Three-dimensional (3D) enveloping grasps for dexterous robotic hands possess several advantages over other types of grasps. However, their innate characteristics such as the several degrees of freedom of the dexterous hand, complexity of analyzing the 3D geometry of the object to be grasped or detecting the 3D contact points between the object and the hand make planning them automatically a very challenging problem. This thesis describes a new method for kinematic 3D enveloping grasp planning for a three-fingered dexterous hand. The required inputs are the geometric models of the object and hand; and the kinematic model of the hand. The outputs are the position and orientation of the palm and the angular joint positions of the fingers. The method introduces a new way of processing the 3D object. Instead of considering the object as a whole, a series of 2D slices (vertical and horizontal) of the object are used to define its geometry. This method is considerably simpler than other methods of object modeling and its parameters can be easily setup. A new idea for grading the object's 3D grasp search domain is proposed. The grading system analyzes the curvature pattern and thickness of the object and grades object regions according to their suitability for grasping. The proposed method is capable of eliminating most of the ungraspable areas of the object from the grasp search domain at the early stages of the search. This improves the overall efficiency of the search for a grasp. In modeling a dexterous hand a new method is proposed to model the fingers. In this model each finger is modeled by three articulated line segments, representing the top, centre and bottom of the finger. This model has significant benefits that it is efficient and does not need the exact coordinate of the 3D contact point between the finger and the object to analyze the feasibility of the grasp. The new grasp planning method was implemented by writing a 4300 line MATLAB program. The program has been run successfully with several 3D objects. These results are documented. / Thesis / Master of Applied Science (MASc)

This project is about a 3D graphics system for engineers and architects. Its goal is twofold: to provide tools for drawing 3D models, and to create a database support system where data related to these models would be stored (at present the first part has been implemented). Costs, materials, calculations of loads, stresses, and other important factors will be available to the user during the whole design process. The system will therefore allow for drawing realistic projects, not just conceptual visual models. The drawing tools provided by the system include a few drawing techniques and viewing functions. The system’s drawing routines operate on sets of points, lines, or components so that they are very fast and efficient. This approach to the method of drawing along with the description of the system are given in the following write-up. / Thesis / Master of Science (MS)

This thesis is aimed toward developing a method to simulate ion thruster discharge chambers in a full three dimensional environment and to study the effect of discharge chamber size on ion thruster performance. The study focuses solely on ring-cusped thrusters that make use of Xenon for propellant and discharge cathode assembly for mean of propellant ionization. Commercial software is used in both the setup and analysis phases. Numerical simulation is handled by 3D Particle-In-Cell Monte-Carlo-Collision method. Simulation results are analyzed and compared with other works. It is concluded that the simulation methodology is validated and can be used to simulate different cases. Therefore, different simulation cases of varying chamber sizes are done and the results are used to develop a performance curve. This plot suggests that the most efficient case is the 30 cm thruster. The result further validates the simulation process since the operating parameters used for all of the cases are taken from a 30 cm thruster experiment. One of the obvious applications for such a simulation process is to determine a set of the most efficient operating parameters for a certain size thruster before actual fabrication and laboratory testing. / Master of Science

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No / PANIVE (PC-based Architecture Networked Interactive Virtual Environments) is an extensible architecture in which various networked virtual environment applications can be realized. This chapter describes our efforts in realizing applications in the area of “3D virtual community building”, in which people can virtually meet each other, speak to each other, interact with each other, etc. in a virtual equivalent of conventional social communities. The overall architecture will be discussed briefly. Some attention will be given to the realization of the audio component in the system (speech input and 3D sound output) that supports intuitive interaction among the participants in a shared virtual environment. The main part of the chapter discusses and illustrates some demonstrative example applications that highlight the potential for realizing 3D networked virtual communities in the architecture.

The ocular surface is extremely effective at protecting the eye through such physiological barriers as the cornea and tear film. The exposed nature of the cornea can still lead to a significant number of injuries and harm from the external environment. Management and treatment of ocular injuries involves a combination of a bandage contact lens (BCL) along with therapeutic eye drops that require frequent and strict dosing regimens that can be difficult to maintain and are inefficient due to the high clearance rate of the eye. Therapeutic contact lenses (TCL) with vitamin E (VE) incorporated have been shown to steadily release a desired therapeutic agent and potentially simplify a patient’s treatment process. Vat polymerization (VP), a form of 3D printing, was utilized in this work to explore a platform design for developing customizable VE-containing TCLs, using dexamethasone phosphate (DXP) as a model drug. VP was also used to explore the creation of a multi-material TCL, using a VE embedded ring that could be directly printed within the lens in a streamlined and automated manner. Three lens formulations consisting primarily of hydroxy ethyl methacrylate (HEMA) and polyethylene glycol diacrylate (PEGDA) with modified formulations containing methacrylated VE (VEMA) and Methacryloxypropyltris (Trimethylsiloxy) silane (TRIS) as a model silicone material were prepared. These lenses were synthesized and characterized to examine 3D printing for lens creation in comparison to commercial standards. The base and VEMA formulations were used to examine the feasibility of a multi-material (MM) lens with an embedded ring directly incorporated during the printing process. All three formulations showed shear thinning properties suitable for VP bioprinting applications. The base formulation produced a very homogenous print while VEMA prints showed defects and clear phase separation. The VEMA+TRIS formulation showed significant improvement as the prints were more homogenous with fewer defects. The MM lenses showed a mixture of properties between the base and VEMA formulations, with the center appearing more homogenous and the edge that included the embedded ring showing defects similar to VEMA prints. Surface wettability and water content decreased from the base formulation with an increasing presence of hydrophobic moieties in the modified formulations. The increased hydrophobicity can be correlated with an increase in stiffness seen from the base formulation. While all materials had high moduli due to the high crosslinking density and presence of PEGDA, the VEMA prints had a higher modulus than the base material but were quite brittle due to the increased hydrophobicity and poor print quality. The VEMA+TRIS prints showed a significant (p < 0.05) increase in stiffness without the brittleness of the VEMA prints due to the better print quality. The MM prints had the lowest moduli, most similar to the base material, indicating that this lens design could mitigate the brittleness seen with the VEMA prints. A comparison of 3DP and casting showed the cast material having a significantly (p < 0.05) higher modulus than the 3DP material presumably due to the bulk vs. layer-by-layer polymerization processes that the respective manufacturing methods utilize. The base material produced significantly more transparent prints, with transmissions (wavelength) that ranged between 80-88%, compared to the VEMA and VEMA+TRIS prints which ranged from 18-47%. The MM lenses showed promise for minimizing the effect of the poor transparency of the VEMA ring with transparency of 62-85%. Besides the formulations, the lens thickness, print quality and print plate surface were found to be major contributors to the printed lenses not meeting commercial standards. The VEMA+TRIS loaded lenses showed the greatest changes in the release kinetics with a larger burst release, attributed to the weaker affinity DXP has to the hydrophobic components, while the base and VEMA lens’ profiles were very similar. The weaker drug-polymer interaction and more mobile silicone-oxygen bonds of TRIS are likely the reason for the VEMA+TRIS formulation releasing significantly more DXP than the base or VEMA lenses, with 69.21 ± 3.62%, 44.09 ± 4.63% and 37.09 ± 4.81% released respectively. It is believed that the high degree of crosslinking within the lens polymer matrix causes high levels of physical entrapment, resulting in an incomplete release of DXP from the lenses. Another possibility is that some DXP reacted with the acrylate components of the lens formulations as the photopolymerization process creates free radicals which could lead to the formation of covalent bonds of DXP with one of the monomers in the formulation. The use of 3DP to develop customizable TCLs on-demand has a lot of potential as the biomedical and healthcare industries shift to more of a personalized rather than a one-size-fits all approach. The MM lens design allows for the incorporation of materials with poor lens properties without significantly impacting the lens’ functions such as its tensile stiffness and transparency. The freedom of design that 3DP provides will allow for tailor-made lenses that can meet a patient’s specific needs, including lens fitting, which would maximize the patient’s comfort. / Thesis / Master of Applied Science (MASc)

L'intégration 3DVLSI, également connue sous le nom d'intégration monolithique ou séquentielle, est présentée et évaluée dans cette thèse comme une alternative à la réduction du nœud technologique des circuits logiques CMOS. L’avantage principal de cette technologie par rapport à l'intégration parallèle 3D, déjà existante, est l'alignement précis entre les niveaux, ce qui permet des contacts 3D réduits et plus proches. Un autre avantage, extrêmement favorable à l’approche 3DVLSI, est l’amélioration du placement et du routage par rapport aux circuits planaires, notamment parce qu’elle permet des interconnexions plus courtes et qu’elle offre a un degré de liberté supplémentaire dans la direction Z pour la conception. Par exemple, les fils les plus longs dans les circuits planaires peuvent ainsi être réduits grâce aux contacts 3DCO, en diminuant les éléments parasites d'interconnexion. Il est ainsi possible d’augmenter la vitesse du circuit et de réduire la puissance électrique. Dans ce contexte, la thèse a été divisée en deux parties. La première partie traite de l’évaluation de la Consommation, des Performances et de la Surface (CPS) et donne des recommandations pour la conception des circuits 3D. La deuxième partie traite la variabilité des circuits 3D en utilisant un modèle statistique unifié, et en proposant une approche pour la variabilité des circuits multi-niveaux. / 3DVLSI integration, also known as monolithic or sequential integration is presented and evaluated in this thesis as a potential contender to continue the scaling for CMOS logic circuits. The main advantage of this technology compared to the already existing 3D parallel integration is its high alignment among tiers, enabling small size and pitch with the inter-tier contacts (3DCO). Another great 3DVLSI feature is its improved capability to place and route circuits, compared to the planar approach: the interconnections can be shorter as the design has an additional degree of freedom in the Z direction. For instance, long wires in planar circuits can cut thanks to 3DCO contacts, lowering the interconnection parasitic elements and speeding up the circuit as well as reducing the power. In this framework, the thesis has been divided into two parts: the first part is dedicated to the evaluation of Performance, Power and Area (PPA) of 3D circuits and gives design guidelines. The second part treats the variability in 3D circuits by using a 3D unified statistical model and propose an approach for the multi-tier variability.

[ES] Este documento revisa desde una amplia bibliografía técnica e histórica la evolución de la simulación tridimensional sobre superficies planas; luego, el uso de la imagen animada y del aprovechamiento de la electrónica y las computadoras para crear imagen digital 3D, tanto para investigación y entretenimiento. En el capítulo I se detallan los primeros intentos artesanos y artísticos usados para representar el movimiento y el volumen tridimensional, explorado inicialmente desde culturas antiguas. Luego, se explica por qué el observar y describir el comportamiento de la luz provocó en científicos europeos del siglo XV al XVIII el deseo de combinar óptica y mecánica para simular figuras animadas y luego el desplazamiento de objetos inertes. El capítulo III muestra el contexto técnico, donde se profundiza en tecnologías para render, articulación de geometrías digitales, modelado, color y texturizado, junto con los primeros hitos en computación, hardware y software, en algoritmos que permitieron desde la electrónica y el píxel reproducir líneas, imágenes texturas y luz digital. El último capítulo muestra paso a paso el flujo de trabajo, las técnicas y los recursos de producción usados en dos proyectos 3D, realizados por el autor de este documento: el primero es la completa producción (en modelado, texturizado, color e interacción) de un personaje con forma humana realista en 3D interactivo y su simulación realista de un ambiente selvático, basado en la cultura amazónica huaorani. El segundo proyecto expone la completa producción de un personaje robot del animé japonés en 3D, junto con su ambientación. Se concluye que el deseo de transformar la materia inerte, más la suma de disciplinas técnico-artísticas diversas, confluyó en tres grandes fundamentos de la animación y del 3D digital: el deseo de simular volumen y movimiento, la acción de alterar el plano, y la actividad divulgadora de la ciencia y sus resultados. / [CA] Aquest document revisa, des d'una àmplia bibliografia tècnica i històrica, l'evolució de la simulació tridimensional sobre superfícies planes; i després, l'ús de la imatge animada i l'aprofitament de l'electrònica i els ordinadors per crear imatge digital 3D, tant per a la recerca com per a l'entreteniment. Al capítol I es detallen els primers intents artesanals i artístics utilitzats per representar el moviment i el volum tridimensional, explorat inicialment des de cultures antigues. Després, s'explica per què l'observar i descriure el comportament de la llum va provocar en científics europeus del segle XV al XVIII el desig de combinar òptica i mecànica per simular figures animades i després el desplaçament d'objectes inerts. El capítol III mostra el context tècnic, on s'aprofundeix en tecnologies per renderitzar, articulació de geometries digitals, modelat, color i texturat, juntament amb els primers fites en computació, maquinari i programari, en algoritmes que van permetre des de l'electrònica i el píxel reproduir línies, imatges, textures i llum digital. El darrer capítol mostra pas a pas el flux de treball, les tècniques i els recursos de producció utilitzats en dos projectes 3D realitzats per l'autor d'aquest document: el primer és la completa producció (en modelat, texturat, color i interacció) d'un personatge amb forma humana realista en 3D interactiu i la seva simulació realista d'un ambient selvàtic, basat en la cultura amazònica huaorani. El segon projecte exposa la completa producció d'un personatge robot de l'animació japonesa en 3D, juntament amb la seva ambientació. Es conclou que el desig de transformar la matèria inerta, més la suma de disciplines tècnicoartístiques diverses, va confluïr en tres grans fonaments de l'animació i del 3D digital: el desig de simular volum i moviment, l'acció d'alterar el plànol, i l'activitat divulgadora de la ciència i els seus resultats / [EN] This document reviews, from a broad technical and historical bibliography, the evolution of three-dimensional simulation on flat surfaces; and subsequently, the use of animated imagery and the exploitation of electronics and computers to create three-dimensional digital imagery, both for research and entertainment purposes. Chapter I details the earliest artisanal and artistic attempts used to represent movement and three-dimensional volume, initially explored by ancient cultures. It then explains why the observation and description of light behavior led European scientists from the fifteenth to the eighteenth centuries to desire to combine optics and mechanics to simulate animated figures and later the movement of inert objects. Chapter II presents the technical context, delving into technologies for rendering, articulation of digital geometries, modeling, color, and texturing, along with the earliest milestones in computing, hardware, and software, in algorithms that allowed lines, images, textures, and digital light to be reproduced from electronics and pixels. The final chapter outlines step by step the workflow, techniques, and production resources used in two 3D projects carried out by the author of this document: the first is the complete production (in modeling, texturing, coloring, and interaction) of a realistically shaped human character in interactive 3D and its realistic simulation of a jungle environment, based on the Huaorani culture of the Amazon. The second project showcases the complete production of a robot character from Japanese anime in 3D, along with its setting. It is concluded that the desire to transform inert matter, combined with the amalgamation of various technical-artistic disciplines, converged into three main foundations of animation and digital 3D: the desire to simulate volume and movement, the action of altering the plane, and the science communication activity and its results. / Sancán Lapo, ME. (2024). Estudio y evolución estética de la animación tridimensional dentro del género de acción en la industria del cine y el videojuego [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/211186

This master's thesis deals with the possibilities of using open source 3D game engine Java Monkey Engine (jME) in developing applications for the Android platform. It includes theoretical knowledge for the jMonkey Engine architecture and the Android platform. In the following section, the thesis describes used techniques and external libraries in solving issues of interaction between jME and Android platform and of working with objects in the 3D scene and their way of implementation.