Cette thèse s’inscrit dans le cadre d’un projet industriel multi-partenaires ayant pour objectif le développement d’un robot mobile collaboratif (un cobot), autonome dans ses mouvements au sol, capable de réaliser l’inspection visuelle d’un aéronef, à la fois en phase de petite ou grande maintenance dans un hangar ou en phase de pré-vol sur le tarmac d’un aéroport. Le cobot est équipé de capteurs lui permettant d’effectuer ses tâches de navigation autonome, mais également d’un ensemble de capteurs optiques constituant la tête d’inspection : une caméra orientable Pan-Tilt-Zoom et un scanner 3D qui délivrent respectivement des données sous forme d’images 2D et de nuages de points 3D. L’objectif de la thèse est de développer des algorithmes d’analyse d’images 2D et de nuages de points 3D, afin d’établir un diagnostic sur l’état de l’avion et son aptitude à voler. Nous avons développé des algorithmes pour vérifier certains éléments de l’appareil, tels que valves, portes, capteurs, pneus ou moteurs, et également pour détecter et caractériser des dommages 3D sur le fuselage (impacts, rayures, etc.). Nous avons exploité dans nos algorithmes les connaissances a priori disponibles, en particulier le modèle 3D CAO de l’avion (un AIRBUS A320 dans le cadre de nos essais). Durant ces travaux de la thèse, nous avons pu répondre à deux besoins (parfois antagonistes) : développer des algorithmes d’inspection rapides et robustes, mais également répondre aux exigences spécifiques d’un projet industriel qui visait à développer un prototype opérationnel. Nous nous sommes attachés à développer des algorithmes les plus génériques possibles, de manière à ce qu’ils puissent être utilisés pour d’autres types d’inspection, tels que l’inspection de bâtiments ou de navires par exemple. Nous avons aussi contribué au développement du prototype (robot mobile équipé de capteurs) en développant le module de contrôle des capteurs d’inspection et en intégrant nos codes sur le robot avec les autres modules développés par les partenaires. Le prototype a fait l’objet de nombreux essais en hangar de maintenance ou sur tarmac. / This thesis makes part of an industry oriented multi-partners project aimed at developing a mobile collaborative robot (a cobot), autonomous in its movements on the ground, capable of performing visual inspection of an aircraft during short or long maintenance procedures in the hangar or in the pre-flight phase on the tarmac. The cobot is equipped with sensors for realizing its navigation tasks as well as with a set of optical sensors which constitute the inspection head: an orientable Pan-Tilt-Zoom visible light camera and a three-dimensional scanner, delivering data in the format of two-dimensional images and three-dimensional point clouds, respectively. The goal of the thesis is to propose original approaches for processing 2D images and 3D clouds, with intention to make a decision with respect to the flight readiness of the airplane. We developed algorithms for verification of the aircraft items such as vents, doors, sensors, tires or engine as well as for detection and characterization of three-dimensional damages on the fuselage. We integrated a-priori knowledge on the airplane structure, notably numerical three-dimensional CAD model of the Airbus-A320. We argue that with investing effort to develop robust enough algorithms and with the help of existing optical sensors to acquire suitable data, we can come up with non-invasive, accurate, and time-efficient system for automatic airplane exterior inspection. The thesis work was placed in between two main requirements: develop inspection algorithms which could be as general as possible and also meet the specific requirements of an industry oriented project. Often, these two goals do not go along and the balance had to be made. On one side, we were aiming to design and assess the approaches that can be employed on other large structures, for ex. buildings, ships. On the other hand, writing source code for controlling sensors as well as integrating our whole developed source code with other modules on the real-time robotic system, were necessary in order to demonstrate the feasibility of our robotic prototype.

La version intégrale de ce mémoire est disponible uniquement pour consultation individuelle à la Bibliothèque de musique de l’Université de Montréal (http://www.bib.umontreal.ca/MU)

Les travaux présentés dans ce manuscrit s’inscrivent dans le contexte de l’inspection automatisée d’assemblages mécaniques aéronautiques par vision artificielle. Il s’agit de décider si l’assemblage mécanique a été correctement réalisé (assemblage conforme). Les travaux ont été menés dans le cadre de deux projets industriels. Le projet CAAMVis d’une part, dans lequel le capteur d’inspection est constitué d’une double tête stéréoscopique portée par un robot, le projet Lynx© d’autre part, dans lequel le capteur d’inspection est une caméra Pan/Tilt/Zoom (vision monoculaire). Ces deux projets ont pour point commun la volonté d’exploiter au mieux le modèle CAO de l’assemblage (qui fournit l’état de référence souhaité) dans la tâche d’inspection qui est basée sur l’analyse de l’image ou des images 2D fournies par le capteur. La méthode développée consiste à comparer une image 2D acquise par le capteur (désignée par « image réelle ») avec une image 2D synthétique, générée à partir du modèle CAO. Les images réelles et synthétiques sont segmentées puis décomposées en un ensemble de primitives 2D. Ces primitives sont ensuite appariées, en exploitant des concepts de la théorie de graphes, notamment l’utilisation d’un graphe biparti pour s’assurer du respect de la contrainte d’unicité dans le processus d’appariement. Le résultat de l’appariement permet de statuer sur la conformité ou la non-conformité de l’assemblage. L’approche proposée a été validée à la fois sur des données de simulation et sur des données réelles acquises dans le cadre des projets sus-cités. / The work presented in this manuscript deals with automated inspection of aeronautical mechanical parts using computer vision. The goal is to decide whether a mechanical assembly has been assembled correctly i.e. if it is compliant with the specifications. This work was conducted within two industrial projects. On one hand the CAAMVis project, in which the inspection sensor consists of a dual stereoscopic head (stereovision) carried by a robot, on the other hand the Lynx© project, in which the inspection sensor is a single Pan/Tilt/Zoom camera (monocular vision). These two projects share the common objective of exploiting as much as possible the CAD model of the assembly (which provides the desired reference state) in the inspection task which is based on the analysis of the 2D images provided by the sensor. The proposed method consists in comparing a 2D image acquired by the sensor (referred to as "real image") with a synthetic 2D image generated from the CAD model. The real and synthetic images are segmented and then decomposed into a set of 2D primitives. These primitives are then matched by exploiting concepts from the graph theory, namely the use of a bipartite graph to guarantee the respect of the uniqueness constraint required in such a matching process. The matching result allows to decide whether the assembly has been assembled correctly or not. The proposed approach was validated on both simulation data and real data acquired within the above-mentioned projects.

Le travail s’inscrit dans le cadre d’une collaboration entre le Pôle Ameublement FCBA et le Laboratoire MSME de l’UPEM. L’objectif était de mettre au point un outil de simulation permettant à FCBA de mener une étude de validation (tenue aux tests normalisés) avant la fabrication du meuble. Ce travail était supporté par les fonds collectifs de la profession ameublement. Il a donné lieu à des développements dans le domaine de l’identification du comportement anisotrope du bois par analyse d’images couplée à la méthode des éléments finis, d’une approche multi-échelle pour identifier le comportement des liens entre éléments de meuble et d’un programme éléments finis utilisant l’approche « poutres » pour réaliser une étude statistique du comportement du meuble prenant en compte la dispersion du comportement du bois. Chaque étape a été validée expérimentalement. La simulation par éléments finis s’est focalisée sur une application « lits superposées en bois massif » pour laquelle un code à base de poutres a été développé dans l’environnement Matlab afin de pouvoir y implanter :• une théorie élastique anisotrope via des poutres de Timoshenko pour prendre en compte l’effet des déformations dues aux faibles rigidités transversales du bois en regard de la rigidité longitudinale ;• des éléments de connexion ponctuels représentant la contribution des composants de quincaillerie (vis, écrou noyé, tourillon…) et les effets locaux 3D aux liaisons entre poutres ;• la possibilité de prendre en compte les incertitudes sur les paramètres matériau d’une poutre à l’autre en fonction de l’orientation des planches, de la densité du bois etc… via une simulation de Monte-Carlo / The work joins within the framework of a collaboration between the Pole Furnishing FCBA and the Laboratory MSME of the UPEM. The objective was to finalize(to work out) a tool of simulation allowing FCBA to lead a study of validation (held the normalized(standardized) tests) before the manufacturing of the piece of furniture

Les technologies d’imagerie médicale permettent de visualiser pathologies et traumatismes. Cependant, même si cette imagerie permet des vues perspectives dynamiques, elle reste du domaine du 3D virtuel puisque sur un écran 2D. Une réplique présente dès lors un avantage certain : elle rend palpable la notion d'échelle et de volume et apparents des détails cachés ou ambigus et ainsi améliore ou facilite le diagnostic et la solution chirurgicale.Le prototypage rapide permet la fabrication d'une réplique à partir d'un fichier CAO issu des données d'imagerie, mais ce procédé n'est pour l'instant appliqué qu'à des cas très spécifiques. Nos travaux montrent qu'il peut l'être avec profit en orthopédie et traumatologie à des cas chirurgicaux certes complexes mais courants, et passer du laboratoire de recherche à l'établissement hospitalier.Une méthodologie est définie visant à passer des données DICOM3 à une réplique en ABS par prototypage rapide par dépôt de fil fondu via une reconstruction 3D numérique à l'aide de logiciels dédiés. Une étude de capabilité, transposable à tout procédé, quantifie la réponse et la fidélité de la machine et les paramètres optimaux. Trois applications (à partir de la tomographie RX) sont présentées à travers trois cas cliniques (ostéotomie, arthroplastie, trochléoplastie).Les exemples montrent que le procédé s'avère pertinent (et économiquement raisonnable) dès qu’il est question de géométrie complexe, de matérialisation du relief et d’appréciation d’un volume osseux. La représentation objective de l’échelle des volumes en constitue le point fort et l'intérêt est indéniable dans nombre de domaines de la chirurgie orthopédique et traumatologique. / The medical imaging technologies allow the visualization of diseases and injuries. However, even if dynamic perspective ones, these views remain a virtual 3D visualization because on a 2D screen. Real replicas have therefore a definite advantage: they can make palpable the notion of scale and volume and apparent hidden or ambiguous details and thus enhance or facilitate the diagnosis and the surgical solution.The rapid prototyping allows to achieve a replica from a CAD file issued from imaging data but this process is now only applied to specific cases. Our work shows that it can be applied with profit for complex but usual orthopaedic and trauma surgery cases. It can be so transfered from the research laboratory to the hospital.A methodology is defined to manufacture an ABS replica through rapid prototyping by fused deposition modelling from DICOM3 data and digital 3D reconstructions using dedicated software. The study of the capability, transferable to any process, quantifies the response and the accuracy of the machine and the optimal parameters. Three applications (from CT-scan) are presented through three clinical cases (osteotomy, arthroplasty and trochleoplasty) . The examples show that the method is appropriate (and economically reasonable) when it comes to complex geometry or assessment of bone volume. The objective representation of the volumes is the strength of the method and the interest is undeniable in many areas of orthopaedic surgery and traumatology.

O presente estudo teve como objetivos avaliar o uso de aditivos químicos e microbiano na ensilagem da cana-de-açúcar (Saccharum officinarum L.), com vistas à composição químico-bromatológica, perdas fermentativas e estabilidade aeróbia das silagens, bem como os efeitos sobre o desempenho de bovinos de corte. No primeiro experimento a cana-de-açúcar ensilada foi comparada com a cana-de-açúcar in natura na alimentação de bovinos, além dessas fontes de volumosos serem avaliadas quanto à composição químico-bromatológica e estabilidade aeróbia. Foram utilizados 63 tourinhos Nelore, alimentados com ração contendo 40% de volumoso, em delineamento em blocos completos, com três tratamentos e seis repetições. Os tratamentos testados foram: cana-de-açúcar in natura (FR), silagem controle (CT) e silagem inoculada com Lactobacillus buchneri (LB). Os animais que receberam rações contendo silagem de cana-de-açúcar apresentaram desempenhos similares aos que receberam rações com cana-de-açúcar in natura. Mesmo apresentando melhora na estabilidade aeróbia, tanto comparativamente à silagem controle, quanto em relação à cana-de-açúcar fresca, a inoculação com L. buchneri não apresentou efeito em melhorar o desempenho dos animais recebendo silagem de cana-de-açúcar. O NRC (1996) subestimou os ganhos e o valor nutritivo dos volumosos, além de superestimar a IMS. Num segundo experimento foram testados aditivos químicos, microbiano e suas associações na ensilagem da cana-de-açúcar com uso de silos experimentais. O delineamento adotado neste caso constituiu-se como inteiramente casualizado, sendo oito tratamentos e quatro repetições. Os tratamentos testados foram: controle (CT), L. buchneri na dose de 5x104 ufc/g MV (LB), 1% da MV da cana-de-açúcar de CaO sem diluição em água (CLs), 1% da MV da cana-de-açúcar de CaO diluído em água (CLa), 1% da MV da cana-de-açúcar de CaCO3 sem diluição em água (CCs), 1% da MV da cana-de-açúcar de CaCO3 diluído em água (CCa), associação dos tratamentos LB e CLs (CLsLB) e dos tratamentos LB e CLa (CLaLB). A cal virgem (CaO) apresentou-se como opção de aditivo na ensilagem da cana-de-açúcar, melhorando a composição químicobromatológica, o valor nutritivo e a estabilidade aeróbia das silagens, entretanto, este aditivo elevou as perdas decorrentes do processo fermentativo. Em um terceiro ensaio avaliarou-se quatro dos tratamentos do ensaio anterior para a alimentação de ruminantes e as fontes de volumosos também foram avaliadas quanto à composição químico-bromatológica e estabilidade aeróbia. Foram utilizados 59 tourinhos threecross, alimentados com ração contendo 40% de volumoso, num delineamento em blocos completos, com três tratamentos e seis repetições. Os tratamentos avaliados foram: silagem controle (CT) e silagem inoculada com Lactobacillus buchneri (LB) e as silagens com os aditivos químicos CaO (CL) e CaCO3 (CC), ambos aplicados a seco na dose de 1% da MV. Os aditivos químicos incorporados à cana-de-açúcar na ensilagem levaram ao menor desempenho dos animais se comparados ao tratamento controle e 16 LB, contudo, o tratamento químico contendo cal virgem apresentou os melhores resultados em termos de composição química e estabilidade aeróbia das silagens neste experimento. Da mesma forma, como observado no primeiro experimento, o NRC (1996) subestimou os ganhos e o valor nutritivo dos volumosos, além de superestimar a ingestão de MS pelos animais / The objectives of these studies were to evaluate chemical and microbial additives in sugar cane silages and their effects on chemical composition, fermentative losses and aerobic stability, as well as the effects on the animal performance. In the first trial sugar cane silages were compared to green-chopped sugar cane as part of total mixed rations used to feed ruminants. The forage sources also were tested for chemical composition and aerobic stability. Sixty-three Nellore beef bulls fed with 40% of forage in TMR, in a completely randomized block design, with three treatments and six replications each. The treatments used were: green chopped sugar cane (FR), sugar cane silage without additive (CT) and sugar cane silage with Lactobacillus buchneri (LB). The silage groups (CT and LB) revealed similar performance as green chopped sugar cane group. Eventough, they have showed better results in the aerobic stability test, the LB group did not show better results than the control group. NRC (1996) underestimated daily gains and overestimated DM intake in all treatments. In the second experiment chemical, microbial additives as well as their association were tested in lab-scale sugar cane silages. It was analyzed as a completely randomized design, with eight treatments and four replications each. The treatments were: no additive (CT), L. buchneri applied at 5x104 cfu/g of forage (LB), 1% of CaO in powder form (CLs), 1% of CaO diluted in water (CLa), 1% of CaCO3 in powder form (CCs), 1% of CaCO3 diluted in water (CCa), association of LB and CLs (CLsLB) and association of LB and CLa (CLaLB). The calcium oxide treatment turned out to be a good option in sugar cane silages by enhancing the chemical composition, the nutritive value and the aerobic stability. In the third experiment, four of those eight treatments previously tested were evaluated in animal performance level. The forage sources have been also tested for chemical composition and aerobic stability. For this trial 59 three-cross breed beef bulls were fed TMR with 40% of forage, in a completely randomized block design, with four treatments and five replications each. The treatments were: sugar cane silage without additive (CT) and sugar cane silage with Lactobacillus buchneri (LB) and chemical treatments, 1% of calcium oxide (CL) and 1% of calcium carbonate (CC), both applied in a powder form. The chemical additives led to lower ADG than CT and LB animals. However, the CL treatment showed the best results in terms of chemical composition and aerobic stability among all four treatments. As observed previously NRC (1996) underestimated daily gains and overestimated DM intake.

Dans l’âge des objets connectés, circuits conventionnels implémenté sur silicium ne sont pas la seule option pour réaliser des interfaces des capteurs. Dispositifs électroniques implémentés sur substrats souples sont aussi une option intéressante comme interface des capteurs dans notre quotidien, e.g: dans des vêtements, emballages, peau et dedans notre corps humain. Dans cette thèse nous proposons une formalisation de :-La procédure de fabrication de transistors en utilisant des matériaux organiques et flexibles. -La conception de circuits analogiques et numériques en utilisant ces transistors. Les contributions de cette thèse sont :• Optimisation de la procédure de fabrication et caractérisation de 2 technologies : la première fabriqué en utilisant des masques (« shadow masks » en anglais) avec un procès relativement « simple à implémenter ». La deuxième par un procès en utilisant la photolithographie et l’auto alignement. • Modélisation et extraction de paramètres pour prévoir leurs variations dans la conception de circuits.• Customisation des outils CAO « Open Source » VLSI (Alliance ©) pour la conception des circuits et layouts des transistors organiques.• Conception, fabrication et mesure des circuits analogiques (OTAs, comparateurs et convertisseurs analogiques-numériques) et circuits numériques simples (inverseurs, portes logiques, bascules). Ce travail a eu des résultats intéressants et il ouvre un ample spectre d’applications dans l’avenir dans le domaine de l’électronique flexible et organique. / In the era of “Internet of Things”, conventional silicon-based circuits are not the only option to realize sensor interfaces. Electronic devices based on flexible materials are an interesting approach to interface with sensors connected to our everyday life, e.g.: clothes, packages, skin and into the human body. In this thesis, we propose a formalization of the:- Transistor fabrication process using organic and flexible materials.- Analog and digital circuit design using these transistors. The main contribution of this work can be summarized in the following:- Optimization of the fabrication and characterization process of two technologies: the first by shadow masks with an easy-to-fabricate procedure, the second by self-alignment and photolithography.- Modeling and parameter extraction for process variation aware analog design.- Customization of an open source VLSI CAD tools (Alliance©) for circuit design and layout of OTFT.- Design, fabrication and measurement of OTFT analog front-ends (OTAs, Comparators, Analog-to-Digital Converters,…) and basic digital circuits (Inverters, Logic Gates, …).This work achieved very interesting results and it opens a wide scope of future applications in the field of Flexible organic electronics.

In 2004 Japanese author Ashibe Taku published his novel Murder in the Red Chamber, in which he adapted Cao Xueqin’s eighteenth-century Chinese classic Dream of the Red Chamber as a compelling murder mystery. In 2008 I would take on the challenge of translating Ashibe’s novel into English. This required me to draw on a wealth of primary and secondary materials. Not only did I have to familiarize myself with the novel’s peculiarities, but also with those of its Chinese source. Over these layers of text I fashioned yet another from my own engagements with Western detective fiction. In order to reconcile these disparate cultural understandings of detection and law, I assumed the role of detective myself in navigating at least two cultural milieus at any given time. Consequently, I found myself empathizing with Ashibe’s characters in an entirely new way. This thesis is a case study that investigates two questions: (1) What does it mean when the translator’s method mimics—in the target text—that of the author of the source text? (2) How have murder mystery paradigms been displaced and/or embedded in my chosen text through this process of cross-cultural rewriting? In exploring these questions I have developed a kinship with Ashibe, for we are both rewriters seeking to flesh out the evidence laid before us into admissible testimony. Whether or not I “solved the case” of this translation matters less than the adding of another layer in another language with the intent of enriching the whole.

During the pyrometallurgical extraction of copper, a significant part of the copper is lost with discard slag, which decreases profits, overall copper recovery, and efficiency of raw material usage. Smelting furnace slag usually has a copper content that is close to or higher than that of copper ores. The investigation of copper losses to slag is thus a task of practical significance, as the ore grades are depleting. Slag cleaning, e.g., a settling furnace, can reduce copper losses to slag as the mechanically suspended copper-containing droplets separate from slag under the action of gravity and can hence be recovered.  An industrial trial was conducted in an electric settling furnace with slag originating from an electric smelting furnace and processed in a zinc fuming furnace. The trial was conducted to increase the understanding of copper losses to slag and how the process parameters temperature and settling time influence the slag copper content. The obtained slag samples were also evaluated to gain better insights as to the settling mechanism and, if any, factors that hinder the copper phases from settling. Slag modification with CaO was also evaluated to investigate how the modification influences the settling of copper phases and, thus, the final slag copper content.  Samples collected during the industrial trial were the basis for the evaluation in the current work. The samples came from batches with varying temperatures, settling times, and CaO content collected at four different sample positions. Instrumental techniques, including XRF, FAAS, ICP-SFMS, and SEM-EDS, were used to analyze the chemical compositions of the samples and the appearance of copper and associated phases.  The results indicated that the copper content of outgoing slag increased with increasing temperature in the evaluated interval. The copper content was also concluded to be more strongly affected by the temperature compared to the settling time. Regulating the temperature to the lower temperature interval in the settling furnace could thus decrease the final slag copper content. During the slag characterization, it was found that suspended copper-containing phases were hindered from settling, due to the attachment to solid phases and gas bubbles in the slag. By controlling and minimizing the presence of the bottom buildup and thus solid phases in the slag, the copper content can be decreased. The results indicated that the CaO slag modification decreased the final slag copper content, and can thus be used as a modifier for increased settling.

Aristotle stated in his Poetics that theatre’s dual purpose was to educate and entertain. Centuries later the Roman Horace and Indian Bharata echoed his same sentiments. I intend to realize all three theorist’s ideas on the theatre by creating an original educational and entertaining work and bringing it to performance. The audience will retain information without being aware of learning if it is presented in a pleasurable way. The most important geopolitical relationship of this century will be between China and America. In order to educate the American public about the culture of The Middle Kingdom, I propose to write and direct my own play, condensing all three thousand years of Chinese literature into a one hundred and ten minute performance. I will benefit from the personal nature of this thesis by experiencing every stage of a play’s production: from idea to page to performance. My thesis will be made of three major parts: conceiving and writing the play, a journal of directing the debut production, and a third section made of choices, influences, and reflection on the entire experience. In this manner, the ideas swirling in my head may be made clear to others reading this thesis. The play itself will be a comical distillation of ten selected works of Chinese literature. Four non-gender specific American actors will seem to make up the show as it performs in a tongue-in-cheek way. Taking my stated goal of entertaining and educating the audience to heart, the overarching plot of the play will center on the four actors teaching the audience about the literature and culture of China by acting out scenes and telling stories. The information in the scenes will be targeted to a normal American citizen’s educational level with liberal doses of humor added. The four actors will be playing fictionalized versions of themselves and at times iv breaking character by explaining and setting up the theatricality of the piece to the audience. Part of the fun of the show will be seeing how these actors explain a subject as obtuse as Chinese literature to Americans. Perhaps a cooking metaphor is the best way to think of the play: I will chop up raw Chinese literature, the actors will boil it onstage, the theatregoer will consume the mix, and exit the theatre full of entertaining intellectual nourishment. My experiences directing and producing the finished play will be recorded in a journal as a resource for future directors. I imagine directing the play will be the most challenging aspect of this thesis. How is the play changed when other people interact with it? How will the audience receive it? In addition, Committee Chair Mark Routhier and my thesis Committee Members, Mark Brotherton and Tan Huaixiang, will also give written responses to the play’s performances. The play will be performed October 10-13, 2013 in the University of Central Florida’s Performing Arts Complex Studio 2 classroom. In the final section I will write a reflection on the entire process. This will serve the dual purpose of giving me a place to collect my thoughts and giving others a special insight to the growth they might experience when producing this play. Foremost among my influences in writing a play with this subject matter are the style and tone of The Reduced Shakespeare Company