Le cancer du col de l’utérus, le quatrième cancer le plus répandu chez la femme, affecte principalement les régions à faible et moyen revenu. Alors que les taux d’incidence et de mortalité sont les plus élevés dans les pays en développement, l’accessibilité aux systèmes de dépistage et traitement y est limitée. La curiethérapie (BT) à haut débit de dose (HDR) fait partie du traitement standard recommandé pour les cancers du col de l’utérus en stade localement avancé IIIB-IVA. Les applicateurs commerciaux pour les traitements de BT combinés intracavitaire et interstitiel (IC/IS) sont très chers et n’offrent que des positions et orientations fixes pour les aiguilles IS. L’applicateur à demi anneaux Montréal (MSR) propose la modification d’un applicateur IC commercial par l’ajout de capuchons Adaptiiv, imprimés 3D à faible coût avec la technologie de photopolymérisation (SLA) en résine stérilisable et biocompatible, permettant l’intégration et l’optimisation d’un maximum de 10 trajectoires IS. Dans cette étude, une nouvelle génération de capuchons réduit le diamètre de l’applicateur MSR d’au plus 8.4 mm et introduit quatre positions d’aiguilles IS additionnelles à l’intérieur du demi anneau (SR), deux positions par SR. Ces capuchons sont imprimés avec la résine BioMed Clear sur l’imprimante SLA Form3B (Formlabs Inc., Massachusetts, États-Unis) et accommodent des angles d’aiguilles IS allant jusqu’à 45°. Les erreurs sur les trajectoires des aiguilles IS de l’applicateur MSR avec les nouveaux capuchons sont évaluées dans un fantôme gynécologique (GYN), développé dans le cadre de ce projet, et comparées dans une analyse statistique aux performances de l’applicateur Venezia (Elekta, Stockholm, Suède). Le fantôme GYN développé comprend une masse implantable en silicone, dont la texture est optimisée avec l’expérience clinique de deux radio-oncologistes spécialisées en BT GYN pour simuler l’insertion d’implants cliniques, pouvant supporter un grand nombre d’aiguilles IS. L’étude sur ce fantôme a démontré que la performance de l’un des capuchons de la nouvelle génération ne présente pas de différence statistiquement et cliniquement significative avec l’applicateur Venezia. Les performances de ce capuchon sont reproductibles dans les différents milieux en silicone et en utilisant différents types d’aiguilles IS. / Cervical cancer, the fourth most common cancer in women, mainly affects low- and middleincome regions. While incidence and mortality rates are highest in developing countries, the accessibility to screening and treatments is limited in those regions. High dose rate (HDR) brachytherapy (BT) is part of the standard of care recommended for locally advanced cervical cancer. Commercial applicators for combined intracavitary-interstitial (IC/IS) BT treatments are very expensive and only offer fixed IS needle positions and orientations. The Montreal split ring (MSR) applicator modifies the CT/MR split-ring IC applicator by the addition of Adaptiiv caps, 3D printed at low cost with stereolithography apparatus (SLA) technology in biocompatible and sterilizable resin in order to allow integration and optimization of up to 10 IS trajectories. In this study, a new generation of caps reduces the diameter of the MSR applicator by at most 8.4 mm and introduces four additional IS needle positions inside the split ring (SR), two positions per SR. These caps are 3D printed using BioMed Clear resin on the Form3B (Formlabs Inc., Massachusetts, USA) SLA printer and accommodate up to 45° IS needle angles. The errors on the IS needle trajectories of the MSR applicator with the new caps are evaluated in a gynecological (GYN) phantom, developed within the framework of this project, and compared in a statistical analysis to the performance of the Venezia applicator (Elekta, Stockholm, Sweden). The developed GYN phantom includes an implantable silicone structure, optimized according to the feedback of two radiation oncologists specialized in GYN BT to simulate clinical implants insertion, which can support a large number of IS needles. The study on this phantom showed that the performance of one of the caps from the new generation does not present a statistically and clinically significant difference with the Venezia applicator. The performance of this cap is reproducible in different silicone media and using different IS needle types.

Die hier gezeigte Skulptur als Minimodel aus dem 3D-Drucker (aus Polyamid, im Maßstab 1 : 20) ist eine freie Fantasie innerhalb einer Werkserie über mögliche Objekte, die ich NOBJECTS nenne. Diese wechseln zwischen geo-, bio- und technomorpher Gestaltung. In diesem konkreten Beispiel habe ich unter Nutzung der 3D-Gestaltungssoftware “Zbrush“ das skulpturale Objekt aus einem schlichten Quadrat abgeleitet, aus dem ein Obelisk als tragende Säule hervorwächst, die in die vier Himmelrichtungen weist.

In this thesis, a 3-D vision system is established to conduct the real-time measurement task for intelligent-open-die forging center. This system consists of a CCD camera, a slit alaser projector and a Kawasaki JS 6-axis robot all interfaced to a PC for image processing. The linear structured light technique is employed for data acquisition. An optical filtering algorithm for laser stripe segmentation is developed to locate the stripe peak positions to sub-pixel accuracy. A new calibration method is proposed to determine the mapping correspondence from 2-D image pixels to 3-D reference points. A cylindrical scanning scheme is applied to gather data about the 3-D shape of parts, so that the overlap problem is easily avoided. Finally, the cross-section at any place along the height of a workpiece is reconstructed so as to detect shape error for adaptive control of automated open-die forging. This vision system is low-cost, accurate and reliable. A cylinder shape has been successfully reconstructed and measured with it. The experimental results illustrating its performance are reported and discussed. / Thesis / Master of Applied Science (MASc)

The Coordinate Measuring Machine (CMM) is a key improving the reliability and quality of production. During operation, however, collision between the CMM, probe system, and parts may result in costly damage. Avoiding potential collisions is always an important issue for CMM inspection. This thesis reports design and implementation of an online collision detection system for CMMs. Compared to previous offline collision detection implementations, the new online collision detection system can react to potential collision situations in real time. The collision avoidance system architecture and algorithms are described in this thesis. Each possible CMM translation and probe rotation case is considered. Every component in this system is connected by certain communication protocol and distributed on different computers according to the requirements of applications. This design brings more flexibility to this system. The system components for inspection path planning, collision detection, and CMM motion control are distributed to separate computers, with a TCP/IP based protocol used for communication. This modular, component based design provides more flexibility. / Thesis / Master of Applied Science (MASc)

Our research study focuses on exploring how 3D-students view AI image generation tools usefullness as concept images in 3D production. We conducted interviews with five 3D students to gain insight into how useful they find AI-generated images in 3D production. By collecting information through interview method, participants' responses were analyzed using thematic analysis. Their responses were combined with existing theories in concept art, disruptive technologies, and sparing technologies. Our main findings show that students found images made by using AI can be used as inspiration images and moodboards but have difficulty being used for anything else in a 3D production, as AI was poor at reproducing the same object multiple times. The same object couldn't be obtained from multiple angles which limits usability. However the 3D-students think there is potential in using the images as a foundation that is then further developed by a human. / Vår forskningsstudie fokuserar på att utforska hur 3D-studenter ser på användbarheten av AI-bildgenereringsverktyg som konceptbilder i 3D-produktion. Vi genomförde intervjuer med fem 3D-studenter för att få insikt i hur användbara de tycker att AI-genererade bilder är i 3D-produktion. Genom att samla in information genom intervjuer analyserades deltagarnas svar med tematisk analys. Deras svar kombinerades med befintliga teorier inom konstkoncept, störande teknologier och sparsamma teknologier. Våra huvudsakliga resultat visar att studenterna fann att bilder skapade med AI kan användas som inspirationsbilder och moodboards men har svårigheter att användas för något annat i 3D-produktion, eftersom AI hade svårt att reproducera samma objekt flera gånger. Samma objekt kunde inte erhållas från olika vinklar vilket begränsar användbarheten. Dock tror 3D-studenterna att det finns potential att använda bilderna som en grund som sedan utvecklas ytterligare av en människa.

Holoscopic 3D imaging also known as “Integral imaging” was first proposed by Lippmann in 1908. It facilitates a promising technique for creating full colour spatial image that exists in space. It promotes a single lens aperture for recording spatial images of a real scene, thus it offers omnidirectional motion parallax and true 3D depth, which is the fundamental feature for digital refocusing. While stereoscopic and multiview 3D imaging systems simulate human eye technique, holoscopic 3D imaging system mimics fly’s eye technique, in which viewpoints are orthographic projection. This system enables true 3D representation of a real scene in space, thus it offers richer spatial cues compared to stereoscopic 3D and multiview 3D systems. Focus has been the greatest challenge since the beginning of photography. It is becoming even more critical in film production where focus pullers are finding it difficult to get the right focus with camera resolution becoming increasingly higher. Holoscopic 3D imaging enables the user to carry out re/focusing in post-production. There have been three main types of digital refocusing methods namely Shift and Integration, full resolution, and full resolution with blind. However, these methods suffer from artifacts and unsatisfactory resolution in the final resulting image. For instance the artifacts are in the form of blocky and blurry pictures, due to unmatched boundaries. An upsampling method is proposed that improves the resolution of the resulting image of shift and integration approach. Sub-pixel adjustment of elemental images including “upsampling technique” with smart filters are proposed to reduce the artifacts, introduced by full resolution with blind method as well as to improve both image quality and resolution of the final rendered image. A novel 3D object extraction method is proposed that takes advantage of disparity, which is also applied to generate stereoscopic 3D images from holoscopic 3D image. Cross correlation matching algorithm is used to obtain the disparity map from the disparity information and the desirable object is then extracted. In addition, 3D image conversion algorithm is proposed for the generation of stereoscopic and multiview 3D images from both unidirectional and omnidirectional holoscopic 3D images, which facilitates 3D content reformation.

Föreliggande rapport syftar till att redogöra för hur olika 3D-tekniker kan fungera som praktiskt användbara hjälpmedel i arbeten rörande möbelkonservering och möbelrestaurering. Arbetet behandlar olika tekniker för att skanna och skriva ut, presenterar ett urval av tidigare forskning vilket berör det aktuella ämnet, samt ger inblick i praktiska fallstudier. Den tekniska utvecklingen av 3D-printing och skanning går stadigt framåt vilket väcker frågan om tekniken kan vara ett lämpligt hjälpmedel inom området för föremålsbevarande arbete. I arbetet presenteras ett antal fallstudier där 3D-tekniken har använts för dokumentation och restaurering av olika föremål. Teknikerna har sedan jämförts med konventionella metoder. PLA är ett utskriftsfilament, kanske främst avsett för kommersiellt bruk. I arbetet undersöks detta material och dess kompabilitet med andra material. Efter åldring genomgår materialet ett hållfasthets- och kulörtest. Resultaten visar att PLA kan vara känsligt för UV-strålning och temperaturer över 60°C. Vi anser att 3D-tekniken i flera fall kan fungera som ett användbart hjälpmedel för möbelkonservering. / This thesis seeks to explain how the various 3D-technologies can serve as a practical aid in applied furniture conservation. The thesis deals with various techniques to scan and print, presents a selection of previous research relevant to the topic, and provides insight into the practical case studies. The technical development of 3D printing and scanning is advancing rapidly which raises the question whether the technology can be a useful tool in the field of conservation. The thesis presents a number of case studies where 3D technology has been used for documentation and restoration of various objects. These techniques have been compared with conventional methods. PLA is a printing fillament, perhaps primarily intended for commercial use. The work examines this material and its compatibility with other materials. After aging, the fillament undergoes a structural and color test. The results show that PLA is sensitive to UV-radiation and temperatures above 60°C. We believe that 3D technology can, in many cases, serve as a useful tool for furniture preservation.

Les environnements virtuels collaboratifs permettent à plusieurs utilisateurs d’interagir à distance par Internet. Ils peuvent partager une impression de téléprésence en animant à distance un avatar qui les représente. Toutefois, le contrôle de cet avatar peut être difficile et mal restituer les gestes de l’utilisateur. Ce travail vise à animer l’avatar à partir d’une acquisition 3D des gestes de l’utilisateur par vision monoculaire en temps réel, et à rendre la téléprésence virtuelle possible au moyen d’un PC grand public équipé d’une webcam. L’approche suivie consiste à recaler un modèle 3D articulé de la partie supérieure du corps humain sur une séquence vidéo. Ceci est réalisé en cherchant itérativement la meilleure correspondance entre des primitives extraites du modèle 3D d’une part et de l’image d’autre part. Le recalage en deux étapes peut procéder sur les régions, puis sur les contours. La première contribution de cette thèse est une méthode de répartition des itérations de calcul qui optimise la robustesse et la précision sous la contrainte du temps-réel. La difficulté majeure pour le suivi 3D à partir d’images monoculaires provient des ambiguïtés 3D/2D et de l’absence d’information de profondeur. Le filtrage particulaire est désormais une approche classique pour la propagation d’hypothèses multiples entre les images. La deuxième contribution de cette thèse est une amélioration du filtrage particulaire pour le recalage 3D/2D en un temps de calcul limité par des heuristiques, dont la contribution est démontée expérimentalement. Un paramétrage de l’attitude des bras par l’extrémité de leur chaîne cinématique est proposé qui permet de mieux modéliser l’incertitude sur la profondeur. Enfin, l’évaluation est accélérée par calcul sur GPU. En conclusion, l’algorithme proposé permet un suivi 3D robuste en temps-réel à partir d’une webcam pour une grande variété des gestes impliquant des occlusions partielles et des mouvements dans la direction de la profondeur. / Networked 3D virtual environments allow multiple users to interact with each other over the Internet. Users can share some sense of telepresence by remotely animating an avatar that represents them. However, avatar control may be tedious and still render user gestures poorly. This work aims at animating a user’s avatar from real time 3D motion capture by monoscopic computer vision, thus allowing virtual telepresence to anyone using a personal computer with a webcam. The approach followed consists of registering a 3D articulated upper-body model to a video sequence. This involves searching iteratively for the best match between features extracted from the 3D model and from the image. A two-step registration process matches regions and then edges. The first contribution of this thesis is a method of allocating computing iterations under real-time constrain that achieves optimal robustness and accuracy. The major issue for robust 3D tracking from monocular images is the 3D/2D ambiguities that result from the lack of depth information. Particle filtering has become a popular framework for propagating multiple hypotheses between frames. As a second contribution, this thesis enhances particle filtering for 3D/2D registration under limited computation constrains with a number of heuristics, the contribution of which is demonstrated experimentally. A parameterization of the arm pose based on their end-effector is proposed to better model uncertainty in the depth direction. Finally, evaluation is accelerated by computation on GPU. In conclusion, the proposed algorithm is demonstrated to provide robust real-time 3D body tracking from a single webcam for a large variety of gestures including partial occlusions and motion in the depth direction.

Orientador: Gustavo Franco Barbosa / Resumo: O presente projeto de pesquisa, tem como objetivo estudar a viabilidade técnica e financeira para implementação de um manipulador robótico colaborativo,para bioimpressão, utilizando seringas para aplicação da biotinta, definindo os parâmetros de impressão, materiais e equipamentos disponíveis. Propõe-se um estudo sobre os desafios da bioimpressão, tanto na área de desenvolvimento de novos equipamentos,processos e materiais, assim como os desafios sobre impressão de tecidos humanos com células vivas. O trabalho foi realizado com base na revisão da literatura, abordando os principais autores e empresas especializadas no tema proposto, de modo a alcançar o objetivo. O presente projeto estudará a viabilidade de implementação das seringas como efetuador em um manipulador robótico. A metodologia consiste em modelo teórico, seleção dos materiais disponíveis, dividido em quatro etapas, onde serão analisados: concepção, modelo 3D, validação da ideia com simulação em ambiente virtual e fabricação do protótipo em um momento futuro. Os métodos aplicados no projeto contam com um enfoque descritivo qualitativo, com o objetivo de estudar as características e equipamentos apresentados para a fabricação de arcabouços (scaffolds) e tecidos com o uso de robô colaborativo. / Abstract: This research project aims to study the technical and financial feasibility of implementing a collaborative robotic manipulator, for bioprinting, using syringes for bioinkapplication, defining the printing parameters, materials and equipment available. A study is proposed on the challenges of bioprinting, both in the area of development of new equipment, processes and materials, as well as the challenges of printing human tissues with living cells. The work was based on the literature review, approaching the main authors and companies specialized in the proposed theme, in order to reach the objective. This project will study the feasibility of implementing syringes as an effector in a robotic manipulator. The methodology consists of theoretical model, selection of available materials, divided into four stages, which will be analyzed: conception, 3D model, idea validation with simulation in virtual environment and prototypefabrication in a future moment. The methods applied in the project have a qualitative descriptive approach, aiming to study the characteristics and equipment presented for the manufacture of scaffolds and fabrics using a collaborative robot. / Mestre

High performance communications, sensing and computing systems are growing exponentially as modern life continues to rely more and more on technology. One of the factors that are currently limiting computing and transmission speeds are copper wire interconnects between devices. Optical fiber interconnects would greatly increase the speed of today’s electronic devices. In this study it has been demonstrated that by using a new Direct Print Additive Manufacturing (DPAM) process of Fused Deposition Modeling (FDM) of plastic and micro-dispensing of pastes and inks, we can 3D print single and multi-mode optical fibers in a controlled manner such that compact, 3-dimensional optical interconnects can be printed along non-lineal paths. We are FDM printing the core materials from a plastic PMMA material. We are dispensing a urethane optical adhesive as the core material. These materials are available in many different refractive indices. During numerical simulations of these fibers, we were able to show through manipulation of the refractive indices of the core and cladding that we can also improve the bend performance of our fibers. As a result, they can perform better as an interconnect in tight routings between components as long as the interconnect fiber distances remain less than 1 meter. Fibers have been fabricated with diameters between 77 and 17 µm across an air gap with a surface roughness of less than 450 nm and cladded and tested with transmission rates of about 46%. 12 µm fibers have successfully been fabricated on a cladded surface as a proof of concept to test the small diameter and 3D shaping capability of this process.