Today modern industry systems are almost fully automated. The high requirements regarding speed, flexibility, precision and reliability makes it in some cases very difficult to create. One of the most willingly researched solution to solve many processes without human influence is bin-picking. Bin picking is a very complex process which integrates devices such as: robotic grasping arm, vision system, collision avoidance algorithms and many others. This paper describes the creation of a vision system - the most important part of the whole bin-picking system. Authors propose a model-based solution for estimating a best pick-up candidate position and orientation. In this method database is created from 3D CAD model, compared with processed image from the 3D scanner. Paper widely describes database creation from 3D STL model, Sick IVP 3D scanner configuration and creation of the comparing algorithm based on autocorrelation function and morphological operators. The results shows that proposed solution is universal, time efficient, robust and gives opportunities for further work. / +4915782529118

Orientador: Cesar Renato Foschini / Resumo: Desenvolvimento de uma ortese personalizada para subluxação de ombro por manufatura aditiva a partir de escaneamento corporal. A órtese é um dispositivo aplicado à superfície externa do corpo para: controlar o alinhamento biomecânico, corrigir ou acomodar a deformidade, proteger e suportar uma lesão, auxiliar na reabilitação, reduzir a dor, aumentar a mobilidade e a independência. Nos últimos anos, o desenvolvimento de órteses usando manufatura aditiva tem se incrementado tanto para membros superiores como inferiores devido a sua capacidade de reposicionar o membro de maneira mais precisa e personalizada. Este trabalho teve como objetivo desenvolver uma metodologia para projetar e fabricar uma órtese de subluxação de ombro utilizando escaneamento corporal e manufatura aditiva. O usuário foi submetido ao escaneamento 3D para obtenção do modelo digital sólido em formato 3D, operações elementares espaciais foram aplicadas ao modelo escaneado do usuário para a obtenção da órtese a fim de gerar uma silhueta tridimensional adequada ao ombro/tórax do paciente. Finalmente, a silhueta foi evoluída a órtese pela agregação de espessura, furos e contornos. Uma vez obtida a órtese, foi impressa, ajustada e testada no paciente. Uma primeira versão foi proposta em função do relato do paciente quanto à adaptação do ombro e conforto, e outras duas versões evolutivas foram desenvolvidas e avançaram para outros aspectos importantes como a redução de peso, graus de liberdade nos ombros saudávei... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: Development of a custom shoulder orthosis by additive manufacturing from body from body scan. Orthotics is a device applied to the external surface of the body to control biomechanical alignment, correct or accommodate the deformity, protect and support an injury, assist in rehabilitation, reduce pain, increase mobility and independence. In recent years, the development of orthosis using additive manufacturing has been increasing for both upper and lower limbs because of their ability to more accurately and custom reposition the limb. This work aimed to develop a methodology to design and manufacture a shoulder subluxation orthosis using body scanning and additive manufacturing. The user underwent 3D scanning to obtain the solid digital model in 3D format, spatial elemental operations were applied to the user's scanned model to obtain the orthosis to generate a three-dimensional silhouette suitable for the patient's shoulder / chest. Finally, the silhouette was evolved into orthosis by aggregating thickness, holes, and contours. Once the orthosis was obtained, it was printed, adjusted and tested on the patient. A first version was proposed based on the patient's report on shoulder adaptation and comfort, and two other evolutionary versions were developed and advanced to other important aspects such as weight reduction, degrees of freedom in healthy shoulders and comfort gain. In each of the three prototypes, an evaluation questionnaire was applied to the user to improve diffe... (Complete abstract click electronic access below) / Mestre

Submitted by Johnny Rodrigues (johnnyrodrigues@ufcg.edu.br) on 2018-08-07T19:46:16Z No. of bitstreams: 1 IANNA DUARTE KOBAYASHI DE SOUZA - DISSERTAÇÃO PPGCC 2012..PDF: 9922437 bytes, checksum: d5cbecd7f839d5802dab4ed420e1665b (MD5) / Made available in DSpace on 2018-08-07T19:46:16Z (GMT). No. of bitstreams: 1 IANNA DUARTE KOBAYASHI DE SOUZA - DISSERTAÇÃO PPGCC 2012..PDF: 9922437 bytes, checksum: d5cbecd7f839d5802dab4ed420e1665b (MD5) Previous issue date: 2012-02-29 / O crescimento da incidência da doença arterial coronariana, que atinge parte da população mundial, tem intensificado avanços na área da medicina nuclear, como forma de prevenção e de diagnóstico dessa doença. A cintilografia do miocárdio com técnica SPECT (Single Photon Emission Computed Tomography), associada ao eletrocardiograma, permite a avaliação tanto da funcionalidade quanto da perfusão do músculo cardíaco. Este estudo tem como objetivo principal aplicar técnicas de processamento digital de imagens para segmentar e reorientar automaticamente as imagens 3D de pacientes doentes, geradas por uma gamma camera. Os resultados obtidos foram comparados com os resultados produzidos pela técnica manual e comprovaram a eficácia do método automático proposto. / The increase in incidence of coronary artery disease, which affects part of the world population, has intensified advances in nuclear medicine as a means of prevention and diagnosis of this disease. The myocardial scintigraphy technique SPECT (Single Photon Emission Computed Tomography), associated with the electrocardiogram, enables evaluating both function and perfusion of the heart muscle. The main objective of this study is to apply techniques of digital image processing to segment and reorient automatically the 3D images of sick patients, generated by a gamma camera. The results obtained were compared to those ones produced by a manual technique and the effectiveness of the proposed automatic method was confirmed.