Efficient 3D scene modeling and mosaicing

El modelat d'escenes és clau en un gran ventall d'aplicacions que van des de la generació mapes fins a la realitat augmentada. Aquesta tesis presenta una solució completa per a la creació de models 3D amb textura. En primer lloc es presenta un mètode de Structure from Motion seqüencial, a on el model 3D de l'entorn s'actualitza a mesura que s'adquireix nova informació visual. La proposta és més precisa i robusta que l'estat de l'art. També s'ha desenvolupat un mètode online, basat en visual bag-of-words, per a la detecció eficient de llaços. Essent una tècnica completament seqüencial i automàtica, permet la reducció de deriva, millorant la navegació i construcció de mapes. Per tal de construir mapes en àrees extenses, es proposa un algorisme de simplificació de models 3D, orientat a aplicacions online. L'eficiència de les propostes s'ha comparat amb altres mètodes utilitzant diversos conjunts de dades submarines i terrestres.

Hand-held 3D-scanner for large surface registration

L'objectiu d'aquesta tesi és l'estudi de les diferents tècniques per alinear vistes tridimensionals. Aquest estudi ens ha permès detectar els principals problemes de les tècniques existents, aprotant una solució novedosa i contribuint resolent algunes de les mancances detectades especialment en l'alineament de vistes a temps real. Per tal d'adquirir les esmentades vistes, s'ha dissenyat un sensor 3D manual que ens permet fer adquisicions tridimensionals amb total llibertat de moviments. Així mateix, s'han estudiat les tècniques de minimització global per tal de reduir els efectes de la propagació de l'error.

Metamorphic epiphany -- 3D animation

As far back as I can remember, I have always been interested in studio art. Whether it be painting, drawing, printmaking, or photography, it has consistently been a part of my life. Upon enrolling in Colby, I became interested in computers and decided to major my undergraduate college career in Computer Science. Not forgetting past interests, I continued my studio art education, taking several classes within the Art department. In due time, I began combining interests and began studying Computer Graphics and Design. With limited resources in this field at Colby, the majority of my computer graphic education and experience has been done on my own time apart from regular classroom work. As time progressed, so did my interests. Starting with simple image manipulation of digitally scanned photographs, I moved on to Web Page design, eventually leading to Desktop Publishing. Ultimately, I wanted to take a step further and expand my overall computer graphic knowledge by learning 3D modeling and animation. With even fewer resources in 3D animation at Colby, I perceived having trouble finding the information and tools I would need to gain the necessary skills for this new field. The Senior Scholars program gave me the opponunity to find and acquire the necessary tools to pursue my interest. This program also allowed me to devote the proper amount of time required for learning these new tools.

Micromechanics of dentin/adhesive interface in function of dentin depth: 3d finite element analysis

Objectives: The aim of this study was to analyze the stress distribution on dentin/adhesive interface (d/a) through a 3-D finite element analysis (FEA) varying the number and diameter of the dentin tubules orifice according to dentin depth, keeping hybrid layer (HL) thickness and TAǴs length constant. Materials and Methods: 3 models were built through the SolidWorks software: SD - specimen simulating superficial dentin (41 x 41 x 82 μm), with a 3 μm thick HL, a 17 μm length Tag, and 8 tubules with a 0.9 μm diameter restored with composite resin. MD - similar to M1 with 12 tubules with a 1.2 μm diameter, simulating medium dentin. DD - similar to M1 with 16 tubules with a 2.5 μm diameter, simulating deep dentin. Other two models were built in order to keep the diameter constant in 2.5 μm: MS - similar to SD with 8 tubules; and MM - similar to MD with 12 tubules. The boundary condition was applied to the base surface of each specimen. Tensile load (0.03N) was performed on the composite resin top surface. Stress field (maximum principal stress in tension - σMAX) was performed using Ansys Wokbench 10.0. Results: The peak of σMAX (MPa) were similar between SD (110) and MD (106), and higher for DD (134). The stress distribution pathway was similar for all models, starting from peritubular dentin to adhesive layer, intertubular dentin and hybrid layer. The peak of σMAX (MPa) for those structures was, respectively: 134 (DD), 56.9 (SD), 45.5 (DD), and 36.7 (MD). Conclusions: The number of dentin tubules had no influence in the σMAX at the dentin/adhesive interface. Peritubular and intertubular dentin showed higher stress with the bigger dentin tubules orifice condition. The σMAX in the hybrid layer and adhesive layer were going down from superficial dentin to deeper dentin. In a failure scenario, the hybrid layer in contact with peritubular dentin and adhesive layer is the first region for breaking the adhesion. © 2011 Nova Science Publishers, Inc.

Tilted and Short Implants Supporting Fixed Prosthesis in an Atrophic Maxilla: A 3D-FEA Biomechanical Evaluation

Purpose: This study compared the biomechanical behavior of tilted long implant and vertical short implants to support fixed prosthesis in an atrophic maxilla. Materials and Methods: The maxilla model was built based on a tomographic image of the patient. Implant models were based on micro-computer tomography imaging of implants. The different configurations considered were M4S, four vertical anterior implants; M4T, two mesial vertical implants and two distal tilted (45°) implants in the anterior region of the maxilla; and M6S, four vertical anterior implants and two vertical posterior implants. Numerical simulation was carried out under bilateral 150N loads applied in the cantilever region in axial (L1) and oblique (45°) (L2) direction. Bone was analyzed using the maximum and minimum principal stress (σmax and σmin), and von Mises stress (σvM) assessments. Implants were analyzed using the σvM. Results: The higher σmax was observed at: M4T, followed by M6S/L1, M6S/L2, M4S/L2, and M4S/L1 and the higher σvM: M4T/L1, M4T/L2 and M4S/L2, M6S/L2, M4S/L1, and M6S/L1. Conclusions: The presence of distal tilted (all-on-four) and distal short implants (all-on-six) resulted in higher stresses in both situations in the maxillary bone in comparison to the presence of vertical implants (all-on-four). © 2013 Wiley Periodicals, Inc.

Influência do número e inclinação dos implantes para a ancoragem de prótese fixa em maxila atrófica: estudo comparativo com elementos finitos 3D

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação da distribuição de tensões em próteses do tipo protocolo mandibular para carregamento imediato por meio do MEF-3D

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

The role of superstructure material on the stress distribution in mandibular full-arch implant-supported fixed dentures. A CT-based 3D-FEA

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Interação com objetos digitais 3D em estúdios virtuais

Pós-graduação em Televisão Digital: Informação e Conhecimento - FAAC

A complete CMOS UWB timed-array transmitter with a 3D Vivaldi antenna array for electronic high-resolution beam spatial scanning

We present a new Ultra Wide Band (UWB) Timed- Array Transmitter System with Beamforming capability for high-resolution remote acquisition of vital signals. The system consists of four identical channels, where each is formed of a serial topology with three modules: programmable delay circuit (PDC or τ), a novel UWB 5th Gaussian Derivative order pulse generator circuit (PG), and a planar Vivaldi antenna. The circuit was designed using 0.18μm CMOS standard process and the planar antenna array was designed with filmconductor on Rogers RO3206 substrate. Spice simulations results showed the pulse generation with 104 mVpp amplitude and 500 ps width. The power consumption is 543 μW, and energy consumption 0.27 pJ per pulse using a 2V power supply at a pulse repetition rate (PRR) of 100 MHz. Electromagnetic simulations results, using CST Microwave (MW) Studio 2011, showed the main lobe radiation with a gain maximum of 13.2 dB, 35.5º x 36.7º angular width, and a beam steering between 17º and -11º for azimuthal (θ) angles and 17º and -18º for elevation (φ) angles at the center frequency of 6 GHz

Diseño, implementación y verificación de un controlador para robots educativos

[EN] This project briefly analyzes the scope and applications of Industrial Robotics, as well as the importance that this technical discipline has gained in the past decades. In addition, it proposes a modern platform to assist in teaching this discipline in colleges and universities. This new educational platform for the teaching of Industrial Robotics is based on the robotic systems from Rhino Robotics Ltd., using the existing robotic arms and replacing the control electronics by a newer, modern and yet backwards-compatible controller. In addition to the controller, this platform also provides new, up-to-date software utilities that are more intuitive than those provided with the old system. The work to be done consists essentially in receiving commands from a personal computer which the controller must interpret in order to control the motors of the robotic arm. The controller itself will be implemented as an embedded system based on microcontrollers. This requires the implementation of a communication protocol between the personal computer and the microcontroller, the design of a command interpreter, the design of the electronics for motor control using PWM and H-bridges, and the implementation of control techniques (more precisely, PID control). Hence, this project combines software and hardware design and integration techniques with motor control techniques and feedback control methods from Control Engineering, along with the kinematic analysis of the Rhino XR-4 robotic arm. 

Diseño y desarrollo de un prototipo básico de un videojuego plataformas en 2D

Análisis, diseño, prototipado y desarrollo de un prototipo de videojuego del género plataformas en 2D. El análisis comienza a partir de una idea original, por lo que se incluye un estudio y prototipado de las mecánicas candidatas. Siguiendo los principios de la Ingeniería del Software, se lleva a cabo un documento de diseño y de arquitectura del software. La implementación se desarrolla siguiendo la arquitectura previamente establecida y se han añadido diferentes plataformas de control (mando, teclado y ratón) para enriquecer la experiencia de usuario. El desarrollo de este trabajo incluye un fuerte componente de diseño de videojuegos, incluyendo el estudio de referencias, análisis de mecánicas, evaluación de la experiencia del jugador y diseño de niveles. Nos centraremos en la preproducción de un juego, fase en la que se toman todas las decisiones sobre todos los aspectos finales de un videojuego. Tras un estudio de los motores de videojuego disponibles para el público, se ha utilizado el motor Unity 3D para la implementación final, llevando a cabo el desarrollo en la versión beta de Unity 4.6. A través del motor de videojuego podemos trabajar con animaciones, audio, interfaz, etc.  El lenguaje utilizado es C#. Como complemento se incluye un breve estudio de la historia de los videojuegos, los diferentes motores de videojuegos actuales y nociones del diseño de videojuegos.

Analisi di pushover 3D per strutture in c.a.

In the present study, a new pushover procedure for 3D frame structures is proposed, based on the application of a set of horizontal force and torque distributions at each floor level; in order to predict the most severe configurations of an irregular structure subjected to an earthquake, more than one pushover analysis has to be performed. The proposed method is validated by a consistent comparison of results from static pushover and dynamic simulations in terms of different response parameters, such as displacements, rotations, floor shears and floor torques. Starting from the linear analysis, the procedure is subsequently extended to the nonlinear case. The results confirm the effectiveness of the proposed procedure to predict the structural behaviour in the most severe configurations.