Detection and Tracking of Dynamic Objects. A MultiRobot approach to Critical Infrastructures Surveillance.

Despite that Critical Infrastructures (CIs) security and surveillance are a growing concern for many countries and companies, Multi Robot Systems (MRSs) have not been yet broadly used in this type of facilities. This dissertation presents a novel study of the challenges arisen by the implementation of this type of systems and proposes solutions to specific problems. First, a comprehensive analysis of different types of CIs has been carried out, emphasizing the influence of the different characteristics of the facilities in the design of a security and surveillance MRS. One of the most important needs for the surveillance of a CI is the detection of intruders. From a technical point of view this problem can be abstracted as equivalent to the Detection and Tracking of Mobile Objects (DATMO). This dissertation proposes algorithms to solve this specific problem in a CI environment. Using 3D range images of the environment as input data, two detection algorithms for ground robots have been developed. These detection algorithms provide a list of moving objects in the robot detection area. Direct image differentiation and computer vision techniques are used when the robot is static. Alternatively, multi-layer ground reconstructions are compared to detect the dynamic objects when the robot is moving. Since CIs usually spread over large areas, it is very useful to incorporate aerial vehicles in the surveillance MRS. Therefore, a moving object detection algorithm for aerial vehicles has been also developed. This algorithm compares the real optical flow obtained from a down-face oriented camera with an artificial optical flow computed using a RANSAC based homography matrix. Two tracking algorithms have been developed to follow the moving objects trajectories. These algorithms can efficiently handle occlusions and crossings, as well as exchange information among robots. The multirobot tracking can be applied to any type of communication structure: centralized, decentralized or a combination of both. Even more, the developed tracking algorithms are independent of the detection algorithms and could be potentially used with other detection procedures or even with static sensors, such as cameras. In addition, using the 3D point clouds available to the robots, a relative localization algorithm has been developed to improve the position estimation of a given robot with observations from other robots. All the developed algorithms have been extensively tested in different simulated CIs using the Webots robotics simulator. Furthermore, the algorithms have also been validated with real robots operating in real scenarios. In conclusion, this dissertation presents a multirobot approach to Critical Infrastructure Surveillance, mainly focusing on Detecting and Tracking Dynamic Objects.

A vision-based strategy for autonomous aerial refueling tasks

Autonomous aerial refueling is a key enabling technology for both manned and unmanned aircraft where extended flight duration or range are required. The results presented within this paper offer one potential vision-based sensing solution, together with a unique test environment. A hierarchical visual tracking algorithm based on direct methods is proposed and developed for the purposes of tracking a drogue during the capture stage of autonomous aerial refueling, and of estimating its 3D position. Intended to be applied in real time to a video stream from a single monocular camera mounted on the receiver aircraft, the algorithm is shown to be highly robust, and capable of tracking large, rapid drogue motions within the frame of reference. The proposed strategy has been tested using a complex robotic testbed and with actual flight hardware consisting of a full size probe and drogue. Results show that the vision tracking algorithm can detect and track the drogue at real-time frame rates of more than thirty frames per second, obtaining a robust position estimation even with strong motions and multiple occlusions of the drogue.

Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control

This paper presents a vision based autonomous landing control approach for unmanned aerial vehicles (UAV). The 3D position of an unmanned helicopter is estimated based on the homographies estimated of a known landmark. The translation and altitude estimation of the helicopter against the helipad position are the only information that is used to control the longitudinal, lateral and descend speeds of the vehicle. The control system approach consists in three Fuzzy controllers to manage the speeds of each 3D axis of the aircraft s coordinate system. The 3D position estimation was proven rst, comparing it with the GPS + IMU data with very good results. The robust of the vision algorithm against occlusions was also tested. The excellent behavior of the Fuzzy control approach using the 3D position estimation based in homographies was proved in an outdoors test using a real unmanned helicopter.

Multisensor data fusion for accurate modelling of mobile objects

In the last decade, multi-sensor data fusion has become a broadly demanded discipline to achieve advanced solutions that can be applied in many real world situations, either civil or military. In Defence,accurate detection of all target objects is fundamental to maintaining situational awareness, to locating threats in the battlefield and to identifying and protecting strategically own forces. Civil applications, such as traffic monitoring, have similar requirements in terms of object detection and reliable identification of incidents in order to ensure safety of road users. Thanks to the appropriate data fusion technique, we can give these systems the power to exploit automatically all relevant information from multiple sources to face for instance mission needs or assess daily supervision operations. This paper focuses on its application to active vehicle monitoring in a particular area of high density traffic, and how it is redirecting the research activities being carried out in the computer vision, signal processing and machine learning fields for improving the effectiveness of detection and tracking in ground surveillance scenarios in general. Specifically, our system proposes fusion of data at a feature level which is extracted from a video camera and a laser scanner. In addition, a stochastic-based tracking which introduces some particle filters into the model to deal with uncertainty due to occlusions and improve the previous detection output is presented in this paper. It has been shown that this computer vision tracker contributes to detect objects even under poor visual information. Finally, in the same way that humans are able to analyze both temporal and spatial relations among items in the scene to associate them a meaning, once the targets objects have been correctly detected and tracked, it is desired that machines can provide a trustworthy description of what is happening in the scene under surveillance. Accomplishing so ambitious task requires a machine learning-based hierarchic architecture able to extract and analyse behaviours at different abstraction levels. A real experimental testbed has been implemented for the evaluation of the proposed modular system. Such scenario is a closed circuit where real traffic situations can be simulated. First results have shown the strength of the proposed system.

Estimación eficiente de atributos demográficos del rostro humano en imágenes

Sin duda, el rostro humano ofrece mucha más información de la que pensamos. La cara transmite sin nuestro consentimiento señales no verbales, a partir de las interacciones faciales, que dejan al descubierto nuestro estado afectivo, actividad cognitiva, personalidad y enfermedades. Estudios recientes [OFT14, TODMS15] demuestran que muchas de nuestras decisiones sociales e interpersonales derivan de un previo análisis facial de la cara que nos permite establecer si esa persona es confiable, trabajadora, inteligente, etc. Esta interpretación, propensa a errores, deriva de la capacidad innata de los seres humanas de encontrar estas señales e interpretarlas. Esta capacidad es motivo de estudio, con un especial interés en desarrollar métodos que tengan la habilidad de calcular de manera automática estas señales o atributos asociados a la cara. Así, el interés por la estimación de atributos faciales ha crecido rápidamente en los últimos años por las diversas aplicaciones en que estos métodos pueden ser utilizados: marketing dirigido, sistemas de seguridad, interacción hombre-máquina, etc. Sin embargo, éstos están lejos de ser perfectos y robustos en cualquier dominio de problemas. La principal dificultad encontrada es causada por la alta variabilidad intra-clase debida a los cambios en la condición de la imagen: cambios de iluminación, oclusiones, expresiones faciales, edad, género, etnia, etc.; encontradas frecuentemente en imágenes adquiridas en entornos no controlados. Este de trabajo de investigación estudia técnicas de análisis de imágenes para estimar atributos faciales como el género, la edad y la postura, empleando métodos lineales y explotando las dependencias estadísticas entre estos atributos. Adicionalmente, nuestra propuesta se centrará en la construcción de estimadores que tengan una fuerte relación entre rendimiento y coste computacional. Con respecto a éste último punto, estudiamos un conjunto de estrategias para la clasificación de género y las comparamos con una propuesta basada en un clasificador Bayesiano y una adecuada extracción de características. Analizamos en profundidad el motivo de porqué las técnicas lineales no han logrado resultados competitivos hasta la fecha y mostramos cómo obtener rendimientos similares a las mejores técnicas no-lineales. Se propone un segundo algoritmo para la estimación de edad, basado en un regresor K-NN y una adecuada selección de características tal como se propuso para la clasificación de género. A partir de los experimentos desarrollados, observamos que el rendimiento de los clasificadores se reduce significativamente si los ´estos han sido entrenados y probados sobre diferentes bases de datos. Hemos encontrado que una de las causas es la existencia de dependencias entre atributos faciales que no han sido consideradas en la construcción de los clasificadores. Nuestro resultados demuestran que la variabilidad intra-clase puede ser reducida cuando se consideran las dependencias estadísticas entre los atributos faciales de el género, la edad y la pose; mejorando el rendimiento de nuestros clasificadores de atributos faciales con un coste computacional pequeño. Abstract Surely the human face provides much more information than we think. The face provides without our consent nonverbal cues from facial interactions that reveal our emotional state, cognitive activity, personality and disease. Recent studies [OFT14, TODMS15] show that many of our social and interpersonal decisions derive from a previous facial analysis that allows us to establish whether that person is trustworthy, hardworking, intelligent, etc. This error-prone interpretation derives from the innate ability of human beings to find and interpret these signals. This capability is being studied, with a special interest in developing methods that have the ability to automatically calculate these signs or attributes associated with the face. Thus, the interest in the estimation of facial attributes has grown rapidly in recent years by the various applications in which these methods can be used: targeted marketing, security systems, human-computer interaction, etc. However, these are far from being perfect and robust in any domain of problems. The main difficulty encountered is caused by the high intra-class variability due to changes in the condition of the image: lighting changes, occlusions, facial expressions, age, gender, ethnicity, etc.; often found in images acquired in uncontrolled environments. This research work studies image analysis techniques to estimate facial attributes such as gender, age and pose, using linear methods, and exploiting the statistical dependencies between these attributes. In addition, our proposal will focus on the construction of classifiers that have a good balance between performance and computational cost. We studied a set of strategies for gender classification and we compare them with a proposal based on a Bayesian classifier and a suitable feature extraction based on Linear Discriminant Analysis. We study in depth why linear techniques have failed to provide competitive results to date and show how to obtain similar performances to the best non-linear techniques. A second algorithm is proposed for estimating age, which is based on a K-NN regressor and proper selection of features such as those proposed for the classification of gender. From our experiments we note that performance estimates are significantly reduced if they have been trained and tested on different databases. We have found that one of the causes is the existence of dependencies between facial features that have not been considered in the construction of classifiers. Our results demonstrate that intra-class variability can be reduced when considering the statistical dependencies between facial attributes gender, age and pose, thus improving the performance of our classifiers with a reduced computational cost.

Exploración y evaluación de mecanismos para la captura de la posición y postura de personas en entornos reales

El presente trabajo consiste en el estudio de la viabilidad en el uso de tres posibles opciones orientadas a la captura de la posición y la postura de personas en entornos reales, así como el diseño e implementación de un prototipo de captura en cada uno de ellos. También se incluye una comparativa con el fin de destacar los pros y los contras de cada solución. Una de las alternativas para llevarlo a cabo consiste en un sistema de tracking óptico por infrarrojos de alta calidad y precisión, como es Optitrack; la segunda se basa en una solución de bajo coste como es el periférico Kinect de Microsoft y la tercera consiste en la combinación de ambos dispositivos para encontrar un equilibrio entre precisión y economía, tomando los puntos fuertes de cada uno para contrarrestar sus debilidades. Uno de los puntos importantes del trabajo es que el uso de los prototipos de captura está orientado a entornos de trabajo reales (en concreto en la captura de los movimientos del personal que trabaja en un quirófano), así que han sido necesarias pruebas para minimizar el efecto de las fuentes de luz en los sistemas de infrarrojos, el estudio de los dispositivos para determinar el número de personas que son capaces de capturar a la vez sin que esto afecte a su rendimiento y el nivel de invasión de los dispositivos en los trabajadores (marcadores para el tracking), además de los mecanismos apropiados para minimizar el impacto de las oclusiones utilizando métodos de interpolación y ayudándose del conocimiento del contexto, las restricciones de movimiento del cuerpo humano y la evolución en el tiempo. Se han desarrollado conocimientos en el funcionamiento y configuración dispositivos como el sistema de captura Optitrack de Natural Point y el sistema de detección de movimiento Kinect desarrollado por Microsoft. También se ha aprendido el funcionamiento del entorno de desarrollo y motor de videojuegos multiplataforma homónimos Unity y del lenguaje de programación C# que utiliza dicho entorno para sus scripts de control, así como los protocolos de comunicación entre los distintos sistemas que componen los prototipos como son VRPN y NatNet.---ABSTRACT---This project is about a viability study in the use of three possible options, oriented towards the capture of the position and view of people in a real environment, as well as the design and implementation of a capturing prototype in each of them. A comparative study is also included, in order to emphasise the pros and cons of each solution. One of the alternatives consists of an optical tracking system via high quality and precision infrareds, like Optitrack; the second is based on a low cost solution, such as Microsoft’s Kinect peripheral, and the third consists on a combination of both devices to find a balance between precision and price, taking the strong points of each of the mechanisms to make up for the weaknesses. One of the important parts of this project is that the use of the capturing prototypes is directed towards real life work situations (specifically towards the capturing of the movements of surgery personnel), so various tests have been necessary in order to minimize the effect of light sources in infrared systems, the study of the devices to determine the number of people that they are capable of capturing simultaneously without affecting their performance and the invasion level of the devices towards the workers (tracking markers), as well as the mechanisms adopted to minimize the impact of the occlusions using interpolation methods and with help of the knowledge of the surroundings, the human movement restrictions and the passing of time. Knowledge has been developed on the functioning and configuration of the devices such as Natural Point’s Optitrak capturing system, and the Kinect movement detection system developed by Microsoft. We have also learned about the operating of the development and incentive environment of multiplatform videogames of namesake Unity and of C# programming language, which uses said environment for its control scripts, as well as communication protocols between the different systems that make up prototypes like VRPN and NatNet.

Estudo cefalométrico-radiográfico das alterações dento-esqueléticas em pacientes com má oclusão de Classe III submetidos a tratamento ortodôntico-cirúrgico

Este estudo teve como finalidade avaliar cefalometricamente, por meio de telerradiografias em norma lateral, as alterações dento-esqueléticas em pacientes Classe III submetidos a tratamento ortodôntico-cirúrgico. A amostra experimental constituiu-se de 16 pacientes Brasileiros, dos sexos masculino e feminino, na faixa etária pré-cirúrgica média de 21 anos e 11 meses, apresentando má oclusão de Classe III com indicação de tratamento cirúrgico representado por recuo mandibular isolado. Para cada paciente foram realizadas telerradiografias nas fases inicial, pré-cirúrgica e pós-cirúrgica, sendo comparadas a um grupo controle, constituído de telerradiografias de indivíduos com oclusão normal. Segundo a metodologia empregada e pela análise dos resultados obtidos, avaliados estatisticamente, constatou-se que os pacientes Classe III com indicação de recuo mandibular foram caracterizados por um mau relacionamento entre as bases esqueléticas representado por um bom posicionamento da maxila associado a prognatismo mandibular, aumento da altura facial ântero-inferior, incisivos inferiores e sínfise mandibular lingualizados e incisivos superiores vestibularizados. A partir do preparo ortodôntico pré-cirúrgico, observou-se uma rotação mandibular no sentido horário, descompensação dentária representada por lingualização e extrusão dos incisivos superiores e vestibularização dos incisivos inferiores, acompanhada por uma remodelação da cortical óssea vestibular da sínfise mandibular. Esta descompensação ortodôntica definiu características dento-alveolares semelhantes às dos indivíduos com oclusão normal. O comportamento das variáveis dento-esqueléticas após a cirurgia ortognática, a partir do deslocamento póstero-superior das estruturas dento-esqueléticas da mandíbula, proporcionou um equilíbrio destas estruturas, em relação à oclusão normal.

Estudo cefalométrico-radiográfico das alterações dento-esqueléticas em pacientes com má oclusão de Classe III submetidos a tratamento ortodôntico-cirúrgico

Este estudo teve como finalidade avaliar cefalometricamente, por meio de telerradiografias em norma lateral, as alterações dento-esqueléticas em pacientes Classe III submetidos a tratamento ortodôntico-cirúrgico. A amostra experimental constituiu-se de 16 pacientes Brasileiros, dos sexos masculino e feminino, na faixa etária pré-cirúrgica média de 21 anos e 11 meses, apresentando má oclusão de Classe III com indicação de tratamento cirúrgico representado por recuo mandibular isolado. Para cada paciente foram realizadas telerradiografias nas fases inicial, pré-cirúrgica e pós-cirúrgica, sendo comparadas a um grupo controle, constituído de telerradiografias de indivíduos com oclusão normal. Segundo a metodologia empregada e pela análise dos resultados obtidos, avaliados estatisticamente, constatou-se que os pacientes Classe III com indicação de recuo mandibular foram caracterizados por um mau relacionamento entre as bases esqueléticas representado por um bom posicionamento da maxila associado a prognatismo mandibular, aumento da altura facial ântero-inferior, incisivos inferiores e sínfise mandibular lingualizados e incisivos superiores vestibularizados. A partir do preparo ortodôntico pré-cirúrgico, observou-se uma rotação mandibular no sentido horário, descompensação dentária representada por lingualização e extrusão dos incisivos superiores e vestibularização dos incisivos inferiores, acompanhada por uma remodelação da cortical óssea vestibular da sínfise mandibular. Esta descompensação ortodôntica definiu características dento-alveolares semelhantes às dos indivíduos com oclusão normal. O comportamento das variáveis dento-esqueléticas após a cirurgia ortognática, a partir do deslocamento póstero-superior das estruturas dento-esqueléticas da mandíbula, proporcionou um equilíbrio destas estruturas, em relação à oclusão normal.

Stomatal plugs of Drimys winteri (Winteraceae) protect leaves from mist but not drought

Two outstanding features of the flowering plant family Winteraceae are the occlusion of their stomatal pores by cutin plugs and the absence of water-conducting xylem vessels. An adaptive relationship between these two unusual features has been suggested whereby stomatal plugs restrict gas exchange to compensate for the presumed poor conductivity of their vesselless wood. This hypothesized connection fueled evolutionary arguments that the vesselless condition is ancestral in angiosperms. Here we show that in Drimys winteri, a tree common to wet forests, these stomatal occlusions pose only a small fixed resistance to water loss. In addition, they modify the humidity response of guard cells such that under high evaporative demand, leaves with plugs lose water at a faster rate than leaves from which the plugs have been experimentally removed. Instead of being adaptations for drought, we present evidence that these cuticular structures function to maintain photosynthetic activity under conditions of excess water on the leaf surface. Stomatal plugs decrease leaf wettability by preventing the formation of a continuous water film that would impede diffusion of CO2 into the leaf. Misting of leaves had no effect on photosynthetic rate of leaves with plugs, but resulted in a marked decrease (≈40%) in leaves from which the plugs had been removed. These findings do not support a functional association between stomatal plugs and hydraulic competence and provide a new perspective on debates surrounding the evolution of vessels in angiosperms.

Endogenous tumor necrosis factor protects the adult cardiac myocyte against ischemic-induced apoptosis in a murine model of acute myocardial infarction

Previous studies have shown that proinflammatory cytokines, such as tumor necrosis factor (TNF), are expressed after acute hemodynamic overloading and myocardial ischemia/infarction. To define the role of TNF in the setting of ischemia/infarction, we performed a series of acute coronary artery occlusions in mice lacking one or both TNF receptors. Left ventricular infarct size was assessed at 24 h after acute coronary occlusion by triphenyltetrazolium chloride (TTC) staining in wild-type (both TNF receptors present) and mice lacking either the type 1 (TNFR1), type 2 (TNFR2), or both TNF receptors (TNFR1/TNFR2). Left ventricular infarct size as assessed by TTC staining was significantly greater (P < 0.005) in the TNFR1/TNFR2-deficient mice (77.2% ± 15.3%) when compared with either wild-type mice (46.8% ± 19.4%) or TNFR1-deficient (47.9% ± 10.6%) or TNFR2-deficient (41.6% ± 16.5%) mice. Examination of the extent of necrosis in wild-type and TNFR1/TNFR2-deficient mice by anti-myosin Ab staining demonstrated no significant difference between groups; however, the peak frequency and extent of apoptosis were accelerated in the TNFR1/TNFR2-deficient mice when compared with the wild-type mice. The increase in apoptosis in the TNFR1/TNFR2-deficient mice did not appear to be secondary to a selective up-regulation of the Fas ligand/receptor system in these mice. These data suggest that TNF signaling gives rise to one or more cytoprotective signals that prevent and/or delay the development of cardiac myocyte apoptosis after acute ischemic injury.

Cyclooxygenase-2 mediates the cardioprotective effects of the late phase of ischemic preconditioning in conscious rabbits

We examined the role of cyclooxygenase-2 (COX-2) in the late phase of ischemic preconditioning (PC). A total of 176 conscious rabbits were used. Ischemic PC (six cycles of 4-min coronary occlusions/4-min reperfusions) resulted in a rapid increase in myocardial COX-2 mRNA levels (+231 ± 64% at 1 h; RNase protection assay) followed 24 h later by an increase in COX-2 protein expression (+216 ± 79%; Western blotting) and in the myocardial content of prostaglandin (PG)E2 and 6-keto-PGF1α (+250 ± 85% and +259 ± 107%, respectively; enzyme immunoassay). Administration of two unrelated COX-2 selective inhibitors (NS-398 and celecoxib) 24 h after ischemic PC abolished the ischemic PC-induced increase in tissue levels of PGE2 and 6-keto-PGF1α. The same doses of NS-398 and celecoxib, given 24 h after ischemic PC, completely blocked the cardioprotective effects of late PC against both myocardial stunning and myocardial infarction, indicating that COX-2 activity is necessary for this phenomenon to occur. Neither NS-398 nor celecoxib lowered PGE2 or 6-keto-PGF1α levels in the nonischemic region of preconditioned rabbits, indicating that constitutive COX-1 activity was unaffected. Taken together, these results demonstrate that, in conscious rabbits, up-regulation of COX-2 plays an essential role in the cardioprotection afforded by the late phase of ischemic PC. Therefore, this study identifies COX-2 as a cardioprotective protein. The analysis of arachidonic acid metabolites strongly points to PGE2 and/or PGI2 as the likely effectors of COX-2-dependent protection. The recognition that COX-2 mediates the antistunning and antiinfarct effects of late PC impels a reassessment of current views regarding this enzyme, which is generally regarded as detrimental.

Adeno-associated viral vector-mediated gene transfer results in long-term enzymatic and functional correction in multiple organs of Fabry mice

Fabry disease is a lysosomal storage disorder caused by a deficiency of the lysosomal enzyme α-galactosidase A (α-gal A). This enzyme deficiency leads to impaired catabolism of α-galactosyl-terminal lipids such as globotriaosylceramide (Gb3). Patients develop painful neuropathy and vascular occlusions that progressively lead to cardiovascular, cerebrovascular, and renal dysfunction and early death. Although enzyme replacement therapy and bone marrow transplantation have shown promise in the murine analog of Fabry disease, gene therapy holds a strong potential for treating this disease in humans. Delivery of the normal α-gal A gene (cDNA) into a depot organ such as liver may be sufficient to elicit corrective circulating levels of the deficient enzyme. To investigate this possibility, a recombinant adeno-associated viral vector encoding human α-gal A (rAAV-AGA) was constructed and injected into the hepatic portal vein of Fabry mice. Two weeks postinjection, α-gal A activity in the livers of rAAV-AGA-injected Fabry mice was 20–35% of that of the normal mice. The transduced animals continued to show higher α-gal A levels in liver and other tissues compared with the untouched Fabry controls as long as 6 months after treatment. In parallel to the elevated enzyme levels, we see significant reductions in Gb3 levels to near normal at 2 and 5 weeks posttreatment. The lower Gb3 levels continued in liver, spleen, and heart, up to 25 weeks with no significant immune response to the virus or α-gal A. Also, no signs of liver toxicity occurred after the rAAV-AGA administration. These findings suggest that an AAV-mediated gene transfer may be useful for the treatment of Fabry disease and possibly other metabolic disorders.

Stress Inversion Using LiDAR Tunnel Deformation Measurements

Far-field stresses are those present in a volume of rock prior to excavations being created. Estimates of the orientation and magnitude of far-field stresses, often used in mine design, are generally obtained by single-point measurements of stress, or large-scale, regional trends. Point measurements can be a poor representation of far-field stresses as a result of excavation-induced stresses and geological structures. For these reasons, far-field stress estimates can be associated with high levels of uncertainty. The purpose of this thesis is to investigate the practical feasibility, applications, and limitations of calibrating far-field stress estimates through tunnel deformation measurements captured using LiDAR imaging. A method that estimates the orientation and magnitude of excavation-induced principal stress changes through back-analysis of deformation measurements from LiDAR imaged tunnels was developed and tested using synthetic data. If excavation-induced stress change orientations and magnitudes can be accurately estimated, they can be used in the calibration of far-field stress input to numerical models. LiDAR point clouds have been proven to have a number of underground applications, thus it is desired to explore their use in numerical model calibration. The back-analysis method is founded on the superposition of stresses and requires a two-dimensional numerical model of the deforming tunnel. Principal stress changes of known orientation and magnitude are applied to the model to create calibration curves. Estimation can then be performed by minimizing squared differences between the measured tunnel and sets of calibration curve deformations. In addition to the back-analysis estimation method, a procedure consisting of previously existing techniques to measure tunnel deformation using LiDAR imaging was documented. Under ideal conditions, the back-analysis method estimated principal stress change orientations within ±5° and magnitudes within ±2 MPa. Results were comparable for four different tunnel profile shapes. Preliminary testing using plastic deformation, a rough tunnel profile, and profile occlusions suggests that the method can work under more realistic conditions. The results from this thesis set the groundwork for the continued development of a new, inexpensive, and efficient far-field stress estimate calibration method.

Une étude cadavérique pour réduire les risques des approches chirurgicales et percutanées de l’artère fémorale

En chirurgie vasculaire, l’accès à l’artère fémorale, qu’il soit par une incision chirurgicale ou par une approche percutanée, est très fréquemment utilisé pour une multitude d’interventions vasculaires ou endovasculaires; pour des pontages divers, le traitement d’occlusions artérielles, la réparation d’anévrismes et la pose d’endoprothèses. L’objectif général de ce projet de recherche est de faciliter et réduire les risques des approches de l’artère fémorale par une meilleure compréhension anatomique du triangle fémoral. La méthodologie a été réalisée grâce à l’utilisation de cadavres spécialement embaumés par la méthode développée par Walter Thiel. Les résultats présentés dans ce mémoire ont permis de proposer des solutions en réponse à des problèmes cliniques en chirurgie vasculaire. Dans un premier temps, l’étude de la vascularisation cutanée du triangle fémoral a mené à proposer de nouvelles incisions chirurgicales afin de limiter la dévascularisation cutanée des plaies et ainsi réduire les problèmes de cicatrisation observés. Ensuite, nous avons validé l’identification radiographique et échographique de l’artère fémorale à son croisement avec le ligament inguinal afin de faciliter l’identification d’un site de ponction artérielle adéquat. Enfin, nous avons développé une méthode échographique simple qui facilite l’approche percutanée de l’artère fémorale, même chez les patients obèses. Les retombées de ce projet de recherche sont multiples pour les cliniciens, l’étude fournit une meilleure compréhension anatomique tridimensionnelle du triangle fémoral et les techniques proposées dans ce mémoire pourront apporter une amélioration de la pratique chirurgicale et faciliter le travail des médecins. Toutefois, ces propositions devront maintenant être validées en clinique.

AVALIAÇÃO DO PADRÃO ESQUELÉTICO VERTICAL DA FACE NA OCLUSÃO NORMAL NATURAL E NAS MALOCLUSÕES DE ANGLE, E SUA CORRELAÇÃO COM A SÍNFISE MANDIBULAR

O propósito deste estudo foi avaliar cefalometricamente, o padrão esquelético vertical da face em indivíduos com oclusão normal natural e nas diferentes maloclusões e sua correlação com a sínfise mandibular, além de avaliar a presença de dimorfismo sexual. A amostra foi composta de 200 telerradiografias cefalométricas, divididas quanto ao tipo de oclusão, em cinco grupos: grupo A, com pacientes portadores de oclusão normal natural e grupos B, C, D e E, com pacientes portadores de maloclusões, sendo cada grupo, dividido igualmente quanto ao sexo e apresentando idade média entre 13 e 16 anos. A amostra foi classificada em 3 padrões morfológicos verticais da face, de acordo com o índice da altura facial (FHR), proposto por SIRIWAT & JARABAK ou Quociente de Jarabak, em: Hiperdivergente, Neutro e Hipodivergente. Foi utilizada a variável GoMe.VT, da análise de VIGORITO, para avaliar a inclinação da sínfise e sua correlação com os padrões verticais faciais. Após a coleta de dados e da avaliação dos testes estatísticos; qui-quadrado, teste t de Student e da correlação de Pearson, concluiu-se que, o padrão Hipodivergente em todos os pacientes estudados foi o mais frequente, com 70%, sendo que a maior frequência deste padrão foi encontrado na maloclusão Classe II, divisão 2, com 87.5%, existindo outras prevalências de alguns padrões em diferentes classes de oclusões. Foi encontrada uma correlação positiva entre a inclinação da sínfise mandibular e o quociente de Jarabak apenas para a maloclusão Classe I e maloclusão Classe III. Não houve diferença estatisticamente significante entre os sexos e a classificação da morfologia quando comparados os cinco grupos, porém, quando os grupos foram analisados separadamente, foram encontradas diferenças significantes entre os sexos.