Automatic modeling of an orthotic bracing for nonoperative correction of PectusCarinatum

Pectus Carinatum is a deformity of the chest wall, characterized by an anterior protrusion of the sternum, often corrected surgically due to cosmetic motivation. This work presents an alternative approach to the current open surgery option, proposing a novel technique based on a personalized orthosis. Two different processes for the orthosis’ personalization are presented. One based on a 3D laser scan of the patient chest, followed by the reconstruction of the thoracic wall mesh using a radial basis function, and a second one, based on a computer tomography scan followed by a neighbouring cells algorithm. The axial position where the orthosis is to be located is automatically calculated using a Ray-Triangle intersection method, whose outcome is input to a pseudo Kochenek interpolating spline method to define the orthosis curvature. Results show that no significant differences exist between the patient chest physiognomy and the curvature angle and size of the orthosis, allowing a better cosmetic outcome and less initial discomfort

Automatic modeling of an orthotic bracing for nonoperative correction of pectus carinatum

Pectus Carinatum is a deformity of the chest wall, characterized by an anterior protrusion of the sternum, often corrected surgically due to cosmetic motivation. This work presents an alternative approach to the current open surgery option, proposing a novel technique based on a personalized orthosis. Two different processes for the orthosis’ personalization are presented. One based on a 3D laser scan of the patient chest, followed by the reconstruction of the thoracic wall mesh using a radial basis function, and a second one, based on a computer tomography scan followed by a neighbouring cells algorithm. The axial position where the orthosis is to be located is automatically calculated using a Ray-Triangle intersection method, whose outcome is input to a pseudo Kochenek interpolating spline method to define the orthosis curvature. Results show that no significant differences exist between the patient chest physiognomy and the curvature angle and size of the orthosis, allowing a better cosmetic outcome and less initial discomfort.

Sistema de modelização tridimensional para ambientes não estruturados

A navegação de veículos autónomos em ambientes não estruturados continua a ser um problema em aberto. A complexidade do mundo real ainda é um desafio. A difícil caracterização do relevo irregular, dos objectos dinâmicos e pouco distintos(e a inexistência de referências de localização) tem sido alvo de estudo e do desenvolvimento de vários métodos que permitam de uma forma eficiente, e em tempo real, modelizar o espaço tridimensional. O trabalho realizado ao longo desta dissertação insere-se na estratégia do Laboratório de Sistemas Autónomos (LSA) na pesquisa e desenvolvimento de sistemas sensoriais que possibilitem o aumento da capacidade de percepção das plataformas robóticas. O desenvolvimento de um sistema de modelização tridimensional visa acrescentar aos projectos LINCE (Land INtelligent Cooperative Explorer) e TIGRE (Terrestrial Intelligent General proposed Robot Explorer) maior autonomia e capacidade de exploração e mapeamento. Apresentamos alguns sensores utilizados para a aquisição de modelos tridimensionais, bem como alguns dos métodos mais utilizados para o processo de mapeamento, e a sua aplicação em plataformas robóticas. Ao longo desta dissertação são apresentadas e validadas técnicas que permitem a obtenção de modelos tridimensionais. É abordado o problema de analisar a cor e geometria dos objectos, e da criação de modelos realistas que os representam. Desenvolvemos um sistema que nos permite a obtenção de dados volumétricos tridimensionais, a partir de múltiplas leituras de um Laser Range Finder bidimensional de médio alcance. Aos conjuntos de dados resultantes associamos numa nuvem de pontos coerente e referenciada. Foram desenvolvidas e implementadas técnicas de segmentação que permitem inspeccionar uma nuvem de pontos e classifica-la quanto às suas características geométricas, bem como ao tipo de estruturas que representem. São apresentadas algumas técnicas para a criação de Mapas de Elevação Digital, tendo sido desenvolvida um novo método que tira partido da segmentação efectuada

Optimization of structures modeled with a Meshfree approach

Radial basis functions are being used in different scientific areas in order to reproduce the geometrical modeling of an object/structure, as well as to predict its behavior. Due to its characteristics, these functions are well suited for meshfree modeling of physical quantities, which for instances can be associated to the data sets of 3D laser scanning point clouds. In the present work the geometry of a structure is modeled by using multiquadric radial basis functions, and its configuration is further optimized in order to obtain better performances concerning to its static and dynamic behavior. For this purpose the authors consider the particle swarm optimization technique. A set of case studies is presented to illustrate the adequacy of the meshfree model used, as well as its link to particle swarm optimization technique. © 2014 IEEE.

Ball Sensing in a Leg Like Robotic Kicker

The trend to have more cooperative play and the increase of game dynamics in Robocup MSL League motivates the improvement of skills for ball passing and reception. Currently the majority of the MSL teams uses ball handling devices with rollers to have more precise kicks but limiting the capability to kick a moving ball without stopping it and grabbing it. This paper addresses the problem to receive and kick a fast moving ball without having to grab it with a roller based ball handling device. Here, the main difficulty is the high latency and low rate of the measurements of the ball sensing systems, based in vision or laser scanner sensors.Our robots use a geared leg coupled to a motor that acts simultaneously as the kicking device and low level ball sensor. This paper proposes a new method to improve the capability for ball sensing in the kicker, by combining high rate measurements from the torque and energy in the motor and angular position of the kicker leg. The developed method endows the kicker device with an effective ball detection ability, validated in several game situations like in an interception to a fast pass or when chasing the ball where the relative speed from robot to ball is low. This can be used to optimize the kick instant or by the embedded kicker control system to absorb the ball energy.

Experiments on substratum roughness, grainsize and volume influence on the motion and spreading of rock avalanches

The main objective of the research is to link granular physics with the modelling of rock avalanches. Laboratory experiments consist to find a convenient granular material, i.e. grainsize and physical behaviour, and testing it on simple slope geometry. When the appropriate sliding material is selected, we attempted to model the debris avalanche and the spreading on a slope with different substratum to understand the relationship between the volume and the reach angle, i.e. angle of the line joining the top of the scar and the end of the deposit. For a better understanding of the mass spreading, the deposits are scanned with a laser scanner. Datasets are compared to see how the grain size and volume influence a debris avalanche. The relationship between the roughness and grainsize of the substratum shows that the spreading of the sliding mass is increased when the roughness of the substratum starts to be equivalent or greater than the grainsize of the flowing mass. The runout distance displays a more complex relationship, because a long runout distance implies that grains are less spread. This means that if the substratum is too rough the distance diminishes, as well if it is too smooth because the effect on the apparent friction decreases. Up to now our findings do not permit to validate any previous model (Melosh, 1987; Bagnold 1956).

Budgeting rockfall and modeling sedimentary delivery in torrent systems

This thesis is a compilation of projects to study sediment processes recharging debris flow channels. These works, conducted during my stay at the University of Lausanne, focus in the geological and morphological implications of torrent catchments to characterize debris supply, a fundamental element to predict debris flows. Other aspects of sediment dynamics are considered, e.g. the coupling headwaters - torrent, as well as the development of a modeling software that simulates sediment transfer in torrent systems. The sediment activity at Manival, an active torrent system of the northern French Alps, was investigated using terrestrial laser scanning and supplemented with geostructural investigations and a survey of sediment transferred in the main torrent. A full year of sediment flux could be observed, which coincided with two debris flows and several bedload transport events. This study revealed that both debris flows generated in the torrent and were preceded in time by recharge of material from the headwaters. Debris production occurred mostly during winter - early spring time and was caused by large slope failures. Sediment transfers were more puzzling, occurring almost exclusively in early spring subordinated to runoffconditions and in autumn during long rainfall. Intense rainstorms in summer did not affect debris storage that seems to rely on the stability of debris deposits. The morpho-geological implication in debris supply was evaluated using DEM and field surveys. A slope angle-based classification of topography could characterize the mode of debris production and transfer. A slope stability analysis derived from the structures in rock mass could assess susceptibility to failure. The modeled rockfall source areas included more than 97% of the recorded events and the sediment budgets appeared to be correlated to the density of potential slope failure. This work showed that the analysis of process-related terrain morphology and of susceptibility to slope failure document the sediment dynamics to quantitatively assess erosion zones leading to debris flow activity. The development of erosional landforms was evaluated by analyzing their geometry with the orientations of potential rock slope failure and with the direction of the maximum joint frequency. Structure in rock mass, but in particular wedge failure and the dominant discontinuities, appear as a first-order control of erosional mechanisms affecting bedrock- dominated catchment. They represent some weaknesses that are exploited primarily by mass wasting processes and erosion, promoting not only the initiation of rock couloirs and gullies, but also their propagation. Incorporating the geological control in geomorphic processes contributes to better understand the landscape evolution of active catchments. A sediment flux algorithm was implemented in a sediment cascade model that discretizes the torrent catchment in channel reaches and individual process-response systems. Each conceptual element includes in simple manner geomorphological and sediment flux information derived from GIS complemented with field mapping. This tool enables to simulate sediment transfers in channels considering evolving debris supply and conveyance, and helps reducing the uncertainty inherent to sediment budget prediction in torrent systems. Cette thèse est un recueil de projets d'études des processus de recharges sédimentaires des chenaux torrentiels. Ces travaux, réalisés lorsque j'étais employé à l'Université de Lausanne, se concentrent sur les implications géologiques et morphologiques des bassins dans l'apport de sédiments, élément fondamental dans la prédiction de laves torrentielles. D'autres aspects de dynamique sédimentaire ont été abordés, p. ex. le couplage torrent - bassin, ainsi qu'un modèle de simulation du transfert sédimentaire en milieu torrentiel. L'activité sédimentaire du Manival, un système torrentiel actif des Alpes françaises, a été étudiée par relevés au laser scanner terrestre et complétée par une étude géostructurale ainsi qu'un suivi du transfert en sédiments du torrent. Une année de flux sédimentaire a pu être observée, coïncidant avec deux laves torrentielles et plusieurs phénomènes de charriages. Cette étude a révélé que les laves s'étaient générées dans le torrent et étaient précédées par une recharge de débris depuis les versants. La production de débris s'est passée principalement en l'hiver - début du printemps, causée par de grandes ruptures de pentes. Le transfert était plus étrange, se produisant presque exclusivement au début du printemps subordonné aux conditions d'écoulement et en automne lors de longues pluies. Les orages d'été n'affectèrent guère les dépôts, qui semblent dépendre de leur stabilité. Les implications morpho-géologiques dans l'apport sédimentaire ont été évaluées à l'aide de MNT et études de terrain. Une classification de la topographie basée sur la pente a permis de charactériser le mode de production et transfert. Une analyse de stabilité de pente à partir des structures de roches a permis d'estimer la susceptibilité à la rupture. Les zones sources modélisées comprennent plus de 97% des chutes de blocs observées et les bilans sédimentaires sont corrélés à la densité de ruptures potentielles. Ce travail d'analyses des morphologies du terrain et de susceptibilité à la rupture documente la dynamique sédimentaire pour l'estimation quantitative des zones érosives induisant l'activité torrentielle. Le développement des formes d'érosion a été évalué par l'analyse de leur géométrie avec celle des ruptures potentielles et avec la direction de la fréquence maximale des joints. Les structures de roches, mais en particulier les dièdres et les discontinuités dominantes, semblent être très influents dans les mécanismes d'érosion affectant les bassins rocheux. Ils représentent des zones de faiblesse exploitées en priorité par les processus de démantèlement et d'érosion, encourageant l'initiation de ravines et couloirs, mais aussi leur propagation. L'incorporation du control géologique dans les processus de surface contribue à une meilleure compréhension de l'évolution topographique de bassins actifs. Un algorithme de flux sédimentaire a été implémenté dans un modèle en cascade, lequel divise le bassin en biefs et en systèmes individuels répondant aux processus. Chaque unité inclut de façon simple les informations géomorpologiques et celles du flux sédimentaire dérivées à partir de SIG et de cartographie de terrain. Cet outil permet la simulation des transferts de masse dans les chenaux, considérants la variabilité de l'apport et son transport, et aide à réduire l'incertitude liée à la prédiction de bilans sédimentaires torrentiels. Ce travail vise très humblement d'éclairer quelques aspects de la dynamique sédimentaire en milieu torrentiel.

Western Iowa Missouri River Flooding -- Geo-Infrastructure Damage Assessment, Repair and Mitigation Strategies, TR-638, 2013

The 2011 Missouri River flooding caused significant damage to many geo-infrastructure systems including levees, bridge abutments/foundations, paved and unpaved roadways, culverts, and embankment slopes in western Iowa. The flooding resulted in closures of several interchanges along Interstate 29 and of more than 100 miles of secondary roads in western Iowa, causing severe inconvenience to residents and losses to local businesses. The main goals of this research project were to assist county and city engineers by deploying and using advanced technologies to rapidly assess the damage to geo-infrastructure and develop effective repair and mitigation strategies and solutions for use during future flood events in Iowa. The research team visited selected sites in western Iowa to conduct field reconnaissance, in situ testing on bridge abutment backfills that were affected by floods, flooded and non-flooded secondary roadways, and culverts. In situ testing was conducted shortly after the flood waters receded, and several months after flooding to evaluate recovery and performance. Tests included falling weight deflectometer, dynamic cone penetrometer, three-dimensional (3D) laser scanning, ground penetrating radar, and hand auger soil sampling. Field results indicated significant differences in roadway support characteristics between flooded and non-flooded areas. Support characteristics in some flooded areas recovered over time, while others did not. Voids were detected in culvert and bridge abutment backfill materials shortly after flooding and several months after flooding. A catalog of field assessment techniques and 20 potential repair/mitigation solutions are provided in this report. A flow chart relating the damages observed, assessment techniques, and potential repair/mitigation solutions is provided. These options are discussed for paved/unpaved roads, culverts, and bridge abutments, and are applicable for both primary and secondary roadways.

Rockfall induced seismic signals: case study in Montserrat, Catalonia

After a rockfall event, a usual post event survey includes qualitative volume estimation, trajectory mapping and determination of departing zones. However, quantitative measurements are not usually made. Additional relevant quantitative information could be useful in determining the spatial occurrence of rockfall events and help us in quantifying their size. Seismic measurements could be suitable for detection purposes since they are non invasive methods and are relatively inexpensive. Moreover, seismic techniques could provide important information on rockfall size and location of impacts. On 14 February 2007 the Avalanche Group of the University of Barcelona obtained the seismic data generated by an artificially triggered rockfall event at the Montserrat massif (near Barcelona, Spain) carried out in order to purge a slope. Two 3 component seismic stations were deployed in the area about 200 m from the explosion point that triggered the rockfall. Seismic signals and video images were simultaneously obtained. The initial volume of the rockfall was estimated to be 75 m3 by laser scanner data analysis. After the explosion, dozens of boulders ranging from 10¿4 to 5 m3 in volume impacted on the ground at different locations. The blocks fell down onto a terrace, 120 m below the release zone. The impact generated a small continuous mass movement composed of a mixture of rocks, sand and dust that ran down the slope and impacted on the road 60 m below. Time, time-frequency evolution and particle motion analysis of the seismic records and seismic energy estimation were performed. The results are as follows: 1 ¿ A rockfall event generates seismic signals with specific characteristics in the time domain; 2 ¿ the seismic signals generated by the mass movement show a time-frequency evolution different from that of other seismogenic sources (e.g. earthquakes, explosions or a single rock impact). This feature could be used for detection purposes; 3 ¿ particle motion plot analysis shows that the procedure to locate the rock impact using two stations is feasible; 4 ¿ The feasibility and validity of seismic methods for the detection of rockfall events, their localization and size determination are comfirmed.

Sediment budget monitoring of a debris-flow torrent (French Prealps)

The Manival near Grenoble (French Prealps) is a very active debris-flow torrent equipped with a large sediment trap (25 000 m3) protecting an urbanized alluvial fan from debris-flows. We began monitoring the sediment budget of the catchment controlled by the trap in Spring 2009. Terrestrial laser scanner is used for monitoring topographic changes in a small gully, the main channel, and the sediment trap. In the main channel, 39 cross-sections are surveyed after every event. Three periods of intense geomorphic activity are documented here. The first was induced by a convective storm in August 2009 which triggered a debris-flow that deposited ~1,800 m3 of sediment in the trap. The debris-flow originated in the upper reach of the main channel and our observations showed that sediment outputs were entirely supplied by channel scouring. Hillslope debris-flows were initiated on talus slopes, as revealed by terrestrial LiDAR resurveys; however they were disconnected to the main channel. The second and third periods of geomorphic activity were induced by long duration and low intensity rainfall events in September and October 2009 which generate small flow events with intense bedload transport. These events contribute to recharge the debris-flow channel with sediments by depositing important gravel dunes propagating from headwaters. The total recharge in the torrent subsequent to bedload transport events was estimated at 34% of the sediment erosion induced by the August debris-flow.

Jauhinterien valmistuksen kehittäminen

Diplomityö käsittelee eräälle paperiteollisuuden komponentteja valmistavalle yritykselle tehtyä tutkimusta, jossa tutkittiin erilaisia valmistusmenetelmiä, joilla voidaan valmistaa uudenlaisia jauhinteriä. Diplomityössä ideoitiin erilaisia jauhinteränkonstruktiovaihtoehtoja. Vaihtoehtoja havainnollistamaan piirrettiin jokaisesta ratkaisusta 3D- mallit. Vaihtoehtojen pohjalta päätettiin suoritettavat valmistustestaukset. Työssä suoritettiin valmistustestejä kuitulaserilla, hiilidioksidilaserilla sekä hienosädeplasmalla. Näiden testien perusteella saatiin näkemys siitä, mikä konstruktiovaihto on valmistusteknisesti paras, täyttäen samalla jauhinterälle asetetut vaatimukset. Diplomityön tuloksena syntyi toimiva ja kustannustehokas ratkaisu jauhinterien valmistamiseksi.

Isoelectric focusing of urinary metallothionein.

Isoelectric focusing of human urinary metallothionein at a pH range of 4.8 to 7.0 yielded a single protein band with a pI of 5.57 which co-migrated with authentic purified metallothionein I from human liver. Minimum pretreatment of the urine samples (160 ml) was needed. The preparatory steps included sample concentration with the original protein, enriched from 69 +/- 23 micrograms/ml to 2.0 +/- 1.4 mg/ml (+/- SD; n = 9), followed by heat treatment at 80 degrees C for 5 min (2.4 +/- 1.7 mg protein/ml). After focusing, the gels were stained with silver and the lanes were scanned with a laser scanner. Peak areas were used for quantitation with commercial beta 2-microglobulin as a standard. The urinary metallothionein ranged from 1.0 to 2.6 nmol/mmol creatinine, which is comparable with values reached by radio-immunoassay.

Kolmiulotteisen konenakojärjestelmän soveltuminen matkapuhelimen alikokoonpanojen testaukseen massatuotannossa

Tässä diplomityössä tutkitaan kolmiulotteisen konenak6järjestelmän soveltuvuutta matkapuhelimien alikokoonpanojen testaukseen massatuotannossa. Tavoitteena oli saada tietoa 3D järjestelmän käytettävyydestä suorituskyvyn ja kapasiteetin suhteen sekä selvittää järjestelmän joustavuutta testattavia tuotteita vaihdettaessa. Haluttiin myös selvittää, että ratkaiseeko 3D järjestelmä käytössä olevan 2D järjestelmän kanssa ilmenneitä ongelmia Järjestelmän suorituskykyä tutkittiin tekemällä testiajoja, joista saatuja tuloksia analysoitiin tilastollisella laadunvalvontaohjelmistolla. Varsinaisen kehitystyön teki konenäköjärjestelmiin erikoistunut alihankkija, jolla on kokemusta 3D testauksesta muilta teollisuuden aloilta. Matkapuhelimien alikokoonpanojen testauksessa laatukriteerit ja tarkkuusvaatimukset ovat kuitenkin liian kovia saavutettaviksi 3D lasertriangulaatioon perustuvaa testausjärjestelmää käytettäessä

Enhanced Reality Visualization in a Surgical Environment

Enhanced reality visualization is the process of enhancing an image by adding to it information which is not present in the original image. A wide variety of information can be added to an image ranging from hidden lines or surfaces to textual or iconic data about a particular part of the image. Enhanced reality visualization is particularly well suited to neurosurgery. By rendering brain structures which are not visible, at the correct location in an image of a patient's head, the surgeon is essentially provided with X-ray vision. He can visualize the spatial relationship between brain structures before he performs a craniotomy and during the surgery he can see what's under the next layer before he cuts through. Given a video image of the patient and a three dimensional model of the patient's brain the problem enhanced reality visualization faces is to render the model from the correct viewpoint and overlay it on the original image. The relationship between the coordinate frames of the patient, the patient's internal anatomy scans and the image plane of the camera observing the patient must be established. This problem is closely related to the camera calibration problem. This report presents a new approach to finding this relationship and develops a system for performing enhanced reality visualization in a surgical environment. Immediately prior to surgery a few circular fiducials are placed near the surgical site. An initial registration of video and internal data is performed using a laser scanner. Following this, our method is fully automatic, runs in nearly real-time, is accurate to within a pixel, allows both patient and camera motion, automatically corrects for changes to the internal camera parameters (focal length, focus, aperture, etc.) and requires only a single image.

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.