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Fluid swarm formation control for hand gesture imitation by ellipse fitting

The main focus of this reported work is to imitate human hand gestures in the presence of the organ matching problem. Towards this aim, a case where the imitator is a fluidic system is adopted, whose dynamics are totally different from the imitatee; that is, a human performing different hand gestures. Proposed is a fluidics formation control of fluid particles where the formations result from the imitation of observed human hand gestures. Fluid body motion is modelled in a particle-based approach by using smoothed particle hydrodynamics, which is the Lagrangian method for the simulation of fluid flows. A shape-based controller for human hand gestures imitation by using the ellipse fitting technique is introduced. With the help of this technique, a novel mapping method between the fluid and ellipse parameters is found. The fluid formation control layer is responsible for assigning the appropriate fluid parameters to the swarm in order to generate observed human hand gestures. Finally, the fluid particle formations are generated and these formations are demonstrated in a simulation environment.