Simultaneous Localization and Mapping (SLAM) algorithms are used by autonomous robots to build or update maps of an environment while maintaining their position simultaneously. A fundamental open problem in SLAM is the e ective representation of the map in unknown, ambiguous, complex, dynamic environments. Representing such environments in a suitable manner is a complex task. Existing approaches to SLAM use map representations that store individual features (range measurements, image patches, or higher level semantic features) and their locations in the environment. The choice of how the map is represented produces limitations which in many ways are unfavourable for application in real-world scenarios. In this thesis, a new approach to SLAM is explored that rede nes sensing and robot motion as acts of deformation of a di erentiable surface. Distance elds and level set methods are utilized to de ne a parallel to the components of the SLAM estimation process and an algorithm is developed and demonstrated. The variational framework developed is capable of representing complex dynamic scenes and spatially varying uncertainty for sensor and robot models. / UOIT

In the presented thesis work, the meshfree method with distance fields was coupled with the lattice Boltzmann method to obtain solutions of fluid-structure interaction problems. The thesis work involved development and implementation of numerical algorithms, data structure, and software. Numerical and computational properties of the coupling algorithm combining the meshfree method with distance fields and the lattice Boltzmann method were investigated. Convergence and accuracy of the methodology was validated by analytical solutions. The research was focused on fluid-structure interaction solutions in complex, mesh-resistant domains as both the lattice Boltzmann method and the meshfree method with distance fields are particularly adept in these situations. Furthermore, the fluid solution provided by the lattice Boltzmann method is massively scalable, allowing extensive use of cutting edge parallel computing resources to accelerate this phase of the solution process. The meshfree method with distance fields allows for exact satisfaction of boundary conditions making it possible to exactly capture the effects of the fluid field on the solid structure.

One commonly used representation of complex objects in physics-based simulations are triangle meshes. This representation utilizes a collection of triangles to approximate an object. An alternative representation is a Signed Distance Field (SDF). This thesis aims to evaluate the effectiveness of representing a heavy machine bucket as an SDF, specifically in the application of collision detection with a de-formable terrain. Additionally, this thesis describes the implementation of two collision detection routines which uses SDFs to detect collisions with spheres and heightfields. The SDFs are stored using two alternative spatial data structures, a uniform grid and an octree. The implementations are compared against a triangle mesh representation. While there are limitations to the SDF representation, such as the need for high resolutions to capture fine details or that small features may become heavily distorted, the benefits of using SDFs include the ability to perform point to distance queries and provide a robust description of an object’s interior and exterior. The findings of this study showed that the SDF stored in a uniform grid demonstrated better performance in the benchmarks and was able to reproduce comparable data to the triangle mesh in the digging tests. These results indicate that the SDF representation could be a promising alternative to the triangle mesh representation. However, further development and research are required.

O mapeamento de texturas é uma técnica bastante importante para adicionar detalhamento a modelos geométricos. O mapeamento de texturas baseadas em imagens costuma ser a abordagem preferida, mas faz uso de imagens pré-computadas que são mais adequadas à representação de padrões estáticos. Por outro lado, texturas procedurais oferecem uma alternativa que depende de funções para descrever os padrões das texturas. Elas garantem mais flexibilidade na definição dos padrões em cenas dinâmicas, tendo ainda uma representação mais compacta e dando um maior controle da aparência da textura através do ajuste de parâmetros. Quando mapeadas por coordenadas 3D, as texturas procedurais não consideram a forma da superfície domodelo, e com coordenadas 2D torna-se necessária a definição dessas coordenadas de forma coerente, que, em modelos complexos ,não é uma tarefa simples. Neste trabalho nós introduzimos o leitor às texturas procedurais e ao mapeamento de texturas, então apresentamos GeoTextures, uma nova abordagem que faz uso de distâncias geodésicas definidas com base em múltiplos pontos de origem sobre a superfície do modelo. As distâncias geodésicas são passadas como parâmetros que permitem que a textura procedural se adeqüe ao relevo do modelo texturizado. Nós validamos a proposta ao usar alguns exemplos de texturas procedurais aplicadas em tempo real na texturização de superfícies complexas, mudando tanto a textura do modelo como a forma, através do uso de tesselagem em hardware. / Texture mapping is an important technique to add detail to geometric models. Imagebased texture mapping is the preferred approach but employs pre-computed images, which are better suited for static patterns. On the other hand, procedural-based texture mapping offers an alternative that rely on functions to describe texturing patterns. This allows more flexibility to define patterns in dynamic scenes, while also having a more compact representation and more control for parametric adjustments on the texture visual appearance. When mapped with 3D coordinates, the procedural textures do not consider the model surface, and with 2D mapping the coordinates must be defined in a coherent way, which for complex models is not an easy task. In this work we give a introduction to procedural texturing and texture mapping, and introduce GeoTextures, an original approach that uses geodesic distance defined from multiple sources at different locations over the surface of the model. The geodesic distance is passed as a parameter that allows the shape of the model to be considered in the definition of the procedural texture. We validate the proposal using procedural textures that are applied in real-time to complex surfaces, and show examples that change both the shading of the models, as well as their shape using hardware-based tessellation.

O mapeamento de texturas é uma técnica bastante importante para adicionar detalhamento a modelos geométricos. O mapeamento de texturas baseadas em imagens costuma ser a abordagem preferida, mas faz uso de imagens pré-computadas que são mais adequadas à representação de padrões estáticos. Por outro lado, texturas procedurais oferecem uma alternativa que depende de funções para descrever os padrões das texturas. Elas garantem mais flexibilidade na definição dos padrões em cenas dinâmicas, tendo ainda uma representação mais compacta e dando um maior controle da aparência da textura através do ajuste de parâmetros. Quando mapeadas por coordenadas 3D, as texturas procedurais não consideram a forma da superfície domodelo, e com coordenadas 2D torna-se necessária a definição dessas coordenadas de forma coerente, que, em modelos complexos ,não é uma tarefa simples. Neste trabalho nós introduzimos o leitor às texturas procedurais e ao mapeamento de texturas, então apresentamos GeoTextures, uma nova abordagem que faz uso de distâncias geodésicas definidas com base em múltiplos pontos de origem sobre a superfície do modelo. As distâncias geodésicas são passadas como parâmetros que permitem que a textura procedural se adeqüe ao relevo do modelo texturizado. Nós validamos a proposta ao usar alguns exemplos de texturas procedurais aplicadas em tempo real na texturização de superfícies complexas, mudando tanto a textura do modelo como a forma, através do uso de tesselagem em hardware. / Texture mapping is an important technique to add detail to geometric models. Imagebased texture mapping is the preferred approach but employs pre-computed images, which are better suited for static patterns. On the other hand, procedural-based texture mapping offers an alternative that rely on functions to describe texturing patterns. This allows more flexibility to define patterns in dynamic scenes, while also having a more compact representation and more control for parametric adjustments on the texture visual appearance. When mapped with 3D coordinates, the procedural textures do not consider the model surface, and with 2D mapping the coordinates must be defined in a coherent way, which for complex models is not an easy task. In this work we give a introduction to procedural texturing and texture mapping, and introduce GeoTextures, an original approach that uses geodesic distance defined from multiple sources at different locations over the surface of the model. The geodesic distance is passed as a parameter that allows the shape of the model to be considered in the definition of the procedural texture. We validate the proposal using procedural textures that are applied in real-time to complex surfaces, and show examples that change both the shading of the models, as well as their shape using hardware-based tessellation.

O mapeamento de texturas é uma técnica bastante importante para adicionar detalhamento a modelos geométricos. O mapeamento de texturas baseadas em imagens costuma ser a abordagem preferida, mas faz uso de imagens pré-computadas que são mais adequadas à representação de padrões estáticos. Por outro lado, texturas procedurais oferecem uma alternativa que depende de funções para descrever os padrões das texturas. Elas garantem mais flexibilidade na definição dos padrões em cenas dinâmicas, tendo ainda uma representação mais compacta e dando um maior controle da aparência da textura através do ajuste de parâmetros. Quando mapeadas por coordenadas 3D, as texturas procedurais não consideram a forma da superfície domodelo, e com coordenadas 2D torna-se necessária a definição dessas coordenadas de forma coerente, que, em modelos complexos ,não é uma tarefa simples. Neste trabalho nós introduzimos o leitor às texturas procedurais e ao mapeamento de texturas, então apresentamos GeoTextures, uma nova abordagem que faz uso de distâncias geodésicas definidas com base em múltiplos pontos de origem sobre a superfície do modelo. As distâncias geodésicas são passadas como parâmetros que permitem que a textura procedural se adeqüe ao relevo do modelo texturizado. Nós validamos a proposta ao usar alguns exemplos de texturas procedurais aplicadas em tempo real na texturização de superfícies complexas, mudando tanto a textura do modelo como a forma, através do uso de tesselagem em hardware. / Texture mapping is an important technique to add detail to geometric models. Imagebased texture mapping is the preferred approach but employs pre-computed images, which are better suited for static patterns. On the other hand, procedural-based texture mapping offers an alternative that rely on functions to describe texturing patterns. This allows more flexibility to define patterns in dynamic scenes, while also having a more compact representation and more control for parametric adjustments on the texture visual appearance. When mapped with 3D coordinates, the procedural textures do not consider the model surface, and with 2D mapping the coordinates must be defined in a coherent way, which for complex models is not an easy task. In this work we give a introduction to procedural texturing and texture mapping, and introduce GeoTextures, an original approach that uses geodesic distance defined from multiple sources at different locations over the surface of the model. The geodesic distance is passed as a parameter that allows the shape of the model to be considered in the definition of the procedural texture. We validate the proposal using procedural textures that are applied in real-time to complex surfaces, and show examples that change both the shading of the models, as well as their shape using hardware-based tessellation.

Made available in DSpace on 2016-12-12T17:38:34Z (GMT). No. of bitstreams: 1 Allan Yoshio Hasegawa.pdf: 18253702 bytes, checksum: e99aeb0d0d09ebc27b20111c88bac58f (MD5) Previous issue date: 2015-09-18 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / In this work were studied the main geometric representations in the context of machining simulations and its data structures. Several interactive rendering methods for complex model were studied as well. After the exploratory phase, a prototype simulator using Distance Fields and ray cast was developed. Tests were performed, concluding that the Distance Fields representation is suitable for machining simulation as it offers efficient Boolean operations, practical memory requirements and methods for interactive rendering of complex models with ray casting. / Neste trabalho foram estudadas as principais representações geométricas no contexto de simulações de usinagem e as estruturas de dados utilizadas por estas representações. Diversas técnicas de renderização interativa para modelos complexos foram exploradas. Após a fase exploratória, foi desenvolvido um protótipo de simulador usando Campos de Distância e ray casting. Testes foram executados, concluindo que Campos de Distância é uma representação adequada para simulações de usinagem, providenciando operações booleanas eficientes, consumo prático de memória e oferecendo uma visualização interativa de modelos complexos usando ray casting.

In this work, a Representative Volume Element (RVE) generator based on the distance fields of arbitrary shaped inclusion packing is used to obtain morphologies of open-foam materials. When the inclusions are spherical, the tessellations of the resultant packing creates morphologies that are similar to physical foam samples in terms of their face-to-pore ratio, edge-to-face ratio and strut length distribution among others. Functions that combine the distance fields can be used to obtain the tessellations along with the necessary variations in the strut geometry and extract these open-foam morphologies. It is also possible to replace the inclusion packing with a predefined set of inclusions that are directly extracted from CT-scan based images.The use of discrete level-set functions results in steep discontinuities in the distance function derivatives. A multiple level-set based approach is presented that can appropriately capture the sharp edges of the open-foam struts from the resultant distance fields. Such an approach can circumvent the discontinuities presented by the distance fields which might lead to spurious stress concentrations in a material behavior analysis.The individual cells are then extracted as inclusion surfaces based on said combinations of the distance functions and their modifications. These surfaces can be joined together to obtain the final geometry of the open-foam morphologies. The physical attributes of the extracted geometries are compared to the experimental data. A statistical comparison is presented outlining the various features. The study is extended to morphologies that have been extracted using CT-scan images. With the help of mesh optimization tools, surface triangulations can be obtained, merged and developed as finite element (FE) models. The models are ready to use in a multi-scale study to obtain the homogenized material behavior. The upscaling can help assess the practical applications of these models by comparing with experimental data of physical samples. The material behavior of the RVEs are also compared with the experimental observations. To increase the computational efficiency of the study, a neural network based surrogate is presented that can replace the micro-scale boundary value problem (BVP) in the multi-scale analysis. The neural networks are built with the help of modules that are specifically designed to predict history dependent behavior and are called Recurrent Neural Networks (RNN). The surrogates are trained to take into account the randomness of the loading that complex material undergo during any given material behavior analysis. / Dans ce travail, un générateur de volumes élémentaires représentatifs (VER) basé sur les champs de distance d'un agrégat d'inclusions de forme arbitraire est développé dans le cadre de matériaux moussés à structure ouverte. Lorsque les inclusions sont sphériques, la tessellation de l'agrégat résulte en des morphologies similaires aux échantillons de mousse physique en termes de rapports des nombres de face par pores et de bords par faces, ainsi que de la distribution de la longueur des entretoises, entre autres. Les fonctions qui combinent les champs de distance peuvent être utilisées pour obtenir des tesselations avec les variations nécessaires aux géométries des entretoises et extraire ces morphologies de mousse ouverte. Il est également possible de remplacer l'agrégat d'inclusions par un ensemble prédéfini d'inclusions qui sont directement extraites d'images tomographiques.L'utilisation de fonctions de niveaux discrètes entraîne de fortes discontinuités dans les dérivées des champs de distance. Une approche basée sur des ensembles de niveaux multiples est présentée qui peut capturer de manière appropriée les arêtes vives des entretoises des mousses ouvertes à partir des champs de distance résultants. Une telle approche peut contourner les discontinuités présentées par les champs de distance qui pourraient conduire à des concentrations de contraintes parasites dans une analyse ducomportement des matériaux.Les pores individuels sont ensuite extraits en tant que surfaces d'inclusions sur la base desdites combinaisons des fonctions de distance et de leurs modifications. Ces surfaces peuvent être réunies pour obtenir la géométrie finale des morphologies de mousse ouverte. Les attributs physiques des géométries extraites sont comparés aux données expérimentales. Une comparaison statistique est présentée décrivant les différentes caractéristiques. L'étude est étendue aux morphologies qui ont été extraites à l'aide d'images tomographiques.À l'aide d'outils d'optimisation de maillage, les triangulations des surfaces peuvent être obtenues, fusionnées et développées sous forme de modèles d'éléments finis (FE). Les modèles sont prêts à être utilisés dans une étude multi-échelle pour obtenir le comportement homogénéisé du matériau. La mise à l'échelle peut aider à évaluer les applications pratiques de ces modèles en les comparant aux données expérimentales d'échantillons physiques. Le comportement des matériaux des VERs est également comparé aux observations expérimentales.Pour augmenter l'efficacité de calcul de l'étude, un modèle de substitution basé sur un réseau neuronal est présenté. Ce modèle peut remplacer le problème aux valeurs limites à l'échelle micro dans une analyse multi-échelle. Les réseaux de neurones sont construits à l'aide de modules spécialement conçus pour prédire le comportement dépendant de l'histoire et sont appelés réseaux de neurones récurrents (RNN). Les modèles de substitution sont entrainés pour prendre en compte le caractère aléatoire du chargement que subit un matériau complexe lors d'une analyse de comportement d'un matériau. / Doctorat en Sciences de l'ingénieur et technologie / info:eu-repo/semantics/nonPublished

[pt] Ao extrair isosuperfícies de dados volumétricos massivos, em geral a superfície de saída é densa, podendo demandar muita memória para seu processamento. Além disso, dependendo do método de extração utilizado, podese também obter um resultado contendo diversos problemas geométricos e topológicos. Neste estudo, experimentamos combinações de diferentes métodos de extração de isosuperfícies juntamente com estratégias out-of-core que permitem uso inteligente do recurso computacional para sintetizar aproximações poligonais dessas superfícies, preservando a topologia original segmentada. O método implementado foi testado em um volume sísmico real para extração da superfície de domo de sal. / [en] When extracting isosurfaces from massive volumetric datasets, in general, the output surface is dense, and may require a lot of memory for processing. In addition to this, depending on the extraction method used, the result can also include several geometric and topological problems. In this study, we experimented combinations of different isosurface extraction methods along out-of-core strategies to generate polygonal approximations to these surfaces, preserving the original topology segmented in the volumetric dataset. The implemented method was tested in a real seismic volume dataset for the salt dome extraction.

The macroscopic behavior of complex heterogeneous materials is strongly governed by the interactions between their elementary constituents within their microstructure. Beside experimental efforts characterizing the behaviors of such materials, there is growing interest, in view of the increasing computational power available, in building models representing their microstructural systems integrating the elementary behaviors of their constituents and their geometrical organization. While a large number of contributions on this aspect focus on the investigation of advanced physics in material parameter studies using rather simple geometries to represent the spatial organization of heterogeneities, few are dedicated to the exploration of the role of microstructural geometries by means of morphological parameter studies.<p>The critical ingredients of this second type of investigation are (I) the generation of sets of representative volume elements ( RVE ) describing the geometry of microstructures with a satisfying control on the morphology relevant to the material of interest and (II) the discretization of governing equations of a model representing the investigated physics on those RVEs domains. One possible reason for the under-representation of morphologically detailed RVEs in the related literature may be related to several issues associated with the geometrical complexity of the microstructures of considered materials in both of these steps. Based on this hypothesis, this work is aimed at bringing contributions to advanced techniques for the generation and discretization of microstructures of complex heterogeneous materials, focusing on geometrical issues. In particular, a special emphasis is put on the consistent geometrical representation of RVEs across generation and discretization methodologies and the accommodation of a quantitative control on specific morphological features characterizing the microstructures of the covered materials.<p>While several promising recent techniques are dedicated to the discretization of arbitrary complex geometries in numerical models, the literature on RVEs generation methodologies does not provide fully satisfying solutions for most of the cases. The general strategy in this work consisted in selecting a promising state-of-the-art discretization method and in designing improved RVE generation techniques with the concern of guaranteeing their seamless collaboration. The chosen discretization technique is a specific variation of the generalized / extended finite element method that accommodates the representation of arbitrary input geometries represented by level set functions. The RVE generation techniques were designed accordingly, using level set functions to define and manipulate the RVEs geometries. <p>The RVE methodologies developed are mostly morphologically motivated, incorporating governing parameters allowing the reproduction and the quantitative control of specific morphological features of the considered materials. These developments make an intensive use of distance fields and level set functions to handle the geometrical complexity of microstructures. Valuable improvements were brought to the RVE generation methodologies for several materials, namely granular and particle-based materials, coated and cemented geomaterials, polycrystalline materials, cellular materials and textile-based materials. RVEs produced using those developments have allowed extensive testing of the investigated discretization method, using complex microstructures in proof-of-concept studies involving the main ingredients of RVE-based morphological parameter studies of complex heterogeneous materials. In particular, the illustrated approach offers the possibility to address three crucial aspects of those kinds of studies: (I) to easily conduct simulations on a large number of RVEs covering a significant range of morphological variations for a material, (II) to use advanced constituent material behaviors and (III) to discretize large 3D RVEs. Based on those illustrations and the experience gained from their realization, the main strengths and limitations of the considered discretization methods were clearly identified. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished