Reduced Aggregate Scattering Operators for Path Tracing

Aggregate scattering operators (ASOs) describe the overall scattering behavior of an asset (i.e., an object or volume, or collection thereof) accounting for all orders of its internal scattering. We propose a practical way to precompute and compactly store ASOs and demonstrate their ability to accelerate path tracing. Our approach is modular avoiding costly and inflexible scene‐dependent precomputation. This is achieved by decoupling light transport within and outside of each asset, and precomputing on a per‐asset level. We store the internal transport in a reduced‐dimensional subspace tailored to the structure of the asset geometry, its scattering behavior, and typical illumination conditions, allowing the ASOs to maintain good accuracy with modest memory requirements. The precomputed ASO can be reused across all instances of the asset and across multiple scenes. We augment ASOs with functionality enabling multi‐bounce importance sampling, fast short‐circuiting of complex light paths, and compact caching, while retaining rapid progressive preview rendering. We demonstrate the benefits of our ASOs by efficiently path tracing scenes containing many instances of objects with complex inter‐reflections or multiple scattering.     

Biologically inspired design of a parallel actuated humanoid robot

This paper presents the comparison for the role of bi-articular and mono-articular actuators in human and bipedal robot legs, in particular the hip and knee joint, for driving the design of a humanoid robot with inspirations from the biological system. The various constraints driving the design of both systems are also compared. Additional factors particular to robotic system are identified and incorporated in the design process. To do this, a dynamic simulation is used to determine loading conditions and the forces and power produced by each actuator under various arrangements. It is shown that while the design principles of humans and humanoids are similar, other constraints ensure that robots are still merely inspired by humans, and not direct copies. A simple design methodology that captures the complexity and constraints of such a system in this paper is proposed. Finally, a full-size humanoid robot that demonstrates the newfound principle is highlighted.     

Hyperconnected attribute filters based on k-flat zones

In this paper, we present a new method for attribute filtering, combining contrast and structural information. Using hyperconnectivity based on k-flat zones, we improve the ability of attribute filters to retain internal details in detected objects. Simultaneously, we improve the suppression of small, unwanted detail in the background. We extend the theory of attribute filters to hyperconnectivity and provide a fast algorithm to implement the new method. The new version is only marginally slower than the standard Max-Tree algorithm for connected attribute filters, and linear in the number of pixels or voxels. It is two orders of magnitude faster than anisotropic diffusion. The method is implemented in the form of a filtering rule suitable for handling both increasing (size) and nonincreasing (shape) attributes. We test this new framework on nonincreasing shape filters on both 2D images from astronomy, document processing, and microscopy, and 3D CT scans, and show increased robustness to noise while maintaining the advantages of previous methods.     

Moblin.org开源项目

市场上出现了一种新的设备,它能够访问Internet上丰富的内容,同时没有与PC相关的复杂性。这些设备以各种形式出现,从移动互联网设备（Mobile Internet Devices,MID）、便携式媒体播放器（PMP）到个人导航设备（PND）、数码机顶盒（STB）到笔记本电脑。Moblin.org项目由Intel于2007年7月正式启动,它的目的是推动此类设备所需的最新技术的发展。     

A Model-Based Method for an Online Diagnostic Knowledge-Based System

Fault diagnosis is very important for modern production technology and has received increasing theoretical and practical attention during the last few years. This paper presents a model-based diagnostic method for industrial systems. An online, real-time, deep knowledge based fault detection system has been developed by combining different development environments and tools. The system diagnoses, predicts and compensates faults by coupling symbolic and numerical data in a new environment suitable for the interaction of different sources of knowledge and has been successfully implemented and tested on a real hydraulic system.     

Factors affecting user performance in haptic assembly

Current computer-aided assembly systems provide engineers with a variety of spatial snapping and alignment techniques for interactively defining the positions and attachments of components. With the advent of haptics and its integration into virtual assembly systems, users now have the potential advantage of tactile information. This paper reports research that aims to quantify how the provision of haptic feedback in an assembly system can affect user performance. To investigate human–computer interaction processes in assembly modeling, performance of a peg-in-hole manipulation was studied to determine the extent to which haptics and stereovision may impact on task completion time. The results support two important conclusions: first, it is apparent that small (i.e. visually insignificant) assembly features (e.g. chamfers) affect the overall task completion at times only when haptic feedback is provided; and second, that the difference is approximately similar to the values reported for equivalent real world peg-in-hole assembly tasks.     

LEARNING AND VERIFYING SAFETY CONSTRAINTS FOR PLANNERS IN A KNOWLEDGE‐IMPOVERISHED SYSTEM

We present a Bayesian approach to learning flexible safety constraints and subsequently verifying whether plans satisfy these constraints. Our approach, called the Safety Constraint Learner/Checker (SCLC), infers safety constraints from a single expert demonstration trace and minimal background knowledge, and applies these constraints to the solutions proposed by multiple planning agents in an integrated and heterogeneous ensemble. The SCLC calculates how much to blame plan fragments (partial solutions) generated by the individual planning agents. This information is used when composing these fragments into a final overall plan. In particular, fragments whose safety violations exceed a threshold are rejected. This facilitates the generation of safe plans. We have integrated the SCLC within the Generalized Integrated Learning Architecture, which was designed for Defense Advanced Research Projects Agency (DARPA)’s Integrated Learning (IL) program. The main goal of the IL program is to promote the development and success of sophisticated systems that learn to solve challenging real‐world problems based on a simple demonstration by a human expert and exiguous domain knowledge. We present experimental results showing the advantages of the SCLC on two multiagent problem‐solving tasks that were benchmark applications in DARPA’s IL program.     

Progressive Virtual Beam Lights

A recent technique that forms virtual ray lights (VRLs) from path segments in media, reduces the artifacts common to VPL approaches in participating media, however, distracting singularities still remain. We present Virtual Beam Lights (VBLs), a progressive many‐lights algorithm for rendering complex indirect transport paths in, from, and to media. VBLs are efficient and can handle heterogeneous media, anisotropic scattering, and moderately glossy surfaces, while provably converging to ground truth. We inflate ray lights into beam lights with finite thicknesses to eliminate the remaining singularities. Furthermore, we devise several practical schemes for importance sampling the various transport contributions between camera rays, light rays, and surface points. VBLs produce artifact‐free images faster than VRLs, especially when glossy surfaces and/or anisotropic phase functions are present. Lastly, we employ a progressive thickness reduction scheme for VBLs in order to render results that converge to ground truth.     

Gastric and biliary excretion of meperidine in man

The role and importance of enterogastric secretion in the disposition and elimination of the weak base, meperidine (pKa 8.63), was studied after intravenous administration (50 mg) of the drug to 6 normal volunteers. Continuous collection of the gastric fluid over a 4-hr period demonstrated the establishment of high gastric fluid/plasma concentration ratios for meperidine (mean about 50, range, 10 to 200). However, the total amount of drug recovered, even after correction for incomplete collection, was only a small percentage of the administered dose. Under basal conditions a mean +/- SE of 1.9 +/- 0.3 mg, equivalent to 3.7% of the administered dose, was found in the total gastric aspirate. Stimulation of gastric secretion by subcutaneous injection of betazole (1.5 mg/kg) increased this recovery to 3.6 +/- 0.3 mg (7.2%) primarily due to the increase in gastric volumen output. Aspiration of the gastric fluid in either the basal or stimulated situation had no observable effect upon the plasma concentration/time profile of meperidine whether assessed by the terminal half-life, t 1/2 beta, or the plasma clearance; control values were 3.8 +/- hr and 1,190 +/- 130 ml/min, respectively. In 2 subjects "bile fluid" was also collected for 2.5 hr and found to contain less than 0.2% of the administered dose. Enterosystemic recycling is therefore of minor importance in the disposition and elimination of meperidine in man.     

Exploitation versus Exploration in Market Competition

A general simulation model of market competition is developed to explore the effectiveness of and interactions between different types of product exploration and exploitation strategies, that is, innovation, imitation and process improvement. The model, like real markets, is highly non-linear such that analytical solutions are not possible. We use simulation experiments to examine firm survival and the effectiveness of different strategies under different market conditions including competitors' strategies, how long it takes for each strategy to bear fruit and how costly it is, and the timing, growth and duration of product life cycles. The model is implemented on the Internet and provides the basis for further experiments to examine the impact of different combinations of firm strategies on survival and performance.