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.

Reconstrução de Superfícies usando um Scanner 3D de Luz Estruturada

Ao longo dos últimos anos, os scanners 3D têm tido uma utilização crescente nas mais variadas áreas. Desde a Medicina à Arqueologia, passando pelos vários tipos de indústria, ´e possível identificar aplicações destes sistemas. Essa crescente utilização deve-se, entre vários factores, ao aumento dos recursos computacionais, à simplicidade e `a diversidade das técnicas existentes, e `as vantagens dos scanners 3D comparativamente com outros sistemas. Estas vantagens são evidentes em áreas como a Medicina Forense, onde a fotografia, tradicionalmente utilizada para documentar objectos e provas, reduz a informação adquirida a duas dimensões. Apesar das vantagens associadas aos scanners 3D, um factor negativo é o preço elevado. No âmbito deste trabalho pretendeu-se desenvolver um scanner 3D de luz estruturada económico e eficaz, e um conjunto de algoritmos para o controlo do scanner, para a reconstrução de superfícies de estruturas analisadas, e para a validação dos resultados obtidos. O scanner 3D implementado ´e constituído por uma câmara e por um projector de vídeo ”off-the-shelf”, e por uma plataforma rotativa desenvolvida neste trabalho. A função da plataforma rotativa consiste em automatizar o scanner de modo a diminuir a interação dos utilizadores. Os algoritmos foram desenvolvidos recorrendo a pacotes de software open-source e a ferramentas gratuitas. O scanner 3D foi utilizado para adquirir informação 3D de um crânio, e o algoritmo para reconstrução de superfícies permitiu obter superfícies virtuais do crânio. Através do algoritmo de validação, as superfícies obtidas foram comparadas com uma superfície do mesmo crânio, obtida por tomografia computorizada (TC). O algoritmo de validação forneceu um mapa de distâncias entre regiões correspondentes nas duas superfícies, que permitiu quantificar a qualidade das superfícies obtidas. Com base no trabalho desenvolvido e nos resultados obtidos, é possível afirmar que foi criada uma base funcional para o varrimento de superfícies 3D de estruturas, apta para desenvolvimento futuro, mostrando que é possível obter alternativas aos métodos comerciais usando poucos recursos financeiros.

Assessment of 3D scanners for modeling Pectus Carinatum corrective bar

Pectus Carinatum (PC) is a chest deformity consisting on the anterior protrusion of the sternum and adjacent costal cartilages. Non-operative corrections, such as the orthotic compression brace, require previous information of the patient chest surface, to improve the overall brace fit. This paper focuses on the validation of the Kinect scanner for the modelling of an orthotic compression brace for the correction of Pectus Carinatum. To this extent, a phantom chest wall surface was acquired using two scanner systems – Kinect and Polhemus FastSCAN – and compared through CT. The results show a RMS error of 3.25mm between the CT data and the surface mesh from the Kinect sensor and 1.5mm from the FastSCAN sensor

Assessment of 3D scanners for modeling pectus carinatum corrective bar

Pectus Carinatum (PC) is a chest deformity consisting on the anterior protrusion of the sternum and adjacent costal cartilages. Non-operative corrections, such as the orthotic compression brace, require previous information of the patient chest surface, to improve the overall brace fit. This paper focuses on the validation of the Kinect scanner for the modelling of an orthotic compression brace for the correction of Pectus Carinatum. To this extent, a phantom chest wall surface was acquired using two scanner systems – Kinect and Polhemus FastSCAN – and compared through CT. The results show a RMS error of 3.25mm between the CT data and the surface mesh from the Kinect sensor and 1.5mm from the FastSCAN sensor.

Análise e aferição de uma fresadora CNC através da utilização das tecnologias assistidas por computador, no escaneamento 3D de amostras e processamento de imagens

The use of computer-assisted technologies such as CAD - Computed Aided Design, CAM - Computed Aided Manufacturing, CAE - Computed Aided Engineering and CNC - Computed Numerical Control, are priorities in engineering and product designers. However, the dimensional measurement between the virtual and the real product design requires research, and dissemination procedures among its users. This work aims to use these technologies, through analysis and measurement of a CNC milling machine, designed and assembled in the university. Through the use of 3D scanning, and analyzing images of the machined samples, and its original virtual files, it was possible to compare the sizes of these samples in counterposition to the original virtual dimensions, we can state that the distortions between the real and virtual, are within acceptable limits for this type of equipment. As a secondary objective, this work seeks to disseminate and make more accessible the use of these technologies.

Algorithms For Automatic And Robust Registration Of 3D Head Scans

wo methods for registering laser-scans of human heads and transforming them to a new semantically consistent topology defined by a user-provided template mesh are described. Both algorithms are stated within the Iterative Closest Point framework. The first method is based on finding landmark correspondences by iteratively registering the vicinity of a landmark with a re-weighted error function. Thin-plate spline interpolation is then used to deform the template mesh and finally the scan is resampled in the topology of the deformed template. The second algorithm employs a morphable shape model, which can be computed from a database of laser-scans using the first algorithm. It directly optimizes pose and shape of the morphable model. The use of the algorithm with PCA mixture models, where the shape is split up into regions each described by an individual subspace, is addressed. Mixture models require either blending or regularization strategies, both of which are described in detail. For both algorithms, strategies for filling in missing geometry for incomplete laser-scans are described. While an interpolation-based approach can be used to fill in small or smooth regions, the model-driven algorithm is capable of fitting a plausible complete head mesh to arbitrarily small geometry, which is known as "shape completion". The importance of regularization in the case of extreme shape completion is shown.

Artificial neural networks for automatic modelling of the pectus excavatum corrective prosthesis

Pectus excavatum is the most common deformity of the thorax and usually comprises Computed Tomography (CT) examination for pre-operative diagnosis. Aiming at the elimination of the high amounts of CT radiation exposure, this work presents a new methodology for the replacement of CT by a laser scanner (radiation-free) in the treatment of pectus excavatum using personally modeled prosthesis. The complete elimination of CT involves the determination of ribs external outline, at the maximum sternum depression point for prosthesis placement, based on chest wall skin surface information, acquired by a laser scanner. The developed solution resorts to artificial neural networks trained with data vectors from 165 patients. Scaled Conjugate Gradient, Levenberg-Marquardt, Resilient Back propagation and One Step Secant gradient learning algorithms were used. The training procedure was performed using the soft tissue thicknesses, determined using image processing techniques that automatically segment the skin and rib cage. The developed solution was then used to determine the ribs outline in data from 20 patient scanners. Tests revealed that ribs position can be estimated with an average error of about 6.82±5.7 mm for the left and right side of the patient. Such an error range is well below current prosthesis manual modeling (11.7±4.01 mm) even without CT imagiology, indicating a considerable step forward towards CT replacement by a 3D scanner for prosthesis personalization.

Pessebre virtual: disseny i exportació

Aquest projecte és una part d’un projecte més ampli consistent en estudiar un format gràfic que permeti exportar una escena modelada en Blender i importar aquesta mateixa escena en un entorn interactiu basat en Visual C++ amb OpenGL. D’aquesta forma, disposem de la capacitat de modelat de Blender i de la interacció i visualització de la llibreria OpenGL. Aquest format ha de representar geometria i textures imprescindiblement, i si és possible, d’altres factors importants com il·luminació, visualització i moviment. La part del projecte explicada en aquesta memòria consisteix en estudiar el format gràfic més adient per representar els diferents factors de realisme de l’escena (geometria, textura, etc.) havent triat el format OBJ per la seva capacitat de representació i fàcil edició. Per a provar el format, s’ha dissenyat un diorama de pessebre utilitzant les capacitats de modelatge de Blender. Pel que respecta les figures, aspecte important per a considerar l’escena com a pessebre, s’ha utilitzat un escàner 3D que ha obtingut representacions de malla 3D, a partir de figures reals de pessebre, que posteriorment han estat texturades. S’ha generat un vídeo del diorama de pessebre que permet veure’n tots els detalls navegant amb el punt de vista per l’escena. Aquest vídeo s’ha exposat en la mostra de pessebres de la Associació Pessebrista de Sabadell el Nadal del 2008.

Sensordatenfusionsansätze in der Thermografie zur Verbesserung der Messergebnisse

Thermografie hat sich als wichtiges Hilfsmittel für die Inspektion, Prüfung und Überwachung etabliert. Bei vielen Anwendungen ist eine einzelne Messung allein oft nicht aussagekräftig, z. B. weil Strukturen nicht deutlich genug wahrgenommen werden können, das Messobjekt größer als das Blickfeld der Optik ist oder sich Kenngrößen erst aus dem zeitlichen Verlauf von Messungen ergeben. Zudem erfasst der Bediener der Kamera mit seinen Sinnen und seiner Erfahrung noch viele weitere Einflussgrößen, die bei der Entscheidungsfindung berücksichtigt werden. Eine Automatisierung von Inspektionsaufgaben in unbekannten Umgebungen ist also sehr komplex. In dieser Arbeit werden daher verschiedene Sensordatenfusionsansätze untersucht, die in der Thermografie eingesetzt werden können. Das Ziel bei der Fusion ist dabei die Verbesserung der Qualität der Messung und die Vergrößerung der verfügbaren Menge an nutzbaren Informationen über ein Messobjekt. Die betrachteten Ansätze können entweder nur mit Messungen der Thermografiekamera durchgeführt werden: zur Rauschunterdrückung durch zeitliche Mittelwertbildung, zur Vergrößerung der Schärfentiefe durch Kombination von Aufnahmen mit unterschiedlichem Fokus, zur Vergrößerung der Dynamik (also des Temperaturmessbereichs) durch Kombination von Messungen mit unterschiedlichen Messbereichen und durch Veränderung von Filtereinstellungen zur Unterdrückung von Störungen und zum Ableiten von geometrischen Informationen und Oberflächeneigenschaften. Weiterhin kann durch Veränderung der Kameraausrichtung das Blickfeld vergrößert und die geometrische Auflösung verbessert werden. Die Datenfusion von Thermogrammen kann aber auch mit Daten von anderen bildgebenden Messgeräten durchgeführt werden. Betrachtet wird die Kombination mit normalen Kameras im sichtbaren Spektralbereich, Thermografiekameras in anderen Wellenlängenbereichen und Tiefenkameras/Entfernungsmessgeräten (3D-Scanner, Laserscanner). Dadurch lassen sich für einen Messpunkt mehr Informationen gewinnen und die Messdaten können geometrisch als 3D-Modelle interpretiert und analysiert werden. Die Vielzahl an Informationen soll eine solide Dokumentation und gute (automatische) Analyse ermöglichen. Neben den Grundlagen zur Thermografie, dem punktweisen Zusammenführen von Messdaten und den oben genannten Sensordatenfusionsansätzen, wird ein Anwendungsbeispiel gezeigt. Darin soll die Machbarkeit der automatisierten Inspektionsdurchführung und die Kombination und praktische Anwendung der verschiedenen Sensordatenfusionsansätze gezeigt werden.

CAD e engenharia reversa como ferramentas de auxílio na fabricação de cartuchos para próteses ortopédicas

The manufacturing of above and below-knee prosthesis starts by taking surfac measurements of the patient s residual limb. This demands the making of a cartridg with appropriate fitting and customized to the profile of each patient. The traditiona process in public hospitals in Brazil begins with the completion of a record file (according to law nº388, of July 28, 1999 by the ministry of the health) for obtaining o the prosthesis, where it is identified the amputation level, equipment type, fitting type material, measures etc. Nowadays, that work is covered by the Brazilian Nationa Health Service (SUS) and is accomplished in a manual way being used commo measuring tapes characterizing a quite rudimentary, handmade work and without an accuracy.In this dissertation it is presented the development of a computer integrate tool that it include CAD theory, for visualization of both above and below-knee prosthesis in 3D (i.e. OrtoCAD), as well as, the design and the construction a low cos electro-mechanic 3D scanner (EMS). This apparatus is capable to automatically obtain geometric information of the stump or of the healthy leg while ensuring smalle uncertainty degree for all measurements. The methodology is based on reverse engineering concepts so that the EMS output is fed into the above mentioned academi CAD software in charge of the 3D computer graphics reconstruction of the residualimb s negative plaster cast or even the healthy leg s mirror image. The obtained results demonstrate that the proposed model is valid, because it allows the structura analysis to be performed based on the requested loads, boundary conditions, material chosen and wall thickness. Furthermore it allows the manufacturing of a prosthesis cartridge meeting high accuracy engineering patterns with consequent improvement in the quality of the overall production process

Influence of Cusp Inclination on Stress Distribution in Implant-Supported Prostheses. A Three-Dimensional Finite Element Analysis

Purpose: The aim of this study was to assess the influence of cusp inclination on stress distribution in implant-supported prostheses by 3D finite element method.Materials and Methods: Three-dimensional models were created to simulate a mandibular bone section with an implant (3.75 mm diameter x 10 mm length) and crown by means of a 3D scanner and 3D CAD software. A screw-retained single crown was simulated using three cusp inclinations (10 degrees, 20 degrees, 30 degrees). The 3D models (model 10d, model 20d, and model 30d) were transferred to the finite element program NeiNastran 9.0 to generate a mesh and perform the stress analysis. An oblique load of 200 N was applied on the internal vestibular face of the metal ceramic crown.Results: The results were visualized by means of von Mises stress maps. Maximum stress concentration was located at the point of application. The implant showed higher stress values in model 30d (160.68 MPa). Cortical bone showed higher stress values in model 10d (28.23 MPa).Conclusion: Stresses on the implant and implant/abutment interface increased with increasing cusp inclination, and stresses on the cortical bone decreased with increasing cusp inclination.

Exatidão, precisão e reprodutibilidade de medidas dentárias em modelos de gessso e imagem tridimensional

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Influência da carga oclusal parafuncional em próteses implantossuportadas, variando-se a proporção coroa/implante e o sistema de conexão protética: estudo pelo método dos elementos finitos tridimensionais

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

Correlation between maxillary central incisor crown morphology and mandibular dental arch form in normal occlusion subjects

The aim of this study was to evaluate the correlation between the morphology of the mandibular dental arch and the maxillary central incisor crown. Cast models from 51 Caucasian individuals, older than 15 years, with optimal occlusion, no previous orthodontic treatment, featuring 4 of the 6 keys to normal occlusion by Andrews (the first being mandatory) were observed. The models were digitalized using a 3D scanner, and images of the maxillary central incisor and mandibular dental arch were obtained. These were printed and placed in an album below pre-set models of arches and dental crowns, and distributed to 12 dental surgeons, who were asked to choose which shape was most in accordance with the models and crown presented. The Kappa test was performed to evaluate the concordance among evaluators while the chi-square test was used to verify the association between the dental arch and central incisor morphology, at a 5% significance level. The Kappa test showed moderate agreement among evaluators for both variables of this study, and the chi-square test showed no significant association between tooth shape and mandibular dental arch morphology. It may be concluded that the use of arch morphology as a diagnostic method to determine the shape of the maxillary central incisor is not appropriate. Further research is necessary to assess tooth shape using a stricter scientific basis.

Bóvedas y contrarresto del Colegio de Nuestra Señora de la Antigua de Monforte de Lemos : geometría, construcción y mecánica

El Colegio de Nuestra Señora de la Antigua de Monforte de Lemos (1593-1619) constituye el principal ejemplo del clasicismo herreriano de Galicia. Esta tesis analiza los aspectos técnicos de la construcción de sus bóvedas de cantería, en el marco disciplinar de la Historia de la Construcción. El Colegio contiene varios tipos de bóvedas entre las que destacan su cúpula trasdosada y su escalera monumental. Además, se conservan los documentos notariales históricos que describen las obras y una de las monteas más importantes de Galicia. Las bóvedas han sufrido movimientos y algunas presentan importantes deformaciones, que han suscitado preocupación sobre su estabilidad. El estudio se organiza en tres epígrafes: geometría, construcción y mecánica, tres aspectos estrechamente interrelacionados en este tipo de estructuras. La parte de estudio geométrico parte de un levantamiento en el que se emplea una estación total sin reflectante, una técnica que permite una medición muy precisa de la forma real de las bóvedas. Como complemento se ha recurrido a técnicas de escáner fotográfico. Con los datos de las mediciones se han elaborado los dibujos de las bóvedas, y analizado sus medidas e irregularidades. Se ha incluido un análisis metrológico por métodos inductivos, que ha puesto de manifiesto la unidad utilizada en la construcción. El estudio se completa con la recopilación de las reglas de dimensionamiento que figuran en los tratados, que se comparan con las dimensiones de las bóvedas analizadas. En el estudio constructivo se registran los despieces y la configuración constructiva y se contrastan, por un lado, con las soluciones que aparecen en los principales tratados de los siglos XVI, XVII y XVIII, y por otro, con las descripciones que se encuentran en los documentos históricos del Colegio. Se ha prestado especial atención al estudio de estos documentos, que han permitido conocer algunos aspectos originales del proceso de construcción de estas bóvedas. En una de las paredes del claustro se ha identificado una montea inédita cuyo levantamiento y análisis se incorpora en esta parte. En el estudio mecánico se analiza la estabilidad dentro del marco teórico del Moderno Análisis Límite de Estructuras de Fábricas. La comprensión del comportamiento estructural, unida a la precisión de los levantamientos, ha permitido explicar los movimientos de las fábricas e inferir la geometría original de algunas de las bóvedas, no siempre evidente en los casos de fuertes deformaciones. Los estudios realizados hasta ahora en bóvedas de los siglos XVI y XVII permiten vislumbrar un panorama de soluciones constructivas más rico que el que recogen los tratados históricos. Las nuevas técnicas de medición sin contacto abren nuevas posibilidades para analizar estas estructuras. Los casos estudiados todavía son escasos y se necesita un conjunto más amplio para poder realizar un análisis general. Esta tesis aporta el estudio de uno de esos casos con el fin de contribuir al mejor conocimiento de la construcción en España en los siglos XVI y XVII. ABSTRACT The Colegio de Nuestra Señora de la Antigua (1593-1619), in Monforte de Lemos, Spain, is the best example in Galicia of the classicism influenced by the Monastery of El Escorial and his architect, Juan de Herrera. This thesis analyzes the technical aspects of the construction of its masonry vaults within the discipline of Construction History. The Colegio exhibits various types of vaults, among which the extradosed ashlar dome and the grand staircase are particularly worth mentioning. In addition, the legal documents containing thorough specifications of the work, as well as one of the construction drawings at actual size —one of the best examples in Galicia—, have both been preserved to this date. Some of the vaults have undergone important deformations that have raised concerns about their stability. The study is organized in three sections: geometry, construction, and mechanics, the three clearly interrelated in this type of structures. The geometrical study starts out with a metric survey using a reflectorless total station, a technique that allows a very precise measurement of the actual shape of the vault. This technique was complemented with the use of a photo-based 3D scanner. The resulting measurements were used to draw the vaults, and analyze their dimensions and irregularities. An inductive metrological analysis, which was able to reveal the exact metric unit utilized during the construction, is included in this section. The section is completed with the gathering of the dimensional rules appearing in the various historical treatises, which are compared with the dimensions of the actual vaults. The construction study deals with the quartering of the structure, whose results are compared, on the one hand, with the approaches appearing in the main treatises of the 16th- 18th centuries, and on the other, with the descriptions in the historical documents of the Colegio itself. Special attention has been paid to the study of these documents, which have revealed some original aspects in the construction process of the vaults. In one of the cloister’s walls, a hitherto unheard-of construction drawing at actual size was found. Its survey and analysis is included in this section. The mechanical study analyzes the Colegio's vaults stability within the theoretical frame of the Modern Limit Analysis of Masonry Structures. The interpretation of the structural behavior, coupled with the precision of the surveys, has allowed a deep understanding of the masonry’s movements and the original geometry of some of the vaults —not always evident in the case of strong deformations— has been inferred. The studies dealing with XVI and XVII century vaults conducted up to this date show a landscape of constructive solutions far richer than the one suggested in the historical treatises. The new contactless measuring techniques offer exciting possibilities for the analysis of these structures. The cases studied are still few and more would be needed before a general analysis can be attempted. This thesis constitutes one such additional case and its goal is to improve our understanding of Spanish construction in the 16th-17th centuries.