>Magister Scientiae - MSc / This research proposes an approach to recognizing facial expressions in the presence of rotations and partial occlusions of the face. The research is in the context of automatic machine translation of South African Sign Language (SASL) to English. The proposed method is able to accurately recognize frontal facial images at an average accuracy of 75%. It also achieves a high recognition accuracy of 70% for faces rotated to 60◦. It was also shown that the method is able to continue to recognize facial expressions even in the presence of full occlusions of the eyes, mouth and left/right sides of the face. The accuracy was as high as 70% for occlusion of some areas. An additional finding was that both the left and the right sides of the face are required for recognition. As an addition, the foundation was laid for a fully automatic facial expression recognition system that can accurately segment frontal or rotated faces in a video sequence.

Practical laser triangulation sessions were performed for each measurement object to obtain ground truth data. Three methods for laser line simulations were implemented: reshaping the built-in light sources of Blender, creating a texture projector and approximating a Gaussian beam as a light emitting volume. The camera simulation was based on the default camera of Blender together with settings from the physical camera. Three approaches for creating wood material were tested: procedural texturing, using microscopic image textures to create 3D-material and UV-mapping high resolution photograph onto the geometry. The blister package was simulated with one material for the pills and another for the semi-transparent plastic packaging. A stand-alone Python script was implemented to simulate anisotropic/directed subsurface scattering of a point laser in wood. This algorithm included an approach for creating vector fields that represented subsurface scattering directions. Three post-processing scripts were produced to simulate sensor noise, blurring/blooming of the laser line and lastly to apply simulated speckle patterns to the laser lines. Sensor images were simulated by rendering a laser line projected onto a measurement object. The sensor images were post-processed with the three mentioned scripts. Thousands of sensor images were simulated, with a small displacement of the measurement object between each image. After post-processing, these images were combined to a single scattering image. SICK IVP AB provided the algorithms needed for laser centre extraction as well as for scattering image creation. / <p>Examensarbetet är utfört vid Institutionen för teknik och naturvetenskap (ITN) vid Tekniska fakulteten, Linköpings universitet</p>

This work deals with driving skills training problematics using a driving school 3D simulator, which monitors the observance of road traffic rules. Existing simulators are categorized by characteristics and described. The text contains a list of implemented rules and a summary of suitable tools. The resultant application is based on the Unreal engine and the text describes the various stages of development.

This thesis is divided into two parts, where the first part is focused on an overview and work with 3D software at Czech universities, it includes a comparison of the different programs and description of history of Blender programme which was the one chosen as support for teaching the Modern computer graphics course. The second part of the thesis is more focused on practical matters and describes the basic workings of the programme from the first start up, orientation in the different sections and the settings of the work space for the work itself. The thesis details basic transformation commands of change of location, rotation and change of scale of objects and editing commands like copying, deleting, hiding and duplication of individual objects including their theoretical descriptions. Work with lightings continues after the transformation commands including practical examples of different types of lighting. Work with materials and textures is described in the last two chapters. The goal of this thesis is to describe how to work with the Blender programme and basic work with objects and assigning individual materials and textures for objects and the lighting in a scene for people unfamiliar with the programme.

Eine Zusammenstellung der Blender-Quellfiles, welche zum UNIX-STammtisch "Character-Animation mit Blender" gezeigt wurden.

Les étapes de mélange sont souvent délicates à appréhender, car il subsiste encore des lacunes sur les lois dynamiques qui régissent ces opérations. De ce fait, la prédiction de l’homogénéité d’un mélange de poudres nécessite encore de nombreux essais. Dans ce travail de thèse, nous nous attachons à développer une méthodologie qui permet de contribuer au développement de modèles prédictifs dans les mélangeurs de poudres tout en mettant en évidence des invariants possibles pour les changements d’échelle sur ces procédés. Ainsi nous avons étudié l’agitation de poudres, avec différentes résistances à l’écoulement, dans un mélangeur convectif planétaire de type Triaxe® d’une contenance de 48 L. Des mesures de propriétés rhéologiques à l’échelle du laboratoire (rhéomètre FT4, voluménomètre) sont effectuées afin de mieux comprendre le comportement des poudres à l’échelle du mélangeur. Un mélangeur convectif prototype a été conçu dans le cadre de cette thèse. Cet appareil polyvalent constitué d’une cuve cylindrique transparente et agité par un mobile constitué de quatre pales, permet de visualiser les régimes et les mécanismes d’écoulement tout en effectuant des mesures rhéologiques. Deux régimes d’écoulement ont été identifiés (roulement, cataracte), ainsi que trois mécanismes (convection, diffusion et avalanche). Ces mécanismes ont permis d’établir un modèle stochastique, dont les paramètres ont été évalués expérimentalement pour une poudre à écoulement libre et pour une poudre cohésive. / Mixing systems are usually difficult to understand, because there is a lack of knowledge concerning dynamic laws ruling these operations. Thus, nowadays, several tests are needed to predict properly the homogeneity of a powder mix. Throughout this PhD work, a method is developed to build predictive models for powder mixers and to bring out possible invariants for scale switching on these processes. Thus the stirring of powders is studied using different flow resistances within a 48L capacity Triaxe®, a convective planetary mixer. Rheological properties measurements are done at labscale (FT4 rheometer, volumenometer) for a better understanding of powder behavior at a wider mixer scale. A prototype blender has been built for this work. This polyvalent device, made of four blades and of a transparent vessel, allows to observe flow regimes and mechanisms, and to do rheological measurements. Two flow regimes have been identified (rolling, cataracting) and three flow mechanisms (convection, diffusion and avalanching). These mechanisms allowed to do stochastic modelling, for which parameters have been evaluated with experiments for free-flowing and cohesive powders.

This work discourses about methods of rendering volumetric data such as clouds or smoke in computer graphics and implementation of this feature to existing application. The first part is summary of techniques and tricks used in computer graphics to display such objects in scene, their pros and cons and the most used techniques of displaying volumetric data. Next part is more closely focused to choosed technique of rendering volumetric data with consideration of light behavior inside the volume (also called participating media) and basic relationships used used in computation. In following part of work there is short list of applications - renderers used to realistic rendering of scene, which are suitable for implementation of selected volumetric data rendering algorithm. Selected application - Blender is describled more deeply including its inner structure, especially rendering engine. Last part of work is dedicated to design, implementation and integration of rendering algorithm itself.

This thesis deals with robot modelling and simulation of the robot behavior. At first we discuss a benefit of this kind of simulation. Next we describe the general scheme of robot. After that we select the environment where robot will be simulated in. There is a conception of this robot and explanation of the implementation in chosen environment. We continue with design and realization of the communication interface of this robot. The result of this procedure is robot with independent movement able to response to the obstructions and avoid them. Robot is able to create a map of the environment and use this map to find out the optimal way to the scheduled goal using the A* algorithm and achieve this goal. There is a possibility to use more robots in the scene. These communicate and the nearest one is able to get the goal.

This thesis describes the implementation and evaluation of a modular approach for generating 2D side-scroller game levels from a procedurally generated 3D world. Manually generating large amounts of game levels can take considerable amounts of time, and it maybe desirable to automate this process, using procedural content generation. The problem with using procedural content generation is that it is hard to generate coherent game levels. We implement a modular pipeline which, given a set of heightmaps, generates a 3Dworld. From this world, 2D game levels are generated by pathing and extracting terrain features which influence the content in the game levels. The resulting 2D game levels will, using our approach, have a coherent and logical look. The game levels themselves do not contain any interesting gameplay. Instead they rely on a game level designer to add gameplay elements. The resulting modular implementation is considered a success, it proves that it is possible to generate 2D game levels from a procedurally generated 3Dworld, using the features of that world.

The Comet Interceptor is a joint mission by European Space Agency (ESA) and Japan Aerospace Exploration Agency (JAXA) which seeks to perform a flyby over a Long Period Comet using a multi-element spacecraft. The Comet Interceptor comprises three spacecrafts- A, B1 and B2. All three spacecrafts will observe and map the comet at three different points on the coma of the comet, thereby making this mission the first ever multipoint mission dedicated to study a Long Period Comet. Out of the eleven instruments aboard the Comet Interceptor, the work done for this thesis aims to help the team designing the instrument-Optical Periscope Imager forComets (OPIC). The team designing OPIC uses the imaging simulation software Space Imaging Simulator for Proximity Operations (SISPO) to render images of theoretically modelled dust and gas densities of the coma of a comet to obtain prerequisite knowledge of the images which is to be taken by OPIC during its flyby. Using the theoretical model of the coma, a 3D model was created as part of the thesis which shall be later implemented in SISPO. The structure of the coma was made with the help of a sparse volumetric data manipulation tool OpenVDB, which was coded and run in Python. The generated data was imported in Blender to visualise the volumetric data with the help of Blender’s rendering engine-Cycles. To visualise the 3D model with utmost physical realism as the software Blender allows, a study on the scattering properties of the dust and gas model was done. Also, a motion blur was implemented in Blender to simulate the high relative velocity between the instrument and comet. Multiple approaches of varying complexities and time consumption were considered for importing and visualising the volumetric data. The final render images were brightness-matched with reference to images from previous cometary missions. Finally, a qualitative analysis was done by visually comparing the render images to the images from previous missions. With the help of this qualitative analysis, several features and characteristics were identified which were analogous to the real life images, thus establishing the correctness of the renders produced.