Influence de la locomotion sur la morphologie de l’articulation distale de l’humérus chez les hominoïdes

La masse corporelle et la direction des charges sont des facteurs qui peuvent modifier la morphologie des surfaces articulaires qui sont généralement orientées et de taille suffisante pour résister aux charges chroniques. Chez les hominoïdes, les forces de tension et compression, générées par la locomotion, sont transmises à travers l’articulation du coude. Ces espèces ont une morphologie similaire de l’extrémité distale de l’humérus, mais qui présente certaines différences selon la taille des individus et leurs modes de locomotion. Ce projet tente de caractériser plus exhaustivement cette variation en analysant la largeur des surfaces articulaires ainsi que leur position et orientation par rapport à l’axe long de la diaphyse. La prémisse de ce mémoire est que, chez les espèces plus arboricoles, la morphologie de l’articulation distale de l’humérus répond aux stress transverses générés par les puissants muscles fléchisseurs du poignet et des doigts qui traversent le coude obliquement. En revanche, les espèces plus terrestres présentent une morphologie permettant de résister aux forces axiales provenant du contact avec le sol. Des coordonnées tridimensionnelles et des mesures linéaires ont été recueillies sur un échantillon squelettique d’individus des genres Homo, Pan, Gorilla et Pongo. Les résultats obtenus révèlent que l’orientation et la position des surfaces articulaires de la trochlée correspondent aux types de locomotion, or leur taille et celle et du capitulum semblent être influencées par la taille des individus. L’hypothèse suggérant que les stress reliés aux divers modes de locomotion des hominoïdes influencent la morphologie de l’articulation distale de l’humérus est donc supportée.

Biologically Plausible Neural Circuits for Realization of Maximum Operations

Object recognition in the visual cortex is based on a hierarchical architecture, in which specialized brain regions along the ventral pathway extract object features of increasing levels of complexity, accompanied by greater invariance in stimulus size, position, and orientation. Recent theoretical studies postulate a non-linear pooling function, such as the maximum (MAX) operation could be fundamental in achieving such invariance. In this paper, we are concerned with neurally plausible mechanisms that may be involved in realizing the MAX operation. Four canonical circuits are proposed, each based on neural mechanisms that have been previously discussed in the context of cortical processing. Through simulations and mathematical analysis, we examine the relative performance and robustness of these mechanisms. We derive experimentally verifiable predictions for each circuit and discuss their respective physiological considerations.

Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

Contribució al posicionament dinàmic de robots mòbils per mitjà d'un sistema làser

Aquesta tesi tracta el problema del posicionament de robots mòbils quan, en el decurs del moviment, es realitzen mesures angulars relatives al robot de l'orientació de la recta entre un dels seus punts i punts de l'entorn de posició coneguda. Es considera que les mesures angulars són fetes per un sensor làser giratori que detecta diferents reflectors catadiòptrics fixos. La contribució principal és el desenvolupament d'un algorisme dinàmic, basat en un filtre de Kalman estès (EKF), que estima a cada instant de temps l'estat format pels angles associats als reflectors. La simulació hodomètrica dels angles entre mesures directes del sensor làser garanteix l'ús consistent i continuat dels mètodes de triangulació per a determinar la posició i l'orientació del robot. Inclou simulacions informàtiques i experiments per a validar la precisió del mètode de posicionament proposat. En l'experimentació s'utilitza un robot mòbil omnidireccional amb tres rodes de lliscament direccional de corrons esfèrics.

Odometria visual baseada em técnicas de structure from motion

Visual Odometry is the process that estimates camera position and orientation based solely on images and in features (projections of visual landmarks present in the scene) extraced from them. With the increasing advance of Computer Vision algorithms and computer processing power, the subarea known as Structure from Motion (SFM) started to supply mathematical tools composing localization systems for robotics and Augmented Reality applications, in contrast with its initial purpose of being used in inherently offline solutions aiming 3D reconstruction and image based modelling. In that way, this work proposes a pipeline to obtain relative position featuring a previously calibrated camera as positional sensor and based entirely on models and algorithms from SFM. Techniques usually applied in camera localization systems such as Kalman filters and particle filters are not used, making unnecessary additional information like probabilistic models for camera state transition. Experiments assessing both 3D reconstruction quality and camera position estimated by the system were performed, in which image sequences captured in reallistic scenarios were processed and compared to localization data gathered from a mobile robotic platform

Localização de um robô móvel usando odometria e marcos naturais

Several methods of mobile robot navigation request the mensuration of robot position and orientation in its workspace. In the wheeled mobile robot case, techniques based on odometry allow to determine the robot localization by the integration of incremental displacements of its wheels. However, this technique is subject to errors that accumulate with the distance traveled by the robot, making unfeasible its exclusive use. Other methods are based on the detection of natural or artificial landmarks present in the environment and whose location is known. This technique doesnt generate cumulative errors, but it can request a larger processing time than the methods based on odometry. Thus, many methods make use of both techniques, in such a way that the odometry errors are periodically corrected through mensurations obtained from landmarks. Accordding to this approach, this work proposes a hybrid localization system for wheeled mobile robots in indoor environments based on odometry and natural landmarks. The landmarks are straight lines de.ned by the junctions in environments floor, forming a bi-dimensional grid. The landmark detection from digital images is perfomed through the Hough transform. Heuristics are associated with that transform to allow its application in real time. To reduce the search time of landmarks, we propose to map odometry errors in an area of the captured image that possesses high probability of containing the sought mark

A influência das injunções de orientação relativa na calibração de um sistema dual de câmeras digitais

Image acquisition systems based on multi-head arrangement of digital frame cameras, such as the commercial systems DMC, UltraCam, besides others, are attractive alternatives enabling larger imaging area when compared to a single frame camera. Considering that in these systems, cameras are tightly attached to an external mount, it is assumed that relative position and orientation between cameras are stable during image acquisition and, consequently, these constraint can be included in the calibration step. This constraint is acceptable because estimates of the relative orientation (RO) parameters between cameras, from previously estimated exterior orientation parameters, present higher and significant deviations than the expected physical variations, due to error propagation. In order to solve this problem, this work presents an approach based on simultaneous calibration of two or more cameras using constraints that state that the relative rotation matrix and the distance between the cameras head are stable. Experiments with images acquired by an arrangement of two Hasselblad H2D cameras were accomplished, without and with the mentioned constraints. The experiments showed that the calibration process with RO constraints allows better results than the approach based on single camera calibration, provided that the estimation has included only images with good target distribution.

Sugestões para professores de orientação e mobilidade a partir de um estudo da marcha de alunos com deficiência visual

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Um sistema de rastreamento de câmeras para estúdios virtuais

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

Desenvolvimento de métodos para estimar a quantidade de ar incluído às gotas por pontas de pulverização com indução de ar

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Programa computacional com interface gráfica para identificação estocástica de parâmetros modais de estruturas civis: aplicação em pontes e torres de linha de transmissão

O interesse no comportamento dinâmico de estruturas metálicas vem crescendo nas últimas décadas no Brasil, em decorrência de acidentes com colapso total de algumas estruturas devido às vibrações ambientes em diversas regiões do país. Na região amazônica, por exemplo, onde esse tipo de estrutura deve vencer obstáculos como florestas e rios de grande largura, casos de colapso total de estruturas metálicas também são relatados. O foco principal dessa dissertação é o estudo do comportamento modal de estruturas metálicas submetidas às vibrações ambientes cuja magnitude das forças de excitação é desconhecida. Dois estudos de caso são apresentados: no primeiro deles, o comportamento modal de uma torre de linha de transmissão de energia elétrica é investigado; e no segundo caso, tanto o comportamento modal como os níveis de desconforto de uma ponte são estudados. Os estudos realizados neste último caso visam avaliar os níveis de desconforto da ponte quando submetida às excitações ambientes como rajadas de vento e o tráfego de veículo de acordo a norma brasileira NBR 8800 (1986). Em ambos os estudos de caso foram realizadas análises experimentais e computacionais. Na etapa experimental, ambas as estruturas foram monitoradas com emprego de um conjunto de acelerômetros de baixa freqüência e também de um sistema de aquisição apropriados para ensaios de vibração de estruturas civis. Como é muito difícil medir a magnitude das forças de excitação ambientes, foram utilizados os métodos de identificação estocásticos SSI-DATA e SSI-COV para extração de parâmetros modais de estruturas civis a partir somente dos dados de resposta coletados nos ensaios de vibração. Entre as atividades desenvolvidas nessa etapa, destaca-se a criação de um programa computacional com recursos do Graphical User Interface (GUI) da plataforma Matlab®, destinado à identificação modal de estruturas civis com o emprego dos referidos métodos estocásticos. Esse programa é constituído de três módulos: o primeiro é destinado ao processamento e tratamento dos sinais coletados nos ensaios de vibração; o segundo é utilizado para adicionar as informações do posicionamento dos acelerômetros utilizados nos arquivos dos sinais de resposta; e o terceiro e último módulo é destinado à identificação a partir dos arquivos de dados de resposta processados nos dois primeiros módulos. Na etapa das análises teóricas, foram criados modelos numéricos utilizando o método dos elementos finitos para simular o comportamento dinâmico das estruturas analisadas. Comparando os resultados obtidos em ambas as etapas de análise, verifica-se que resultados experimentais e teóricos apresentaram parâmetros bastante próximos entre si nos primeiros modos de vibração. Os resultados experimentais mostraram que ambos os métodos estocásticos foram muito eficientes na identificação das estruturas ensaiadas.

Reconstruction from image correspondences

A single picture provides a largely incomplete representation of the scene one is looking at. Usually it reproduces only a limited spatial portion of the scene according to the standpoint and the viewing angle, besides it contains only instantaneous information. Thus very little can be understood on the geometrical structure of the scene, the position and orientation of the observer with respect to it remaining also hard to guess. When multiple views, taken from different positions in space and time, observe the same scene, then a much deeper knowledge is potentially achievable. Understanding inter-views relations enables construction of a collective representation by fusing the information contained in every single image. Visual reconstruction methods confront with the formidable, and still unanswered, challenge of delivering a comprehensive representation of structure, motion and appearance of a scene from visual information. Multi-view visual reconstruction deals with the inference of relations among multiple views and the exploitation of revealed connections to attain the best possible representation. This thesis investigates novel methods and applications in the field of visual reconstruction from multiple views. Three main threads of research have been pursued: dense geometric reconstruction, camera pose reconstruction, sparse geometric reconstruction of deformable surfaces. Dense geometric reconstruction aims at delivering the appearance of a scene at every single point. The construction of a large panoramic image from a set of traditional pictures has been extensively studied in the context of image mosaicing techniques. An original algorithm for sequential registration suitable for real-time applications has been conceived. The integration of the algorithm into a visual surveillance system has lead to robust and efficient motion detection with Pan-Tilt-Zoom cameras. Moreover, an evaluation methodology for quantitatively assessing and comparing image mosaicing algorithms has been devised and made available to the community. Camera pose reconstruction deals with the recovery of the camera trajectory across an image sequence. A novel mosaic-based pose reconstruction algorithm has been conceived that exploit image-mosaics and traditional pose estimation algorithms to deliver more accurate estimates. An innovative markerless vision-based human-machine interface has also been proposed, so as to allow a user to interact with a gaming applications by moving a hand held consumer grade camera in unstructured environments. Finally, sparse geometric reconstruction refers to the computation of the coarse geometry of an object at few preset points. In this thesis, an innovative shape reconstruction algorithm for deformable objects has been designed. A cooperation with the Solar Impulse project allowed to deploy the algorithm in a very challenging real-world scenario, i.e. the accurate measurements of airplane wings deformations.

The foundations of computer assisted surgery

Using navigation systems in general orthopaedic surgery and, in particular, knee replacement is becoming more and more accepted. This paper describes the basic technological concepts of modern computer assisted surgical systems. It explains the variation in currently available systems and outlines research activities that will potentially influence future products. In general, each navigation system is defined by three components: (1) the therapeutic object is the anatomical structure that is operated on using the navigation system, (2) the virtual object represents an image of the therapeutic object, with radiological images or computer generated models potentially being used, and (3) last but not least, the navigator acquires the spatial position and orientation of instruments and anatomy thus providing the necessary data to replay surgical action in real-time on the navigation system's screen.

Auswirkung des anisotropen Gefüges strahlgeschmolzener Bauteile auf mechanische Eigenschaftswerte

Die Strahlschmelztechnologie entwickelt sich in vielen Anwendungsbereichen zu einer echten Alternative zu den konventionellen Fertigungsverfahren. Dieser Trend wird gerade durch die Verarbeitung von serienidentischen, einkomponentigen Pulvern zur Herstellung metallischer Bauteile verstärkt, wodurch sich wiederum neue Entwicklungs- und Einsatzpotentiale ergeben. Allerdings weisen die Strahlschmelzbauteile keine vollkommen übereinstimmenden Werkstoffkennwerte im Vergleich zu herkömmlich hergestellten Bauteilen auf, wodurch die Akzeptanz durch Industrie und Forschung eingeschränkt wird. Eine exakte Beschreibung (Nachweis) der Materialeigenschaften von strahlgeschmolzenen Bauteilen wird in dem Maße wichtiger, mit dem diese Verfahren zur Fertigung von Endprodukten herangezogen werden. Weiterhin spielt die Anisotropie des Gefüges strahlgeschmolzener Bauteile eine große Rolle. Aus diesem Grund wurden im RTC Duisburg umfangreiche Festigkeitsuntersuchungen (statisch und dynamisch) in Abhängigkeit von der Baulage, des Oberflächenzustandes und verschiedener Belichtungsstrategien durchgeführt. In diesem Vortrag werden ausgewählte Ergebnisse zu den Untersuchungen vorgestellt.

Silencer elements controlling the B29 (Igβ) promoter are neither promoter- nor cell-type-specific

The murine B29 (Igβ) promoter is B cell specific and contains essential SP1, ETS, OCT, and Ikaros motifs. Flanking 5′ DNA sequences inhibit B29 promoter activity, suggesting this region contains silencer elements. Two adjacent 5′ DNA segments repress transcription by the murine B29 promoter in a position- and orientation-independent manner, analogous to known silencers. Both these 5′ segments also inhibit transcription by several heterologous promoters in B cells, including mb-1, c-fos, and human B29. These 5′ segments also inhibit transcription by the c-fos promoter in T cells suggesting they are not B cell-specific elements. DNase I footprint analyses show an approximately 70-bp protected region overlapping the boundary between the two negative regulatory DNA segments and corresponding to binding sites for at least two different DNA-binding proteins. Within this footprint, two unrelated 30-bp cis-acting DNA motifs (designated TOAD and FROG) function as position- and orientation-independent silencers when located directly 5′ of the murine B29 promoter. These two silencer motifs act cooperatively to restrict the transcriptional activity of the B29 promoter. Neither of these motifs resembles any known silencers. Mutagenesis of the TOAD and FROG motifs in their respective 5′ DNA segments eliminates the silencing activity of these upstream regions, indicating these two motifs as the principal B29 silencer elements within these regions.