS technology. An autonomous neuronal synchronization process is demonstrated with two relaxation oscillators coupled by an analog memristive device in the measurement to emulate the synchronous behaviour between spiking neurons.
The book provides suggestions on how to start using bionic optimization methods, including pseudo-code examples of each of the important approaches and outlines of how to improve them. The most efficient methods for accelerating the studies are discussed. These include the selection of size and generations of a study’s parameters, modification of these driving parameters, switching to gradient methods when approaching local maxima, and the use of parallel working hardware.
Bionic optimization means finding the best solution to a problem using methods found in nature. As evolutionary strategies and particle swarm optimization seem to be the most important methods for structural optimization, we primarily focus on them. Other methods such as neural nets or ant colonies are more suited to control or process studies, so their basic ideas are outlined in order to motivate readers to start using them.
A set of sample applications shows how bionic optimization works in practice. From academic studies on simple frames made of rods to earthquake-resistant buildings, readers follow the lessons learned, difficulties encountered and effective strategies for overcoming them. For the problem of tuned mass dampers, which play an important role in dynamic control, changing the goal and restrictions paves the way for multi-objective-optimization. As most structural designers today use commercial software such as FE-Codes or CAE systems with integrated simulation modules, ways of integrating bionic optimization into these software packages are outlined and examples of typical systems and typical optimization approaches are presented.
The closing section focuses on an overview and outlook on reliable and robust as well as on multi-objective optimization, including discussions of current and upcoming research topics in the field concerning a unified theory for handling stochastic design processes.
In this chapter we introduce methods to improve mechanical designs by bionic methods. In most cases we assume that a general idea of the part or system is given by a set of data or parameters. Our task is to modify these free parameters so that a given goal or objective is optimized without violation of any of the existing restrictions.
Public enterprises find themselves in increasingly competitive markets, a situation that makes having an entrepreneurial orientation (EO) an urgent need, given that EO is an indispensable driver of performance. Research describes politicians delaying the strategic change of public enterprises when serving as board members, but empirical evidence of the impact of board behavior on EO in public enterprises is lacking. We draw on stakeholder-agency theory (SAT) and resource dependence theory (RDT) and use structural equation modeling (SEM) to investigate survey data collected from 110 German energy suppliers that are majority government owned. Results indicate that board strategy control and board networking do not seem to predict EO on first sight. Closer analysis reveals a board networking–EO relationship depending on ownership structure. Remarkably, we find that it is not the usually suspected local municipal owner who hinders EO in our sample organizations but minority shareholders engaging in board networking activities. The results shed light on the intersection of governance and entrepreneurship with special reference to the fine-grained conceptualization of RDT.
Current fields of interest
(2016)
If we review the research done in the field of optimization, the following topics appear to be the focus of current development:
– Optimization under uncertainties, taking into account the inevitable scatter of parts, external effects and internal properties. Reliability and robustness both have to be taken into account when running optimizations, so the name Robust Design Optimization (RDO) came into use.
– Multi-Objective Optimization (MOO) handles situations in which different participants in the development process are developing in different directions. Typically we think of commercial and engineering aspects, but other constellations have to be looked at as well, such as comfort and performance or price and consumption.
– Process development of the entire design process, including optimization from early stages, might help avoid inefficient efforts. Here the management of virtual development has to be re-designed to fit into a coherent scheme.
...
There are many other fields where interesting progress is being made. We limit our discussion to the first three questions.
Planungsprozesse sind komplex und aufwendig. Damit Unternehmen ihre operative Planung schneller und effizienter erstellen können, sollten sie sich an 14 erfolgskritischen Faktoren orientieren. So stellen sie sicher, dass die Planung die strategischen Ziele widerspiegelt, der Aufwand im Rahmen bleibt und die Datenqualität zieladäquat ist.
Efficient and robust 3D object reconstruction based on monocular SLAM and CNN semantic segmentation
(2019)
Various applications implement slam technology, especially in the field of robot navigation. We show the advantage of slam technology for independent 3d object reconstruction. To receive a point cloud of every object of interest void of its environment, we leverage deep learning. We utilize recent cnn deep learning research for accurate semantic segmentation of objects. In this work, we propose two fusion methods for cnn-based semantic segmentation and slam for the 3d reconstruction of objects of interest in order to obtain a more robustness and efficiency. As a major novelty, we introduce a cnn-based masking to focus slam only on feature points belonging to every single object. Noisy, complex or even non-rigid features in the background are filtered out, improving the estimation of the camera pose and the 3d point cloud of each object. Our experiments are constrained to the reconstruction of industrial objects. We present an analysis of the accuracy and performance of each method and compare the two methods describing their pros and cons.
Dieses Lehr- und Übungsbuch führt in die wesentlichen Grundlagen der Festigkeitslehre ein. Es zeigt die wichtigsten Konzepte und Arbeitsabläufe einer ingenieursgerechten Festigkeitsabsicherung. Besonderer Wert wird auf eine anschauliche Vermittlung des Lehrstoffs aus Sicht des Ingenieurs gelegt. Aus Gründen der Verständlichkeit wird daher auf mathematische Herleitungen verzichtet und stattdessen der Schwerpunkt auf eine werkstoffkundliche Betrachtungsweise gelegt. Dies wird durch umfangreiche Werkstoff- und Kennwerttabellen dokumentiert. Mehr als 140 praxisorientierte Übungsaufgaben von unterschiedlichem Schwierigkeitsgrad mit Kurzlösungen und Schwierigkeitsbewertung vertiefen das Verständnis und helfen den Lernerfolg zu sichern.
Dieses Lehr- und Übungsbuch führt in die wesentlichen Grundlagen der Festigkeitslehre ein. Es zeigt die wichtigsten Konzepte und Arbeitsabläufe eines ingenieursgerechten Festigkeitsnachweises. Besonderer Wert wird auf eine anschauliche Vermittlung des Lehrstoffs aus Sicht des Ingenieurs gelegt. Aus Gründen der Verständlichkeit wird daher auf mathematische Herleitungen weitgehend verzichtet und stattdessen der Schwerpunkt auf eine werkstoffkundliche Betrachtungsweise gelegt. Dies wird durch umfangreiche Werkstoff- und Kennwerttabellen dokumentiert.
In the last 20 years there have been major advances in autonomous robotics. In IoT (Industry 4.0), mobile robots require more intuitive interaction possibilities with humans in order to expand its field of applications. This paper describes a user-friendly setup, which enables a person to lead the robot in an unknown environment. The environment has to be perceived by means of sensory input. For realizing a cost and resource efficient Follow Me application we use a single monocular camera as low-cost sensor. For efficient scaling of our Simultaneous Localization and Mapping (SLAM) algorithm, we integrate an inertial measurement unit (IMU) sensor. With the camera input we detect and track a person. We propose combining state of the art deep learning with Convolutional Neural Network (CNN) and SLAM algorithms functionality on the same input camera image. Based on the output robot navigation is possible. This work presents the specification, workflow for an efficient development of the Follow Me application. Our application’s delivered point clouds are also used for surface construction. For demonstration, we use our platform SCITOS G5 equipped with the afore mentioned sensors. Preliminary tests show the system works robustly in the wild.
This book covers the fundamental knowledge of layout design from the ground up, addressing both physical design, as generally applied to digital circuits, and analog layout. Such knowledge provides the critical awareness and insights a layout designer must possess to convert a structural description produced during circuit design into the physical layout used for IC/PCB fabrication.
Broad acceptance of finite-element-based analysis of structural problems and the increased availability of CAD-systems for structural tasks, which help to generate meshes of non-trivial geometries, have been setting a standard for the evaluation of designs in mechanical engineering in the last few decades. The development of automated or semi-automated optimizers, integrated into the Computer-Aided Engineering (CAE)-packages or working as outer loop machines, requiring the solver to do the analysis of the specific designs, has been accepted by most advanced users of the simulation community as well. The availability and inexpensive processing power of computers is increasing without any limitations foreseen in the coming years. There is little doubt that virtual product development will continue using the tools that have proved to be so successful and so easy to handle.
In recent years, 3D facial reconstructions from single images have garnered significant interest. Most of the approaches are based on 3D Morphable Model (3DMM) fitting to reconstruct the 3D face shape. Concurrently, the adoption of Generative Adversarial Networks (GAN) has been gaining momentum to improve the texture of reconstructed faces. In this paper, we propose a fundamentally different approach to reconstructing the 3D head shape from a single image by harnessing the power of GAN. Our method predicts three maps of normal vectors of the head’s frontal, left, and right poses. We are thus presenting a model-free method that does not require any prior knowledge of the object’s geometry to be reconstructed.
The key advantage of our proposed approach is the substantial improvement in reconstruction quality compared to existing methods, particularly in the case of facial regions that are self-occluded in the input image. Our method is not limited to 3d face reconstruction. It is generic and applicable to multiple kinds of 3D objects. To illustrate the versatility of our method, we demonstrate its efficacy in reconstructing the entire human body.
By delivering a model-free method capable of generating high-quality 3D reconstructions, this paper not only advances the field of 3D facial reconstruction but also provides a foundation for future research and applications spanning multiple object types. The implications of this work have the potential to extend far beyond facial reconstruction, paving the way for innovative solutions and discoveries in various domains.
Dieses Buch vermittelt die grundlegenden Kenntnisse für den Layoutentwurf digitaler und analoger Schaltungen. Neben den ingenieurwissenschaftlichen Grundlagen werden auch Werkzeugaspekte behandelt. Das Werk befähigt Ingenieure, einen Schaltplan oder eine Netzliste in eine Layoutdarstellung zur Fertigung eines integrierten Schaltkreises (IC) oder einer Leiterplatte umzusetzen. Nach einer einleitenden Übersicht zu Fertigungstechnologien, Besonderheiten der Mikroelektronik und den Aufgaben des Layoutentwurfs behandelt Kap. 2 zunächst die technologischen Grundlagen der IC-Fertigung. Darauf aufbauend werden nachfolgend alle Aspekte des Layoutentwurfs vertieft: Schnittstellen, Entwurfsregeln und Bibliotheken (Kap. 3), Entwurfsstile, -modelle und -flüsse (Kap. 4), Entwurfsschritte (Kap. 5), Besonderheiten des analogen IC-Entwurfs (Kap. 6) und schließlich Zuverlässigkeitsmaßnahmen (Kap. 7). Das Buch eignet sich als Lehrbuch in den Ingenieurwissenschaften und als Nachschlagewerk für Schaltungs- und Layoutentwickler in der Industrie.
This article covers the design of highly integrated gate drivers and level shifters for high-speed, high power efficiency and dv/dt robustness with focus on automotive applications. With the introduction of the 48 V board net in addition to the conventional 12 V battery, there is an increasing need for fast switching integrated gate drivers in the voltage range of 50 V and above. State-of-the-art drivers are able to switch 50 V in less than 5 ns. The high-voltage electrical drive train demands for galvanic isolated and highly integrated gate drivers. A gate driver with bidirectional signal transmission with a 1 MBit/s amplitude modulation, 10/20 MHz frequency modulation and power transfer over one single transformer will be discussed. The concept of high-voltage charge storing enables an area-efficient fully integrated bootstrapping supply with 70 % less area consumption. EMC is a major concern in automotive. Gate drivers with slope control optimize EMC while maintaining good switching efficiency. A current mode gate driver, which can change its drive current within 10 ns, results in 20 dBuV lower emissions between 7 and 60 MHz and 52 % lower switching loss compared to a conventional constant current gate driver.