Human attributes from 3D pose tracking

It is well known that biological motion conveys a wealth of socially meaningful information. From even a brief exposure, biological motion cues enable the recognition of familiar people, and the inference of attributes such as gender, age, mental state, actions and intentions. In this paper we show that from the output of a video-based 3D human tracking algorithm we can infer physical attributes (e.g., gender and weight) and aspects of mental state (e.g., happiness or sadness). In particular, with 3D articulated tracking we avoid the need for view-based models, specific camera viewpoints, and constrained domains. The task is useful for man–machine communication, and it provides a natural benchmark for evaluating the performance of 3D pose tracking methods (vs. conventional Euclidean joint error metrics). We show results on a large corpus of motion capture data and on the output of a simple 3D pose tracker applied to videos of people walking.     

Metabolism of sitosteryl β-D-glucoside and its nutritional effects in rats

[4-¹⁴C]Sitosteryl β-D-glucoside, intragastrically administered to rats, was not absorbed by the intestinal mucosa. At three hr after the application, radioactivity was concentrated almost exclusively in the digesta of stomach, small intestine as well as cecum and colon, whereas only low proportions of radioactively labeled compounds were found in the various tissues of the gastrointestinal tract. Minor proportions of labeled metabolites of [4-¹⁴C]sitosteryl β-D-glucoside, such as sitosterol and sitosteryl esters, were formed in the small intestine in vivo and in slices of small intestine in vitro. In the tissues of cecum and colon as well as the digesta derived from them, high proportions of labeled coprositostanol, i.e. 24α-ethyl-5β-cholestan-3β-ol, that obviously had been formed by bacterial degradation of the substrate were detected. The feeding of sitosteryl β-D-glucoside (0.5 g/kg body weight×day) over a period of four weeks did not alter significantly body weights or organ weights of rats. Analyses of steryl lipids of the various organs and tissues confirmed the findings obtained with the radioactive substrate: neither sitosteryl β-D-glucoside nor sitosterol or sitosteryl esters derived therefrom had been transported in appreciable amounts to organs and tissues outside the alimentary canal during the feeding period. Minor proportions of unmetabolized sitosteryl β-D-glucoside were detected in the tissues of stomach and intestine, whereas large proportions of the substrate were found in feces of rats that had received the sitosteryl β-D-glucoside-containing diet; coprositostanol was found in feces of these animals in high proportions as well. Thus, the use of sitosteryl β-D-glucoside as emulsifier or preservative in food and feed does not appear to involve any risk. The systematic nomenclature of the sterols referred to by trivial names is, cholest-5-en-3β-ol (cholesterol); 5α-cholestan-3β-ol (5α-cholestanol); 5β-cholestan-3β-ol (5β-cholestanol, coprostanol); 24α-methylcholest-5-en-3β-ol (campesterol); 24α-methyl-5α-cholestan-3β-ol (5α-campestanol); 24α-methyl-5β-cholestan-3β-ol (5β-campestanol, coprocampestanol); 24α-methyl-cholesta-5,22-dien-3β-ol (brassicasterol); 24α-ethylcholest-5-en-3β-ol (sitosterol, β-sitosterol); 24α-ethyl-5α-cholestan-3β-ol (5α-sitostanol); 24α-ethyl-5β-cholestan-3β-cholestan-3β-ol (5β-sitostanol, coprositostanol); 24α-ethylcholesta-5,22-dien-3β-ol (stigmasterol).     

Indoor robot gardening: design and implementation

This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams.     

Distributed boundary coverage with a team of networked miniature robots using a robust market-based algorithm

We study distributed boundary coverage of known environments using a team of miniature robots. Distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. The proposed algorithm is robust to sensor and actuator noise, failure of individual robots, and communication loss. We use a market-based algorithm with known lower bounds on the performance to allocate the environmental objects of interest among the team of robots. The coverage time for systems subject to sensor and actuator noise is significantly shortended by on-line task re-allocation. The complexity and convergence properties of the algorithm are formally analyzed. The system performance is systematically analyzed at two different microscopic modeling levels, using agent-based, discrete-event and module-based, realistic simulators. Finally, results obtained in simulation are validated using a team of Alice miniature robots involved in a distributed inspection case study.     

3D periodic human motion reconstruction from 2D motion sequences

We present and evaluate a method of reconstructing three-dimensional (3D) periodic human motion from two-dimensional (2D) motion sequences. Using Fourier decomposition, we construct a compact representation for periodic human motion. A low-dimensional linear motion model is learned from a training set of 3D Fourier representations by means of principal components analysis. Two-dimensional test data are projected onto this model with two approaches: least-square minimization and calculation of a maximum a posteriori probability using the Bayes' rule. We present two different experiments in which both approaches are applied to 2D data obtained from 3D walking sequences projected onto a plane. In the first experiment, we assume the viewpoint is known. In the second experiment, the horizontal viewpoint is unknown and is recovered from the 2D motion data. The results demonstrate that by using the linear model, not only can missing motion data be reconstructed, but unknown view angles for 2D test data can also be retrieved.     

An analysis of mutative sigma-self-adaptation on linear fitness functions

This paper investigates sigma-self-adaptation for real valued evolutionary algorithms on linear fitness functions. We identify the step-size logarithm log sigma as a key quantity to understand strategy behavior. Knowing the bias of mutation, recombination, and selection on log sigma is sufficient to explain sigma-dynamics and strategy behavior in many cases, even from previously reported results on non-linear and/or noisy fitness functions. On a linear fitness function, if intermediate multi-recombination is applied on the object parameters, the i-th best and the i-th worst individual have the same sigma-distribution. Consequently, the correlation between fitness and step-size sigma is zero. Assuming additionally that sigma-changes due to mutation and recombination are unbiased, then sigma-self-adaptation enlarges sigma if and only if mu < lambda/2, given (mu, lambda)-truncation selection. Experiments show the relevance of the given assumptions.     

Just how insoluble are monoterpenes?

Prior generalizations about the ecological roles of monoterpenes may be misleading if based on the presumed insolubility of monoterpenes in water. We determined the aqueous solubility of 31 biologically active monoterpenes by gas chromatography. While hydrocarbons were of low solubility (< 35 ppm), oxygenated monoterpenes exhibited solubilities one or two orders of magnitude higher, with ranges of 155–6990 ppm for ketones and of 183–1360 ppm for alcohols. Many monoterpenes are phytotoxic in concentrations under 100 ppm, well below the saturated aqueous concentrations of oxygenated monoterpenes. Therefore, even dilute, unsaturated solutions of monoterpenes, occurring naturally in plant tissues and soil solutions, may act as potent biological inhibitors.     

A Study on the Buckling Behaviour of Strips and Plates with Residual Stresses

During and after rolling or flattening of metal strips and plates the permissible deviations from flatness are described by the permissible absolute wave height and the flatness index. Both values can be determined on a measuring table while the material is not subjected to global tension. Because this procedure is expensive, time‐consuming and allows measurement only at discrete positions along the strip length, on‐line flatness measuring systems are used which can detect the distribution of longitudinal tensile stresses distributed across the strip width allowing for the calculation of the flatness index. This value does not always agree with the value obtained directly by measuring on the table even when the measurement of the longitudinal tensile stress distribution operates perfectly. It can be shown that the measurement of the tensile stress distribution does not give a direct indication on the wave height in the tension‐free state determined on the measuring table. To explain the relationship between tensile stress distribution in the strip and the flatness measurement on the measuring table, the buckling behavior is analysed both with and without dead load for simple symmetrical residual stress distributions resulting, e.g., from the rolling process. Based on the knowledge of the distribution of the longitudinal residual stresses across the strip width, the flatness index and the wave height can be determined by using a specialized finite element model. If the direct measurement is performed under action of dead load, large differences between the directly and indirectly obtained flatness index are observed. Below a certain limit of the intensity of the residual stress distribution the strips and plates lie flat on the measuring table. Above this limit the strip lying on the table exhibits post‐bucking deformations. In the latter case, the wave height increases with strip thickness and intensity of residual stresses.     

Surge arresters for insulation coordination in UHV power systems—related problems and solutions

Surge arresters play an important role in the insulation coordination of ultra high-voltage (UHV) electric power systems. In this contribution the requirements on the surge arresters are discussed in comparison with those in conventional applications, and how surge arrester standards are being changed to cover these special requirements.