masterarbeit/arbeit/ma.md

---
fontsize: 11pt
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\chapter*{How to read this Thesis}

As a guide through the nomenclature used in the formulas we prepend this
chapter.

Unless otherwise noted the following holds:

- lowercase letters $x,y,z$  
  refer to real variables and represent the coordinates of a point in 3D--Space.
- lowercase letters $u,v,w$  
  refer to real variables between $0$ and $1$ used as coefficients in a 3D
  B--Spline grid.
- other lowercase letters  
  refer to other scalar (real) variables.
- lowercase **bold** letters (e.g. $\vec{x},\vec{y}$)  
  refer to 3D coordinates
- uppercase **BOLD** letters (e.g. $\vec{D}, \vec{M}$)  
  refer to Matrices

# Introduction

Many modern industrial design processes require advanced optimization methods
due to the increased complexity resulting from more and more degrees of freedom
as methods refine and/or other methods are used. Examples for this are physical
domains like aerodynamics (i.e. drag), fluid dynamics (i.e. throughput of liquid)
--- where the complexity increases with the temporal and spatial resolution of
the simulation --- or known hard algorithmic problems in informatics (i.e.
layouting of circuit boards or stacking of 3D--objects). Moreover these are
typically not static environments but requirements shift over time or from case
to case.

\begin{figure}[hbt]
\centering
\includegraphics[width=\textwidth]{img/Evo_overview.png}
\caption{Example of the use of evolutionary algorithms in automotive design
(from \cite{anrichterEvol}).}
\end{figure}

Evolutionary algorithms cope especially well with these problem domains while
addressing all the issues at hand\cite{minai2006complex}. One of the main
concerns in these algorithms is the formulation of the problems in terms of a
*genome* and  *fitness--function*. While one can typically use an arbitrary
cost--function for the *fitness--functions* (i.e. amount of drag, amount of space,
etc.), the translation of the problem--domain into a simple parametric
representation (the *genome*) can be challenging.

This translation is often necessary as the target of the optimization may have
too many degrees of freedom. In the example of an aerodynamic simulation of drag
onto an object, those object--designs tend to have a high number of vertices to
adhere to various requirements (visual, practical, physical, etc.). A simpler
representation of the same object in only a few parameters that manipulate the
whole in a sensible matter are desirable, as this often decreases the
computation time significantly.

Additionally one can exploit the fact, that drag in this case is especially
sensitive to non--smooth surfaces, so that a smooth local manipulation of the
surface as a whole is more advantageous than merely random manipulation of the
vertices.

The quality of such a low-dimensional representation in biological evolution is
strongly tied to the notion of *evolvability*\cite{wagner1996complex}, as the
parametrization of the problem has serious implications on the convergence speed
and the quality of the solution\cite{Rothlauf2006}.
However, there is no consensus on how *evolvability* is defined and the meaning
varies from context to context\cite{richter2015evolvability}. As a consequence
there is need for some criteria we can measure, so that we are able to compare different
representations to learn and improve upon these.

\begin{figure}[hbt]
\centering
\includegraphics[width=\textwidth]{img/deformations.png}
\caption{Example of RBF--based deformation and FFD targeting the same mesh.}
\end{figure}

One example of such a general representation of an object is to generate random
points and represent vertices of an object as distances to these points --- for
example via \acf{RBF}. If one (or the algorithm) would move such a point the
object will get deformed only locally (due to the \ac{RBF}). As this results in
a simple mapping from the parameter-space onto the object one can try out
different representations of the same object and evaluate which criteria may be 
suited to describe this notion of *evolvability*. This is exactly what Richter
et al.\cite{anrichterEvol} have done.

As we transfer the results of Richter et al.\cite{anrichterEvol} from using
\acf{RBF} as a representation to manipulate geometric objects to the use of
\acf{FFD} we will use the same definition for evolvability the original author
used, namely *regularity*, *variability*, and *improvement potential*. We
introduce these term in detail in Chapter \ref{sec:intro:rvi}. In the original
publication the author could show a correlation between these
evolvability--criteria with the quality and convergence speed of such
optimization.

We will replicate the same setup on the same objects but use \acf{FFD} instead of
\acf{RBF} to create a local deformation near the control points and evaluate if
the evolution--criteria still work as a predictor for *evolvability* of the
representation given the different deformation scheme, as suspected in
\cite{anrichterEvol}.

First we introduce different topics in isolation in Chapter \ref{sec:back}. We
take an abstract look at the definition of \ac{FFD} for a one--dimensional line
(in \ref{sec:back:ffd}) and discuss why this is a sensible deformation function
(in \ref{sec:back:ffdgood}).
Then we establish some background--knowledge of evolutionary algorithms (in
\ref{sec:back:evo}) and why this is useful in our domain (in
\ref{sec:back:evogood}) followed by the definition of the different evolvability
criteria established in \cite{anrichterEvol} (in \ref {sec:intro:rvi}).

In Chapter \ref{sec:impl} we take a look at our implementation of \ac{FFD} and
the adaptation for 3D--meshes that were used. Next, in Chapter \ref{sec:eval},
we describe the different scenarios we use to evaluate the different
evolvability--criteria incorporating all aspects introduced in Chapter
\ref{sec:back}. Following that, we evaluate the results in
Chapter \ref{sec:res} with further on discussion, summary and outlook in
Chapter \ref{sec:dis}.


# Background
\label{sec:back}

## What is \acf{FFD}?
\label{sec:back:ffd}

First of all we have to establish how a \ac{FFD} works and why this is a good
tool for deforming geometric objects (esp. meshes in our case) in the first
place. For simplicity we only summarize the 1D--case from
\cite{spitzmuller1996bezier} here and go into the extension to the 3D case in
chapter \ref{3dffd}.

The main idea of \ac{FFD} is to create a function $s : [0,1[^d \mapsto
\mathbb{R}^d$ that spans a certain part of a vector--space and is only linearly
parametrized by some special control points $p_i$ and an constant
attribution--function $a_i(u)$, so
$$
s(\vec{u}) = \sum_i a_i(\vec{u}) \vec{p_i}
$$
can be thought of a representation of the inside of the convex hull generated by
the control points where each point can be accessed by the right $u \in [0,1[^d$.

\begin{figure}[!ht]
\begin{center}
\includegraphics[width=0.7\textwidth]{img/B-Splines.png}
\end{center}
\caption[Example of B-Splines]{Example of a parametrization of a line with
corresponding deformation to generate a deformed objet}
\label{fig:bspline}
\end{figure}

In the 1--dimensional example in figure \ref{fig:bspline}, the control--points
are indicated as red dots and the color-gradient should hint at the $u$--values
ranging from $0$ to $1$.

We now define a \acf{FFD} by the following:  
Given an arbitrary number of points $p_i$ alongside a line, we map a scalar
value $\tau_i \in [0,1[$ to each point with $\tau_i < \tau_{i+1} \forall i$
according to the position of $p_i$ on said line.
Additionally, given a degree of the target polynomial $d$ we define the curve
$N_{i,d,\tau_i}(u)$ as follows:

\begin{equation} \label{eqn:ffd1d1}
N_{i,0,\tau}(u) = \begin{cases} 1, & u \in [\tau_i, \tau_{i+1}[ \\ 0, & \mbox{otherwise} \end{cases}
\end{equation}
and
\begin{equation} \label{eqn:ffd1d2}
N_{i,d,\tau}(u) = \frac{u-\tau_i}{\tau_{i+d}} N_{i,d-1,\tau}(u) + \frac{\tau_{i+d+1} - u}{\tau_{i+d+1}-\tau_{i+1}} N_{i+1,d-1,\tau}(u)
\end{equation}

If we now multiply every $p_i$ with the corresponding $N_{i,d,\tau_i}(u)$ we get
the contribution of each point $p_i$ to the final curve--point parameterized only
by $u \in [0,1[$.  As can be seen from \eqref{eqn:ffd1d2} we only access points
$[p_i..p_{i+d}]$ for any given $i$^[one more for each recursive step.], which gives
us, in combination with choosing $p_i$ and $\tau_i$ in order, only a local
interference of $d+1$ points.

We can even derive this equation straightforward for an arbitrary
$N$^[*Warning:* in the case of $d=1$ the recursion--formula yields a $0$
denominator, but $N$ is also $0$. The right solution for this case is a
derivative of $0$]:

$$\frac{\partial}{\partial u} N_{i,d,r}(u) = \frac{d}{\tau_{i+d} - \tau_i} N_{i,d-1,\tau}(u) - \frac{d}{\tau_{i+d+1} - \tau_{i+1}} N_{i+1,d-1,\tau}(u)$$

For a B--Spline
$$s(u) = \sum_{i} N_{i,d,\tau_i}(u) p_i$$
these derivations yield $\frac{\partial^d}{\partial u} s(u) = 0$.

Another interesting property of these recursive polynomials is that they are
continuous (given $d \ge 1$) as every $p_i$ gets blended in between $\tau_i$ and
$\tau_{i+d}$ and out between $\tau_{i+1}$, and $\tau_{i+d+1}$ as can bee seen from the two coefficients
in every step of the recursion.

This means that all changes are only a local linear combination between the
control--point $p_i$ to $p_{i+d+1}$ and consequently this yields to the
convex--hull--property of B-Splines --- meaning, that no matter how we choose
our coefficients, the resulting points all have to lie inside convex--hull of
the control--points.

For a given point $v_i$ we can then calculate the contributions
$n_{i,j}~:=~N_{j,d,\tau}$ of each control point $p_j$ to get the
projection from the control--point--space into the object--space:
$$
v_i = \sum_j n_{i,j} \cdot p_j = \vec{n}_i^{T} \vec{p}
$$
or written for all points at the same time:
$$
\vec{v} = \vec{N} \vec{p}
$$
where $\vec{N}$ is the $n \times m$ transformation--matrix (later on called
**deformation matrix**) for $n$ object--space--points and $m$ control--points.

\begin{figure}[ht]
\begin{center}
\includegraphics[width=\textwidth]{img/unity.png}
\end{center}
\caption[B--spline--basis--function as partition of unity]{From \cite[Figure 2.13]{brunet2010contributions}:\newline
\glqq Some interesting properties of the B--splines. On the natural definition domain
of the B--spline ($[k_0,k_4]$ on this figure), the B--spline basis functions sum
up to one (partition of unity). In this example, we use B--splines of degree 2.
The horizontal segment below the abscissa axis represents the domain of
influence of the B--splines basis function, i.e. the interval on which they are
not null. At a given point, there are at most $ d+1$ non-zero B--spline basis
functions (compact support).\grqq \newline
Note, that Brunet starts his index at $-d$ opposed to our definition, where we
start at $0$.}
\label{fig:partition_unity}
\end{figure}

Furthermore B--splines--basis--functions form a partition of unity for all, but
the first and last $d$ control-points\cite{brunet2010contributions}. Therefore
we later on use the border-points $d+1$ times, such that $\sum_j n_{i,j} p_j = p_i$
for these points.

The locality of the influence of each control--point and the partition of unity
was beautifully pictured by Brunet, which we included here as figure
\ref{fig:partition_unity}.

### Why is \ac{FFD} a good deformation function?
\label{sec:back:ffdgood}

The usage of \ac{FFD} as a tool for manipulating follows directly from the
properties of the polynomials and the correspondence to the control points.
Having only a few control points gives the user a nicer high--level--interface, as
she only needs to move these points and the model follows in an intuitive
manner. The deformation is smooth as the underlying polygon is smooth as well
and affects as many vertices of the model as needed. Moreover the changes are
always local so one risks not any change that a user cannot immediately see.

But there are also disadvantages of this approach. The user loses the ability to
directly influence vertices and even seemingly simple tasks as creating a
plateau can be difficult to
achieve\cite[chapter~3.2]{hsu1991dmffd}\cite{hsu1992direct}.

This disadvantages led to the formulation of
\acf{DM--FFD}\cite[chapter~3.3]{hsu1991dmffd} in which the user directly
interacts with the surface--mesh.  All interactions will be applied
proportionally to the control--points that make up the parametrization of the
interaction--point itself yielding a smooth deformation of the surface *at* the
surface without seemingly arbitrary scattered control--points.  Moreover this
increases the efficiency of an evolutionary optimization\cite{Menzel2006}, which
we will use later on.

\begin{figure}[!ht]
\includegraphics[width=\textwidth]{img/hsu_fig7.png}
\caption{Figure 7 from \cite{hsu1991dmffd}.}
\label{fig:hsu_fig7}
\end{figure}

But this approach also has downsides as can be seen in figure
\ref{fig:hsu_fig7}, as the tessellation of the invisible grid has a major impact
on the deformation itself.

All in all \ac{FFD} and \ac{DM--FFD} are still good ways to deform a high--polygon
mesh albeit the downsides.

## What is evolutionary optimization?
\label{sec:back:evo}

In this thesis we are using an evolutionary optimization strategy to solve the
problem of finding the best parameters for our deformation. This approach,
however, is very generic and we introduce it here in a broader sense.

\begin{algorithm}
\caption{An outline of evolutionary algorithms}
\label{alg:evo}
\begin{algorithmic}
\STATE t := 0;
\STATE initialize $P(0) := \{\vec{a}_1(0),\dots,\vec{a}_\mu(0)\} \in I^\mu$;
\STATE evaluate $F(0) : \{\Phi(x) | x \in P(0)\}$;
\WHILE{$c(F(t)) \neq$ \TRUE}
    \STATE recombine: $P’(t) := r(P(t))$;
    \STATE mutate: $P''(t) := m(P’(t))$;
    \STATE evaluate $F''(t) : \{\Phi(x) | x \in P''(t)\}$
    \STATE select: $P(t + 1) := s(P''(t) \cup Q,\Phi)$;
    \STATE t := t + 1;
\ENDWHILE
\end{algorithmic}
\end{algorithm}

The general shape of an evolutionary algorithm (adapted from
\cite{back1993overview}) is outlined in Algorithm \ref{alg:evo}. Here, $P(t)$ 
denotes the population of parameters in step $t$ of the algorithm. The
population contains $\mu$ individuals $a_i$ from the possible individual--set
$I$ that fit the shape of the parameters we are looking for. Typically these are
initialized by a random guess or just zero. Further on we need a so--called
*fitness--function* $\Phi : I \mapsto M$ that can take each parameter to a measurable
space $M$ (usually $M = \mathbb{R}$) along a convergence--function $c : I \mapsto \mathbb{B}$
that terminates the optimization.

Biologically speaking the set $I$ corresponds to the set of possible *Genotypes*
while $M$ represents the possible observable *Phenotypes*.
\improvement[inline]{Erklären, was das ist. Quellen!}

The main algorithm just repeats the following steps:

- **Recombine** with a recombination--function $r : I^{\mu} \mapsto I^{\lambda}$ to
  generate $\lambda$ new individuals based on the characteristics of the $\mu$
  parents.  
  This makes sure that the next guess is close to the old guess.
- **Mutate** with a mutation--function $m : I^{\lambda} \mapsto I^{\lambda}$ to
  introduce new effects that cannot be produced by mere recombination of the
  parents.  
  Typically this just adds minor defects to individual members of the population
  like adding a random gaussian noise or amplifying/dampening random parts.
- **Selection** takes a selection--function $s : (I^\lambda \cup I^{\mu + \lambda},\Phi) \mapsto I^\mu$ that
  selects from the previously generated $I^\lambda$ children and optionally also
  the parents (denoted by the set $Q$ in the algorithm) using the
  fitness--function $\Phi$. The result of this operation is the next Population
  of $\mu$ individuals.

All these functions can (and mostly do) have a lot of hidden parameters that
can be changed over time. A good overview of this is given in
\cite{eiben1999parameter}, so we only give a small excerpt here.

For example the mutation can consist of merely a single $\sigma$ determining the
strength of the gaussian defects in every parameter --- or giving a different
$\sigma$ to every part. An even more sophisticated example would be the \glqq 1/5
success rule\grqq \ from \cite{rechenberg1973evolutionsstrategie}.

Also in selection it may not be wise to only take the best--performing
individuals, because it may be that the optimization has to overcome a barrier
of bad fitness to achieve a better local optimum.

Recombination also does not have to be mere random choosing of parents, but can
also take ancestry, distance of genes or grouping into account.

## Advantages of evolutionary algorithms
\label{sec:back:evogood}

The main advantage of evolutionary algorithms is the ability to find optima of
general functions just with the help of a given fitness--function. Components
and techniques for evolutionary algorithms are specifically known to
help with different problems arising in the domain of
optimization\cite{weise2012evolutionary}. An overview of the typical problems
are shown in figure \ref{fig:probhard}.

\begin{figure}[!ht]
\includegraphics[width=\textwidth]{img/weise_fig3.png}
\caption{Fig.~3. taken from \cite{weise2012evolutionary}}
\label{fig:probhard}
\end{figure}

Most of the advantages stem from the fact that a gradient--based procedure has
only one point of observation from where it evaluates the next steps, whereas an
evolutionary strategy starts with a population of guessed solutions. Because an
evolutionary strategy modifies the solution randomly, keeping some solutions
and purging others, it can also target multiple different hypothesis at the
same time where the local optima die out in the face of other, better
candidates.

\improvement[inline]{Verweis auf MO-CMA etc. Vielleicht auch etwas
ausführlicher.}

If an analytic best solution exists and is easily computable (i.e. because the
error--function is convex) an evolutionary algorithm is not the right choice.
Although both converge to the same solution, the analytic one is usually faster.

But in reality many problems have no analytic solution, because the problem is
either not convex or there are so many parameters that an analytic solution
(mostly meaning the equivalence to an exhaustive search) is computationally not
feasible. Here evolutionary optimization has one more advantage as one can at
least get suboptimal solutions fast, which then refine over time and still
converge to the same solution.

## Criteria for the evolvability of linear deformations
\label{sec:intro:rvi}

As we have established in chapter \ref{sec:back:ffd}, we can describe a
deformation by the formula
$$
\vec{S} = \vec{U}\vec{P}
$$
where $\vec{S}$ is a $n \times d$ matrix of vertices^[We use $\vec{S}$ in this
notation, as we will use this parametrization of a source--mesh to manipulate
$\vec{S}$ into a target--mesh $\vec{T}$ via $\vec{P}$], $\vec{U}$ are the (during
parametrization) calculated deformation--coefficients and $P$ is a $m \times d$ matrix
of control--points that we interact with during deformation.

We can also think of the deformation in terms of differences from the original
coordinates
$$
\Delta \vec{S} = \vec{U} \cdot \Delta \vec{P}
$$
which is isomorphic to the former due to the linear correlation in the
deformation. One can see in this way, that the way the deformation behaves lies
solely in the entries of $\vec{U}$, which is why the three criteria focus on this.

### Variability

In \cite{anrichterEvol} *variability* is defined as
$$\mathrm{variability}(\vec{U}) := \frac{\mathrm{rank}(\vec{U})}{n},$$
whereby $\vec{U}$ is the $n \times m$ deformation--Matrix used to map the $m$
control points onto the $n$ vertices.

Given $n = m$, an identical number of control--points and vertices, this
quotient will be $=1$ if all control points are independent of each other and
the solution is to trivially move every control--point onto a target--point.

In praxis the value of $V(\vec{U})$ is typically $\ll 1$, because as
there are only few control--points for many vertices, so $m \ll n$.

This criterion should correlate to the degrees of freedom the given
parametrization has. This can be seen from the fact, that
$\mathrm{rank}(\vec{U})$ is limited by $\min(m,n)$ and --- as $n$ is constant
--- can never exceed $n$.

The rank itself is also interesting, as control--points could theoretically be
placed on top of each other or be linear dependent in another way --- but will
in both cases lower the rank below the number of control--points $m$ and are
thus measurable by the *variability*.

### Regularity

*Regularity* is defined\cite{anrichterEvol} as
$$\mathrm{regularity}(\vec{U}) := \frac{1}{\kappa(\vec{U})} = \frac{\sigma_{min}}{\sigma_{max}}$$
where $\sigma_{min}$ and $\sigma_{max}$ are the smallest and greatest right singular
value of the deformation--matrix $\vec{U}$.

As we deform the given Object only based on the parameters as $\vec{p} \mapsto
f(\vec{x} + \vec{U}\vec{p})$ this makes sure that $\|\vec{Up}\| \propto
\|\vec{p}\|$ when $\kappa(\vec{U}) \approx 1$. The inversion of $\kappa(\vec{U})$
is only performed to map the criterion--range to $[0..1]$, whereas $1$ is the
optimal value and $0$ is the worst value.

On the one hand this criterion should be characteristic for numeric
stability\cite[chapter 2.7]{golub2012matrix} and on the other hand for the
convergence speed of evolutionary algorithms\cite{anrichterEvol} as it is tied to 
the notion of locality\cite{weise2012evolutionary,thorhauer2014locality}.

### Improvement Potential

In contrast to the general nature of *variability* and *regularity*, which are
agnostic of the fitness--function at hand, the third criterion should reflect a
notion of the potential for optimization, taking a guess into account.

Most of the times some kind of gradient $g$ is available to suggest a
direction worth pursuing; either from a previous iteration or by educated
guessing. We use this to guess how much change can be achieved in
the given direction.

The definition for an *improvement potential* $P$ is\cite{anrichterEvol}:
$$
\mathrm{potential}(\vec{U}) := 1 - \|(\vec{1} - \vec{UU}^+)\vec{G}\|^2_F
$$
given some approximate $n \times d$ fitness--gradient $\vec{G}$, normalized to
$\|\vec{G}\|_F = 1$, whereby $\|\cdot\|_F$ denotes the Frobenius--Norm.

# Implementation of \acf{FFD}
\label{sec:impl}

The general formulation of B--Splines has two free parameters $d$ and $\tau$
which must be chosen beforehand.

As we usually work with regular grids in our \ac{FFD} we define $\tau$
statically as $\tau_i = \nicefrac{i}{n}$ whereby $n$ is the number of
control--points in that direction.

$d$ defines the *degree* of the B--Spline--Function (the number of times this
function is differentiable) and for our purposes we fix $d$ to $3$, but give the
formulas for the general case so it can be adapted quite freely.


## Adaption of \ac{FFD}
\label{sec:ffd:adapt}

As we have established in Chapter \ref{sec:back:ffd} we can define an
\ac{FFD}--displacement as
\begin{equation}
\Delta_x(u) = \sum_i N_{i,d,\tau_i}(u) \Delta_x c_i
\end{equation}

Note that we only sum up the $\Delta$--displacements in the control points $c_i$ to get
the change in position of the point we are interested in.

In this way every deformed vertex is defined by
$$
\textrm{Deform}(v_x) = v_x + \Delta_x(u)
$$
with $u \in [0..1[$ being the variable that connects the high--detailed
vertex--mesh to the low--detailed control--grid. To actually calculate the new
position of the vertex we first have to calculate the $u$--value for each
vertex. This is achieved by finding out the parametrization of $v$ in terms of
$c_i$
$$
v_x \overset{!}{=} \sum_i N_{i,d,\tau_i}(u) c_i
$$
so we can minimize the error between those two:
$$
\underset{u}{\argmin}\,Err(u,v_x) = \underset{u}{\argmin}\,2 \cdot \|v_x - \sum_i N_{i,d,\tau_i}(u) c_i\|^2_2
$$
As this error--term is quadratic we just derive by $u$ yielding
$$
\begin{array}{rl}
\frac{\partial}{\partial u} & v_x - \sum_i N_{i,d,\tau_i}(u) c_i \\
= & - \sum_i \left( \frac{d}{\tau_{i+d} - \tau_i} N_{i,d-1,\tau}(u) - \frac{d}{\tau_{i+d+1} - \tau_{i+1}} N_{i+1,d-1,\tau}(u) \right) c_i
\end{array}
$$
and do a gradient--descend to approximate the value of $u$ up to an $\epsilon$ of $0.0001$.

For this we employ the Gauss--Newton algorithm\cite{gaussNewton}, which
converges into the least--squares solution. An exact solution of this problem is
impossible most of the times, because we usually have way more vertices
than control points ($\#v~\gg~\#c$).

## Adaption of \ac{FFD} for a 3D--Mesh
\label{3dffd}

This is a straightforward extension of the 1D--method presented in the last
chapter. But this time things get a bit more complicated. As we have a
3--dimensional grid we may have a different amount of control--points in each
direction.

Given $n,m,o$ control points in $x,y,z$--direction each Point on the curve is
defined by
$$V(u,v,w) = \sum_i \sum_j \sum_k N_{i,d,\tau_i}(u) N_{j,d,\tau_j}(v) N_{k,d,\tau_k}(w) \cdot C_{ijk}.$$

In this case we have three different B--Splines (one for each dimension) and also
3 variables $u,v,w$ for each vertex we want to approximate.

Given a target vertex $\vec{p}^*$ and an initial guess $\vec{p}=V(u,v,w)$
we define the error--function for the gradient--descent as:

$$Err(u,v,w,\vec{p}^{*}) = \vec{p}^{*} - V(u,v,w)$$

And the partial version for just one direction as

$$Err_x(u,v,w,\vec{p}^{*}) = p^{*}_x - \sum_i \sum_j \sum_k N_{i,d,\tau_i}(u) N_{j,d,\tau_j}(v) N_{k,d,\tau_k}(w) \cdot {c_{ijk}}_x $$

To solve this we derive partially, like before:

$$
\begin{array}{rl}
    \displaystyle \frac{\partial Err_x}{\partial u} & p^{*}_x - \displaystyle \sum_i \sum_j \sum_k N_{i,d,\tau_i}(u) N_{j,d,\tau_j}(v) N_{k,d,\tau_k}(w) \cdot {c_{ijk}}_x \\
  = & \displaystyle - \sum_i \sum_j \sum_k N'_{i,d,\tau_i}(u) N_{j,d,\tau_j}(v) N_{k,d,\tau_k}(w) \cdot {c_{ijk}}_x
\end{array}
$$

The other partial derivatives follow the same pattern yielding the Jacobian:

$$
J(Err(u,v,w)) = 
\left(
\begin{array}{ccc}
\frac{\partial Err_x}{\partial u} & \frac{\partial Err_x}{\partial v} & \frac{\partial Err_x}{\partial w} \\
\frac{\partial Err_y}{\partial u} & \frac{\partial Err_y}{\partial v} & \frac{\partial Err_y}{\partial w} \\
\frac{\partial Err_z}{\partial u} & \frac{\partial Err_z}{\partial v} & \frac{\partial Err_z}{\partial w}
\end{array}
\right)
$$
$$
\scriptsize
=
\left(
\begin{array}{ccc}
- \displaystyle \sum_{i,j,k} N'_{i}(u) N_{j}(v) N_{k}(w) \cdot {c_{ijk}}_x &- \displaystyle \sum_{i,j,k} N_{i}(u) N'_{j}(v) N_{k}(w) \cdot {c_{ijk}}_x & - \displaystyle \sum_{i,j,k} N_{i}(u) N_{j}(v) N'_{k}(w) \cdot {c_{ijk}}_x \\
- \displaystyle \sum_{i,j,k} N'_{i}(u) N_{j}(v) N_{k}(w) \cdot {c_{ijk}}_y &- \displaystyle \sum_{i,j,k} N_{i}(u) N'_{j}(v) N_{k}(w) \cdot {c_{ijk}}_y & - \displaystyle \sum_{i,j,k} N_{i}(u) N_{j}(v) N'_{k}(w) \cdot {c_{ijk}}_y \\
- \displaystyle \sum_{i,j,k} N'_{i}(u) N_{j}(v) N_{k}(w) \cdot {c_{ijk}}_z &- \displaystyle \sum_{i,j,k} N_{i}(u) N'_{j}(v) N_{k}(w) \cdot {c_{ijk}}_z & - \displaystyle \sum_{i,j,k} N_{i}(u) N_{j}(v) N'_{k}(w) \cdot {c_{ijk}}_z
\end{array}
\right)
$$

With the Gauss--Newton algorithm we iterate via the formula
$$J(Err(u,v,w)) \cdot \Delta \left( \begin{array}{c} u \\ v \\ w \end{array} \right) = -Err(u,v,w)$$
and use Cramers rule for inverting the small Jacobian and solving this system of
linear equations.

As there is no strict upper bound of the number of iterations for this
algorithm, we just iterate it long enough to be within the given
$\epsilon$--error above. This takes --- depending on the shape of the object and
the grid --- about $3$ to $5$ iterations that we observed in practice.

Another issue that we observed in our implementation is, that multiple local
optima may exist on self--intersecting grids. We solve this problem by defining
self--intersecting grids to be *invalid* and do not test any of them.

This is not such a big problem as it sounds at first, as self--intersections
mean, that control--points being further away from a given vertex have more
influence over the deformation than control--points closer to this vertex. Also
this contradicts the notion of locality that we want to achieve and deemed
beneficial for a good behaviour of the evolutionary algorithm.

## Deformation Grid
\label{sec:impl:grid}

As mentioned in chapter \ref{sec:back:evo}, the way of choosing the
representation to map the general problem (mesh--fitting/optimization in our
case) into a parameter-space is very important for the quality and runtime of
evolutionary algorithms\cite{Rothlauf2006}.

Because our control--points are arranged in a grid, we can accurately represent
each vertex--point inside the grids volume with proper B--Spline--coefficients
between $[0,1[$ and --- as a consequence --- we have to embed our object into it
(or create constant "dummy"-points outside).

The great advantage of B--Splines is the local, direct impact of each
control point without having a $1:1$--correlation, and a smooth deformation.
While the advantages are great, the issues arise from the problem to decide
where to place the control--points and how many to place at all.

\begin{figure}[!tbh]
\centering
\includegraphics{img/enoughCP.png}
\caption[Example of a high resolution control--grid]{A high resolution
($10 \times 10$) of control--points over a circle. Yellow/green points
contribute to the parametrization, red points don't.\newline
An Example--point (blue) is solely determined by the position of the green
control--points.}
\label{fig:enoughCP}
\end{figure}

One would normally think, that the more control--points you add, the better the
result will be, but this is not the case for our B--Splines. Given any point
$\vec{p}$ only the $2 \cdot (d-1)$ control--points contribute to the parametrization of
that point^[Normally these are $d-1$ to each side, but at the boundaries the
number gets increased to the inside to meet the required smoothness].
This means, that a high resolution can have many control-points that are not
contributing to any point on the surface and are thus completely irrelevant to
the solution.

We illustrate this phenomenon in figure \ref{fig:enoughCP}, where the four red 
central points are not relevant for the parametrization of the circle. This
leads to artefacts in the deformation--matrix $\vec{U}$, as the columns
corresponding to those control--points are $0$.

This leads to useless increased complexity, as the parameters corresponding to
those points will never have any effect, but a naive algorithm will still try to
optimize them yielding numeric artefacts in the best and non--terminating or
ill--defined solutions^[One example would be, when parts of an algorithm depend
on the inverse of the minimal right singular value leading to a division by $0$.]
at worst.

One can of course neglect those columns and their corresponding control--points,
but this raises the question why they were introduced in the first place. We
will address this in a special scenario in \ref{sec:res:3d:var}.

For our tests we chose different uniformly sized grids and added noise
onto each control-point^[For the special case of the outer layer we only applied
noise away from the object, so the object is still confined in the convex hull
of the control--points.] to simulate different starting-conditions.

# Scenarios for testing evolvability criteria using \ac{FFD}
\label{sec:eval}

In our experiments we use the same two testing--scenarios, that were also used
by \cite{anrichterEvol}. The first scenario deforms a plane into a shape
originally defined in \cite{giannelli2012thb}, where we setup control-points in
a 2--dimensional manner and merely deform in the height--coordinate to get the
resulting shape.

In the second scenario we increase the degrees of freedom significantly by using
a 3--dimensional control--grid to deform a sphere into a face, so each control
point has three degrees of freedom in contrast to first scenario.

## Test Scenario: 1D Function Approximation

In this scenario we used the shape defined by Giannelli et al.\cite{giannelli2012thb},
which is also used by Richter et al.\cite{anrichterEvol} using the same
discretization to $150 \times 150$ points for a total of $n = 22\,500$ vertices. The
shape is given by the following definition
\begin{equation}
t(x,y) =
\begin{cases}
0.5 \cos(4\pi \cdot q^{0.5}) + 0.5 & q(x,y) < \frac{1}{16},\\
2(y-x) & 0 < y-x < 0.5,\\
1 & 0.5 < y - x
\end{cases}
\end{equation}<!-- </> -->
with $(x,y) \in [0,2] \times [0,1]$ and $q(x,y)=(x-1.5)^2 + (y-0.5)^2$, which we have
visualized in figure \ref{fig:1dtarget}.

\begin{figure}[ht]
\begin{center}
\includegraphics[width=0.7\textwidth]{img/1dtarget.png}
\end{center}
\caption[The 1D--target--shape]{The target--shape for our 1--dimensional optimization--scenario
including a wireframe--overlay of the vertices.}
\label{fig:1dtarget}
\end{figure}

As the starting-plane we used the same shape, but set all
$z$--coordinates to $0$, yielding a flat plane, which is partially already
correct.

Regarding the *fitness--function* $\mathrm{f}(\vec{p})$, we use the very simple approach
of calculating the squared distances for each corresponding vertex
\begin{equation}
\mathrm{f}(\vec{p}) = \sum_{i=1}^{n} \|(\vec{Up})_i - t_i\|_2^2 = \|\vec{Up} - \vec{t}\|^2 \rightarrow \min
\end{equation}
where $t_i$ are the respective target--vertices to the parametrized
source--vertices^[The parametrization is encoded in $\vec{U}$ and the initial
position of the control points. See \ref{sec:ffd:adapt}] with the current
deformation--parameters $\vec{p} = (p_1,\dots, p_m)$. We can do this
one--to--one--correspondence because we have exactly the same number of
source and target-vertices do to our setup of just flattening the object.

This formula is also the least--squares approximation error for which we
can compute the analytic solution $\vec{p^{*}} = \vec{U^+}\vec{t}$, yielding us
the correct gradient in which the evolutionary optimizer should move.

## Test Scenario: 3D Function Approximation
\label{sec:test:3dfa}
Opposed to the 1--dimensional scenario before, the 3--dimensional scenario is
much more complex --- not only because we have more degrees of freedom on each
control point, but also, because the *fitness--function* we will use has no known
analytic solution and multiple local minima.

\begin{figure}[ht]
\begin{center}
\includegraphics[width=0.9\textwidth]{img/3dtarget.png}
\end{center}
\caption[3D source and target meshes]{\newline
Left: The sphere we start from with 10\,807 vertices\newline
Right: The face we want to deform the sphere into with 12\,024 vertices.}
\label{fig:3dtarget}
\end{figure}

First of all we introduce the set up: We have given a triangulated model of a
sphere consisting of $10\,807$ vertices, that we want to deform into a
the target--model of a face with a total of $12\,024$ vertices. Both of
these Models can be seen in figure \ref{fig:3dtarget}.

Opposed to the 1D--case we cannot map the source and target--vertices in a
one--to--one--correspondence, which we especially need for the approximation of
the fitting--error. Hence we state that the error of one vertex is the distance
to the closest vertex of the other model and sum up the error from the
respective source and target.

We therefore define the *fitness--function* to be:

\begin{equation}
\mathrm{f}(\vec{P}) = \frac{1}{n} \underbrace{\sum_{i=1}^n \|\vec{c_T(s_i)} -
\vec{s_i}\|_2^2}_{\textrm{source-to-target--distance}}
+ \frac{1}{m} \underbrace{\sum_{i=1}^m \|\vec{c_S(t_i)} -
\vec{t_i}\|_2^2}_{\textrm{target-to-source--distance}}
+ \lambda \cdot \textrm{regularization}(\vec{P})
\label{eq:fit3d}
\end{equation}

where $\vec{c_T(s_i)}$ denotes the target--vertex that is corresponding to the
source--vertex $\vec{s_i}$ and $\vec{c_S(t_i)}$ denotes the source--vertex that
corresponds to the target--vertex $\vec{t_i}$. Note that the target--vertices
are given and fixed by the target--model of the face we want to deform into,
whereas the source--vertices vary depending on the chosen parameters $\vec{P}$,
as those get calculated by the previously introduces formula $\vec{S} = \vec{UP}$
with $\vec{S}$ being the $n \times 3$--matrix of source--vertices, $\vec{U}$ the
$n \times m$--matrix of calculated coefficients for the \ac{FFD} --- analog to
the 1D case --- and finally $\vec{P}$ being the $m \times 3$--matrix of the
control--grid defining the whole deformation.

As regularization-term we add a weighted Laplacian of the deformation that has
been used before by Aschenbach et al.\cite[Section 3.2]{aschenbach2015} on
similar models and was shown to lead to a more precise fit. The Laplacian
\begin{equation}
\mathrm{regularization}(\vec{P}) = \frac{1}{\sum_i A_i} \sum_{i=1}^n A_i \cdot \left( \sum_{\vec{s}_j \in \mathcal{N}(\vec{s}_i)} w_j \cdot \|\Delta \vec{s}_j - \Delta \vec{s}_i\|^2 \right)
\label{eq:reg3d}
\end{equation}
is determined by the cotangent weighted displacement $w_j$ of the to $s_i$
connected vertices $\mathcal{N}(s_i)$ and $A_i$ is the Voronoi--area of the corresponding vertex
$\vec{s_i}$. We leave out the $\vec{R}_i$--term from the original paper as our
deformation is merely linear.

This regularization--weight gives us a measure of stiffness for the material
that we will influence via the $\lambda$--coefficient to start out with a stiff
material that will get more flexible per iteration. As a side--effect this also
limits the effects of overagressive movement of the control--points in the
beginning of the fitting process and thus should limit the generation of
ill--defined grids mentioned in section \ref{sec:impl:grid}.

# Evaluation of Scenarios
\label{sec:res}

To compare our results to the ones given by Richter et al.\cite{anrichterEvol},
we also use Spearman's rank correlation coefficient. Opposed to other popular
coefficients, like the Pearson correlation coefficient, which measures a linear
relationship between variables, the Spearmans's coefficient assesses \glqq how
well an arbitrary monotonic function can describe the relationship between two
variables, without making any assumptions about the frequency distribution of
the variables\grqq\cite{hauke2011comparison}.

As we don't have any prior knowledge if any of the criteria is linear and we are
just interested in a monotonic relation between the criteria and their
predictive power, the Spearman's coefficient seems to fit out scenario best and
was also used before by Richter et al.\cite{anrichterEvol}

For interpretation of these values we follow the same interpretation used in
\cite{anrichterEvol}, based on \cite{weir2015spearman}: The coefficient
intervals $r_S \in [0,0.2[$, $[0.2,0.4[$, $[0.4,0.6[$, $[0.6,0.8[$, and $[0.8,1]$ are
classified as *very weak*, *weak*, *moderate*, *strong* and *very strong*. We
interpret p--values smaller than $0.01$ as *significant* and cut off the
precision of p--values after four decimal digits (thus often having a p--value
of $0$ given for p--values $< 10^{-4}$).
<!-- </> -->

As we are looking for anti--correlation (i.e. our criterion should be maximized
indicating a minimal result in --- for example --- the reconstruction--error)
instead of correlation we flip the sign of the correlation--coefficient for
readability and to have the correlation--coefficients be in the
classification--range given above.

For the evolutionary optimization we employ the CMA--ES (covariance matrix
adaptation evolution strategy) of the shark3.1 library \cite{shark08}, as this
algorithm was used by \cite{anrichterEvol} as well. We leave the parameters at
their sensible defaults as further explained in
\cite[Appendix~A: Table~1]{hansen2016cma}.

## Procedure: 1D Function Approximation
\label{sec:proc:1d}

For our setup we first compute the coefficients of the deformation--matrix and
use then the formulas for *variability* and *regularity* to get our predictions.
Afterwards we solve the problem analytically to get the (normalized) correct
gradient that we use as guess for the *improvement potential*. To check we also
consider a distorted gradient $\vec{g}_{\mathrm{d}}$
$$
\vec{g}_{\mathrm{d}} = \frac{\mu \vec{g}_{\mathrm{c}} + (1-\mu)\mathbb{1}}{\|\mu \vec{g}_{\mathrm{c}} + (1-\mu) \mathbb{1}\|}
$$
where $\mathbb{1}$ is the vector consisting of $1$ in every dimension,
$\vec{g}_\mathrm{c} = \vec{p^{*}} - \vec{p}$ is the calculated correct gradient,
and $\mu$ is used to blend between $\vec{g}_\mathrm{c}$ and $\mathbb{1}$. As
we always start with a gradient of $p = \mathbb{0}$ this means shortens
$\vec{g}_\mathrm{c} = \vec{p^{*}}$.

\begin{figure}[ht]
\begin{center}
\includegraphics[width=\textwidth]{img/example1d_grid.png}
\end{center}
\caption[Example of a 1D--grid]{\newline Left: A regular $7 \times 4$--grid\newline Right: The same grid after a
random distortion to generate a testcase.}
\label{fig:example1d_grid}
\end{figure}

We then set up a regular 2--dimensional grid around the object with the desired
grid resolutions. To generate a testcase we then move the grid--vertices
randomly inside the x--y--plane. As self-intersecting grids get tricky to solve
with our implemented newtons--method we avoid the generation of such
self--intersecting grids for our testcases (see section \ref{3dffd}).

To achieve that we generated a gaussian distributed number with $\mu = 0, \sigma=0.25$
and clamped it to the range $[-0.25,0.25]$. We chose such an $r \in [-0.25,0.25]$
per dimension and moved the control--points by that factor towards their
respective neighbours^[Note: On the Edges this displacement is only applied
outwards by flipping the sign of $r$, if appropriate.]. 

In other words we set
\begin{equation*}
p_i =
\begin{cases}
  p_i + (p_i - p_{i-1}) \cdot r, & \textrm{if } r \textrm{ negative} \\
  p_i + (p_{i+1} - p_i) \cdot r, & \textrm{if } r \textrm{ positive}
\end{cases}
\end{equation*}
in each dimension separately.

An Example of such a testcase can be seen for a $7 \times 4$--grid in figure
\ref{fig:example1d_grid}.

## Results of 1D Function Approximation

In the case of our 1D--Optimization--problem, we have the luxury of knowing the
analytical solution to the given problem--set. We use this to experimentally
evaluate the quality criteria we introduced before. As an evolutional
optimization is partially a random process, we use the analytical solution as a
stopping-criteria. We measure the convergence speed as number of iterations the
evolutional algorithm needed to get within $1.05 \times$ of the optimal solution.

We used different regular grids that we manipulated as explained in Section
\ref{sec:proc:1d} with a different number of control points. As our grids have
to be the product of two integers, we compared a $5 \times 5$--grid with $25$
control--points to a $4 \times 7$ and $7 \times 4$--grid with $28$
control--points. This was done to measure the impact an \glqq improper\grqq \ 
setup could have and how well this is displayed in the criteria we are
examining.

Additionally we also measured the effect of increasing the total resolution of
the grid by taking a closer look at $5 \times 5$, $7 \times 7$ and $10 \times 10$ grids.

### Variability

\begin{figure}[tbh]
\centering
\includegraphics[width=0.7\textwidth]{img/evolution1d/variability_boxplot.png}
\caption[1D Fitting Errors for various grids]{The squared error for the various
grids we examined.\newline
Note that $7 \times 4$ and $4 \times 7$ have the same number of control--points.}
\label{fig:1dvar}
\end{figure}

Variability should characterize the potential for design space exploration and
is defined in terms of the normalized rank of the deformation matrix $\vec{U}$:
$V(\vec{U}) := \frac{\textrm{rank}(\vec{U})}{n}$, whereby $n$ is the number of
vertices.
As all our tested matrices had a constant rank (being $m = x \cdot y$ for a $x \times y$
grid), we have merely plotted the errors in the boxplot in figure
\ref{fig:1dvar}

It is also noticeable, that although the $7 \times 4$ and $4 \times 7$ grids
have a higher variability, they perform not better than the $5 \times 5$ grid.
Also the $7 \times 4$ and $4 \times 7$ grids differ distinctly from each other
with a mean$\pm$sigma of $233.09 \pm 12.32$ for the former and $286.32 \pm 22.36$ for the
latter, although they have the same number of control--points. This is an
indication of an impact a proper or improper grid--setup can have. We do not
draw scientific conclusions from these findings, as more research on non-squared
grids seem necessary.

Leaving the issue of the grid--layout aside we focused on grids having the same
number of prototypes in every dimension. For the $5 \times 5$, $7 \times 7$ and
$10 \times 10$ grids we found a *very strong* correlation ($-r_S = 0.94, p = 0$)
between the variability and the evolutionary error.

### Regularity

\begin{figure}[tbh]
\centering
\includegraphics[width=\textwidth]{img/evolution1d/55_to_1010_steps.png}
\caption[Improvement potential and regularity vs. steps]{\newline
Left: Improvement potential against steps until convergence\newline
Right: Regularity against steps until convergence\newline
Coloured by their grid--resolution, both with a linear fit over the whole
dataset.}
\label{fig:1dreg}
\end{figure}

\begin{table}[b]
\centering
\begin{tabular}{c|c|c|c|c}
$5 \times 5$ & $7 \times 4$ & $4 \times 7$ & $7 \times 7$ & $10 \times 10$\\
\hline
$0.28$ ($0.0045$) & \textcolor{red}{$0.21$} ($0.0396$) & \textcolor{red}{$0.1$} ($0.3019$) & \textcolor{red}{$0.01$} ($0.9216$) & \textcolor{red}{$0.01$} ($0.9185$)
\end{tabular}
\caption[Correlation 1D Regularity/Steps]{Spearman's correlation (and p-values)
between regularity and convergence speed for the 1D function approximation
problem.
\newline Note: Not significant results are marked in \textcolor{red}{red}.
}
\label{tab:1dreg}
\end{table}

Regularity should correspond to the convergence speed (measured in
iteration--steps of the evolutionary algorithm), and is computed as inverse
condition number $\kappa(\vec{U})$ of the deformation--matrix.

As can be seen from table \ref{tab:1dreg}, we could only show a *weak* correlation
in the case of a $5 \times 5$ grid. As we increment the number of
control--points the correlation gets worse until it is completely random in a
single dataset. Taking all presented datasets into account we even get a *strong*
correlation of $- r_S = -0.72, p = 0$, that is opposed to our expectations.

To explain this discrepancy we took a closer look at what caused these high number
of iterations. In figure \ref{fig:1dreg} we also plotted the
improvement-potential against the steps next to the regularity--plot. Our theory
is that the *very strong* correlation ($-r_S = -0.82, p=0$) between
improvement--potential and number of iterations hints that the employed
algorithm simply takes longer to converge on a better solution (as seen in
figure \ref{fig:1dvar} and \ref{fig:1dimp}) offsetting any gain the
regularity--measurement could achieve.

### Improvement Potential

\begin{figure}[ht]
\centering
\includegraphics[width=0.8\textwidth]{img/evolution1d/55_to_1010_improvement-vs-evo-error.png}
\caption[Correlation 1D Improvement vs. Error]{Improvement potential plotted
against the error yielded by the evolutionary optimization for different
grid--resolutions}
\label{fig:1dimp}
\end{figure}

The improvement potential should correlate to the quality of the
fitting--result. We plotted the results for the tested grid-sizes $5 \times 5$,
$7 \times 7$ and $10 \times 10$ in figure \ref{fig:1dimp}. We tested the
$4 \times 7$ and $7 \times 4$ grids as well, but omitted them from the plot.

Additionally we tested the results for a distorted gradient described in 
\ref{sec:proc:1d} with a $\mu$--value of $0.25$, $0.5$, $0,75$, and $1.0$ for
the $5 \times 5$ grid and with a $\mu$--value of $0.5$ for all other cases.

All results show the identical *very strong* and *significant* correlation with
a Spearman--coefficient of $- r_S = 1.0$ and p--value of $0$.

These results indicate, that $\|\mathbb{1} - \vec{U}\vec{U}^{+}\|_F$ is close to $0$,
reducing the impacts of any kind of gradient. Nevertheless, the improvement
potential seems to be suited to make estimated guesses about the quality of a
fit, even lacking an exact gradient.

## Procedure: 3D Function Approximation
\label{sec:proc:3dfa}

As explained in section \ref{sec:test:3dfa} in detail, we do not know the
analytical solution to the global optimum. Additionally we have the problem of
finding the right correspondences between the original sphere--model and the
target--model, as they consist of $10\,807$ and $12\,024$ vertices respectively,
so we cannot make a one--to--one--correspondence between them as we did in the
one--dimensional case.

Initially we set up the correspondences $\vec{c_T(\dots)}$ and $\vec{c_S(\dots)}$ to be
the respectively closest vertices of the other model. We then calculate the
analytical solution given these correspondences via $\vec{P^{*}} = \vec{U^+}\vec{T}$,
and also use the first solution as guessed gradient for the calculation of the
*improvement--potential*, as the optimal solution is not known.
We then let the evolutionary algorithm run up within $1.05$ times the error of 
this solution and afterwards recalculate the correspondences $\vec{c_T(\dots)}$
and $\vec{c_S(\dots)}$.

\begin{figure}[ht]
\begin{center}
\includegraphics[width=\textwidth]{img/example3d_grid.png}
\end{center}
\caption[Example of a 3D--grid]{\newline Left: The 3D--setup with a $4\times
4\times 4$--grid.\newline Right: The same grid after added noise to the
control--points.}
\label{fig:setup3d}
\end{figure}

For the next step we then halve the regularization--impact $\lambda$ (starting
at $1$) of our *fitness--function* (\ref{eq:fit3d}) and calculate the next
incremental solution $\vec{P^{*}} = \vec{U^+}\vec{T}$ with the updated
correspondences (again, mapping each vertex to its closest neighbour in the
respective other model) to get our next target--error. We repeat this process as
long as the target--error keeps decreasing and use the number of these
iterations as measure of the convergence speed. As the resulting evolutional
error without regularization is in the numeric range of $\approx 100$, whereas
the regularization is numerically $\approx 7000$ we need at least $10$ to $15$
iterations until the regularization--effect wears off.

The grid we use for our experiments is just very coarse due to computational
limitations. We are not interested in a good reconstruction, but an estimate if
the mentioned evolvability criteria are good.

In figure \ref{fig:setup3d} we show an example setup of the scene with a
$4\times 4\times 4$--grid. Identical to the 1--dimensional scenario before, we create a
regular grid and move the control-points in the exact same random manner between
their neighbours as described in section \ref{sec:proc:1d}, but in three instead
of two dimensions^[Again, we flip the signs for the edges, if necessary to have
the object still in the convex hull.].

\begin{figure}[!htb]
\includegraphics[width=\textwidth]{img/3d_grid_resolution.png}
\caption[Different resolution of 3D grids]{\newline
Left: A $7 \times 4 \times 4$ grid suited to better deform into facial
features.\newline
Right: A $4 \times 4 \times 7$ grid that we expect to perform worse.}
\label{fig:3dgridres}
\end{figure}

As is clearly visible from figure \ref{fig:3dgridres}, the target--model has many
vertices in the facial area, at the ears and in the neck--region. Therefore we
chose to increase the grid-resolutions for our tests in two different dimensions
and see how well the criteria predict a suboptimal placement of these
control-points.

## Results of 3D Function Approximation

In the 3D--Approximation we tried to evaluate further on the impact of the
grid--layout to the overall criteria. As the target--model has many vertices in
concentrated in the facial area we start from a $4 \times 4 \times 4$ grid and
only increase the number of control points in one dimension, yielding a
resolution of $7 \times 4 \times 4$ and $4 \times 4 \times 7$ respectively. We
visualized those two grids in figure \ref{fig:3dgridres}.

To evaluate the performance of the evolvability--criteria we also tested a more
neutral resolution of $4 \times 4 \times 4$, $5 \times 5 \times 5$, and $6 \times 6 \times 6$ ---
similar to the 1D--setup.

\begin{figure}[ht]
\centering
\includegraphics[width=0.7\textwidth]{img/evolution3d/variability_boxplot.png}
\caption[3D Fitting Errors for various grids]{The fitting error for the various
grids we examined.\newline
Note that the number of control--points is a product of the resolution, so $X
\times 4 \times 4$ and $4 \times 4 \times X$ have the same number of
control--points.}
\label{fig:3dvar}
\end{figure}

### Variability
\label{sec:res:3d:var}

\begin{table}[tbh]
\centering
\begin{tabular}{c|c|c|c}
$4 \times 4 \times \mathrm{X}$ & $\mathrm{X} \times 4 \times 4$ & $\mathrm{Y} \times \mathrm{Y} \times \mathrm{Y}$ & all \\
\hline
0.89 (0) & 0.9 (0) & 0.91 (0) & 0.94 (0)
\end{tabular}
\caption[Correlation between variability and fitting error for 3D]{Correlation
between variability and fitting error for the 3D fitting scenario.\newline
Displayed are the negated Spearman coefficients with the corresponding p-values
in brackets for three cases of increasing variability ($\mathrm{X} \in [4,5,7],
\mathrm{Y} \in [4,5,6]$).
\newline Note: Not significant results are marked in \textcolor{red}{red}.}
\label{tab:3dvar}
\end{table}

Similar to the 1D case all our tested matrices had a constant rank (being
$m = x \cdot y \cdot z$ for a $x \times y \times z$ grid), so we again have merely plotted
the errors in the boxplot in figure \ref{fig:3dvar}.

As expected the $\mathrm{X} \times 4 \times 4$ grids performed
slightly better than their $4 \times 4 \times \mathrm{X}$ counterparts with a
mean$\pm$sigma of $101.25 \pm 7.45$ to $102.89 \pm 6.74$ for $\mathrm{X} = 5$ and
$85.37 \pm 7.12$ to $89.22 \pm 6.49$ for $\mathrm{X} = 7$.

Interestingly both variants end up closer in terms of fitting error than we
anticipated, which shows that the evolutionary algorithm we employed is capable
of correcting a purposefully created \glqq bad\grqq \ grid. Also this confirms,
that in our cases the number of control--points is more important for quality
than their placement, which is captured by the variability via the rank of the
deformation--matrix.

\begin{figure}[hbt]
\centering
\includegraphics[width=0.8\textwidth]{img/evolution3d/variability2_boxplot.png}
\caption[Histogram of ranks of high--resolution deformation--matrices]{
Histogram of ranks of various $10 \times 10 \times 10$ grids with $1000$
control--points each.
}
\label{fig:histrank3d}
\end{figure}

Overall the correlation between variability and fitness--error were
*significant* and showed a *very strong* correlation in all our tests.
The detailed correlation--coefficients are given in table \ref{tab:3dvar}
alongside their p--values.

As introduces in section \ref{sec:impl:grid} and visualized in figure
\ref{fig:enoughCP}, we know, that not all control points have to necessarily
contribute to the parametrization of our 3D--model. Because we are starting from
a sphere, some control-points are too far away from the surface to contribute
to the deformation at all.

One can already see in 2D in figure \ref{fig:enoughCP}, that this effect
starts with a regular $9 \times 9$ grid on a perfect circle. To make sure we
observe this, we evaluated the variability for 100 randomly moved $10 \times 10 \times 10$
grids on the sphere we start out with.

As the variability is defined by $\frac{\mathrm{rank}(\vec{U})}{n}$ we can
easily recover the rank of the deformation--matrix $\vec{U}$. The results are
shown in the histogram in figure \ref{fig:histrank3d}. Especially in the centre
of the sphere and in the corners of our grid we effectively loose
control--points for our parametrization.

This of course yields a worse error as when those control--points would be put
to use and one should expect a loss in quality evident by a higher
reconstruction--error opposed to a grid where they are used. Sadly we could not
run a in--depth test on this due to computational limitations.

Nevertheless this hints at the notion, that variability is a good measure for
the overall quality of a fit.

### Regularity

\begin{table}[tbh]
\centering
\begin{tabular}{c|c|c|c}
 & $5 \times 4 \times 4$ & $7 \times 4 \times 4$ & $\mathrm{X} \times 4 \times 4$ \\
\cline{2-4}
 & \textcolor{red}{0.15} (0.147) & \textcolor{red}{0.09} (0.37) & 0.46 (0) \B \\
\cline{2-4}
\multicolumn{4}{c}{} \\[-1.4em]
\hline
$4 \times 4 \times 4$ & $4 \times 4 \times 5$ & $4 \times 4 \times 7$ & $4 \times 4 \times \mathrm{X}$ \T \\
\hline
0.38 (0) & \textcolor{red}{0.17} (0.09) & 0.40 (0) & 0.46 (0) \B \\
\hline
\multicolumn{4}{c}{} \\[-1.4em]
\cline{2-4}
 & $5 \times 5 \times 5$ & $6 \times 6 \times 6$ & $\mathrm{Y} \times \mathrm{Y} \times \mathrm{Y}$ \T \\
\cline{2-4}
 & \textcolor{red}{-0.18} (0.0775) & \textcolor{red}{-0.13} (0.1715) & -0.25 (0) \B \\
\cline{2-4}
\multicolumn{4}{c}{} \\[-1.4em]
\cline{2-4}
\multicolumn{3}{c}{} & all: 0.15 (0) \T
\end{tabular}
\caption[Correlation between regularity and iterations for 3D]{Correlation
between regularity and number of iterations for the 3D fitting scenario.
Displayed are the negated Spearman coefficients with the corresponding p--values
in brackets for various given grids ($\mathrm{X} \in [4,5,7], \mathrm{Y} \in [4,5,6]$).
\newline Note: Not significant results are marked in \textcolor{red}{red}.}
\label{tab:3dreg}
\end{table}

Opposed to the predictions of variability our test on regularity gave a mixed
result --- similar to the 1D--case.

In roughly half of the scenarios we have a *significant*, but *weak* to *moderate*
correlation between regularity and number of iterations. On the other hand in
the scenarios where we increased the number of control--points, namely $125$ for
the $5 \times 5 \times 5$ grid and $216$ for the $6 \times 6 \times 6$ grid we found
a *significant*, but *weak* **anti**--correlation when taking all three tests into
account^[Displayed as $Y \times Y \times Y$], which seem to contradict the
findings/trends for the sets with $64$, $80$, and $112$ control--points
(first two rows of table \ref{tab:3dreg}).

Taking all results together we only find a *very weak*, but *significant* link
between regularity and the number of iterations needed for the algorithm to
converge.

\begin{figure}[!htb]
\centering
\includegraphics[width=\textwidth]{img/evolution3d/regularity_montage.png}
\caption[Regularity for different 3D--grids]{
Plots of regularity against number of iterations for various scenarios together
with a linear fit to indicate trends.}
\label{fig:resreg3d}
\end{figure}

As can be seen from figure \ref{fig:resreg3d}, we can observe that increasing
the number of control--points helps the convergence--speeds. The
regularity--criterion first behaves as we would like to, but then switches to
behave exactly opposite to our expectations, as can be seen in the first three
plots. While the number of control--points increases from red to green to blue
and the number of iterations decreases, the regularity seems to increase at
first, but then decreases again on higher grid--resolutions.

This can be an artefact of the definition of regularity, as it is defined by the
inverse condition--number of the deformation--matrix $\vec{U}$, being the
fraction $\frac{\sigma_{\mathrm{min}}}{\sigma_{\mathrm{max}}}$ between the
least and greatest right singular value.

As we observed in the previous section, we cannot
guarantee that each control--point has an effect (see figure \ref{fig:histrank3d})
and so a small minimal right singular value occurring on higher
grid--resolutions seems likely the problem.

Adding to this we also noted, that in the case of the $10 \times 10 \times
10$--grid the regularity was always $0$, as a non--contributing control-point
yields a $0$--column in the deformation--matrix, thus letting
$\sigma_\mathrm{min} = 0$. A better definition for regularity (i.e. using the
smallest non--zero right singular value) could solve this particular issue, but
not fix the trend we noticed above.

### Improvement Potential

\begin{table}[tbh]
\centering
\begin{tabular}{c|c|c|c}
 & $5 \times 4 \times 4$ & $7 \times 4 \times 4$ & $\mathrm{X} \times 4 \times 4$ \\
\cline{2-4}
 & 0.3 (0.0023) & \textcolor{red}{0.23} (0.0233) & 0.89 (0) \B \\
\cline{2-4}
\multicolumn{4}{c}{} \\[-1.4em]
\hline
$4 \times 4 \times 4$ & $4 \times 4 \times 5$ & $4 \times 4 \times 7$ & $4 \times 4 \times \mathrm{X}$ \T \\
\hline
0.5 (0) & 0.38 (0) & 0.32 (0.0012) & 0.9 (0) \B \\
\hline
\multicolumn{4}{c}{} \\[-1.4em]
\cline{2-4}
 & $5 \times 5 \times 5$ & $6 \times 6 \times 6$ & $\mathrm{Y} \times \mathrm{Y} \times \mathrm{Y}$ \T \\
\cline{2-4}
 & 0.47 (0) & \textcolor{red}{-0.01} (0.8803) & 0.89 (0) \B \\
\cline{2-4}
\multicolumn{4}{c}{} \\[-1.4em]
\cline{2-4}
\multicolumn{3}{c}{} & all: 0.95 (0) \T
\end{tabular}
\caption[Correlation between improvement--potential and fitting--error for 3D]{Correlation
between improvement--potential and fitting--error for the 3D fitting scenario.
Displayed are the negated Spearman coefficients with the corresponding p--values
in brackets for various given grids ($\mathrm{X} \in [4,5,7], \mathrm{Y} \in [4,5,6]$).
\newline Note: Not significant results are marked in \textcolor{red}{red}.}
\label{tab:3dimp}
\end{table}

Comparing to the 1D--scenario, we do not know the optimal solution to the given
problem and for the calculation we only use the initial gradient produced by the
initial correlation between both objects. This gradient changes with every
iteration and will be off our first guess very quickly. This is the reason we
are not trying to create artificially bad gradients, as we have a broad range in
quality of such gradients anyway.

\begin{figure}[htb]
\centering
\includegraphics[width=\textwidth]{img/evolution3d/improvement_montage.png}
\caption[Improvement potential for different 3D--grids]{
Plots of improvement potential against error given by our fitness--function
after convergence together with a linear fit of each of the plotted data to
indicate trends.}
\label{fig:resimp3d}
\end{figure}

We plotted our findings on the improvement potential in a similar way as we did
before with the regularity. In figure \ref{fig:resimp3d} one can clearly see the
correlation and the spread within each setup and the behaviour when we increase
the number of control--points.

Along with this we also give the spearman--coefficients along with their
p--values in table \ref{tab:3dimp}. Within one scenario we only find a *weak* to
*moderate* correlation between the improvement potential and the fitting error,
but all findings (except for $7 \times 4 \times 4$ and $6 \times 6 \times 6$)
are significant.

If we take multiple datasets into account the correlation is *very strong* and 
*significant*, which is good, as this functions as a litmus--test, because the
quality is naturally tied to the number of control--points.

All in all the improvement potential seems to be a good and sensible measure of
quality, even given gradients of varying quality.

\improvement[inline]{improvement--potential vs. steps ist anders als in 1d! Plot
und zeigen!}


# Discussion and outlook
\label{sec:dis}

In this thesis we took a look at the different criteria for evolvability as
introduced by Richter et al.\cite{anrichterEvol}, namely *variability*,
*regularity* and *improvement potential* under different setup--conditions.
Where Richter et al. used \acf{RBF}, we employed \acf{FFD} to set up a
low--complexity parametrization of a more complex vertex--mesh.

In our findings we could show in the 1D--scenario, that there were statistically
significant very strong correlations between *variability and fitting error*
($0.94$) and *improvement--potential and fitting error* ($1.0$) with
comparable results than Richter et al. (with $0.31$ to $0.88$
for the former and $0.75$ to $0.99$ for the latter), whereas we found
only weak correlations for *regularity and convergence--speed* ($0.28$)
opposed to Richter et al. with $0.39$ to $0.91$.^[We only took statistically
*significant* results into consideration when compiling these numbers. Details
are given in the respective chapters.]

For the 3D--scenario our results show a very strong, significant  correlation
between *variability and fitting error* with $0.89$ to $0.94$, which are pretty
much in line with the findings of Richter et al. ($0.65$ to $0.95$). The
correlation between *improvement potential and fitting error* behave similar,
with our findings having a significant coefficient of $0.3$ to $0.95$ depending
on the grid--resolution compared to the $0.61$ to $0.93$ from Richter et al.
In the case of the correlation of *regularity and convergence speed* we found
very different (and often not significant) correlations and anti--correlations
ranging from $-0.25$ to $0.46$, whereas Richter et al. reported correlations
between $0.34$ to $0.87$.

Taking these results into consideration, one can say, that *variability* and
*improvement potential* are very good estimates for the quality of a fit using
\acf{FFD} as a deformation function.

One reason for the bad or erratic behaviour of the *regularity*--criterion could
be that in an \ac{FFD}--setting we have a likelihood of having control--points
that are only contributing to the whole parametrization in negligible amounts.
This results in very small right singular values of the deformation--matrix
$\vec{U}$ that influence the condition--number and thus the *regularity* in a
significant way. Further research is needed to refine *regularity* so that these
problems get addressed.

Richter et al. also compared the behaviour of direct and indirect manipulation
in \cite{anrichterEvol}, whereas we merely used an indirect \ac{FFD}--approach.
As direct manipulations tend to perform better than indirect manipulations, the
usage of \acf{DM--FFD} could also work better with the criteria we examined.

\improvement[inline]{write more outlook/further research}

\improvement[inline]{Bibliotheksverzeichnis links anpassen. DOI überschreibt
Direktlinks des Autors.\newline
Außerdem bricht url über Seitengrenzen den Seitenspiegel.}