Made available in DSpace on 2017-07-10T18:26:05Z (GMT). No. of bitstreams: 1 Geder P Friedrich Cominetti.pdf: 1360851 bytes, checksum: f57b49982d341a630b5b9800d36c6e69 (MD5) Previous issue date: 2013-08-06 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Descartes did not write a philosophy of language. A few quotes about this topic generate many interpretations. Most of the language studies in Descartes produce anachronisms or are originated by comparisons with other conceptions, without being led, primarily, by an analysis of the thought about the Cartesian language concept. However, the topic proved to be productive in speculations about the interaction between the human mind and body, which is very discussed by specialists and aggressively attacked by his opposers. Characterized as a Cartesian dualism essay, this study dares to separate the language in two parts, analyzing singly its material aspect, and then its immaterial aspect. This new approach turns the reader s attention to the importance of the material aspect of the language, substantiating the objectivity of the language in the extended substances. The communication only becomes possible because there is, among two or more men, the extension. This concept is classified as the objective aspect of the language, because it is generally in the area of the sensitive experience, apart from the individual and perceptible thought of the men. Concerning the subjective aspect, each individual has a free will and he can make his own thoughts. Indeed, it is in this way that Descartes conceives the language: having the men as the creator of the words meaning, which are represented and implemented by modification of the extension. In addition, he conceives the linguistics signs as representations of thoughts, as explicitness of the internal events of men. Their speech is the explicitness of their thoughts. Therefore, when looking at a set of graphic symbols that he produced, the individual realizes the movement of his thought. These revelations that the mind uses the body as a help in the searching for the truth, because, in the body, the memory can be used as a notebook of the mind demonstrate that the Cartesian dualistic conception of the language helped Descartes in his work on algebra and in his mathematical and scientific discoveries. In conclusion, it is possible to say that the topic has no end in the next pages, but it opens a new route for researchers devote their efforts to investigate the relations between mind and body. This study dares to be completely original in its approach, in the presented problem, but it does not want to bring the reader more than a deepening, at his limit, interpretation of one of the most commented writers in philosophy in the last three centuries. / Descartes não escreveu uma filosofia da linguagem. Algumas poucas citações acerca do tema dão margem a muitas interpretações. A maioria dos estudos sobre a linguagem em Descartes comete anacronismos ou é gerida por comparações com outras concepções, deixando de proceder primordialmente por uma análise do pensamento cartesiano sobre a noção de linguagem. Contudo, este tema se mostra muito fecundo em especulações sobre a interação entre corpo e alma, que é polemizada por especialistas e atacada com agressividade por seus opositores. Caracterizado como um ensaio sobre o dualismo cartesiano, este trabalho ousa seccionar a linguagem de maneira bifurcada, analisando separadamente o seu aspecto material, por um lado, e seu aspecto imaterial, por outro. Esta abordagem inédita volta a atenção do leitor para a importância do aspecto material da linguagem ao fundamentar a objetividade da linguagem na matéria extensa. A comunicação só se torna possível porque há, entre dois ou mais homens, a extensão. Esta é classificada como sendo o aspecto objetivo da linguagem, pois está comumente no campo da experiência sensível, independentemente do pensamento individual e perceptível do homem. Com relação ao aspecto subjetivo, cada homem possui um livre arbítrio e pode compor seus próprios pensamentos. De fato, é assim que Descartes concebe a linguagem, tendo o homem como autor da significação das palavras, representadas e objetivadas através de modificações da extensão. Ademais, Descartes concebe os sinais linguísticos como representações do pensamento, como explicitação das ocorrências internas do homem. O discurso deste é a explicitação de seu pensamento. Por isto que, ao olhar um conjunto de símbolos gráficos que produziu, o homem percebe o movimento de seu pensamento. Revelações como estas de a mente se utilizar do corpo como um auxílio na busca da verdade, já que no corpo a memória pode servir como um caderno de notas da mente mostram que a concepção cartesiana dualista da linguagem auxiliou Descartes em seus trabalhos de álgebra e em suas descobertas científicas e matemáticas. Em suma, é possível afirmar que o tema não se esgota nas páginas que seguem, mas ele abre uma nova via para que pesquisadores se detenham a investigar as relações entre alma e corpo. Este trabalho tem a ousadia de ser completamente original em sua abordagem, no problema que se coloca, mas não quer trazer ao leitor mais que um aprofundamento, em seus limites, da interpretação de um dos autores mais comentados em filosofia nos últimos três séculos.

Dans le but d’améliorer le comportement thermo-mécanique des aubes de turbine présentes dans les moteurs d’avion développés par SAFRAN, il est nécessaire de mettre au point un nouveau matériau composite. Le procédé de fabrication de ce matériau est complexe et requiert une densification par voie liquide divisée en deux étapes. Cette thèse s’intéresse à la modélisation numérique de la première étape appelée Slurry Cast/APS.Celle-ci consiste en l’injection et le confinement, dans la préforme fibreuse, de particules préalablement mises en suspension. Pour cela, nous avons développé à l’échelle des fibres,un modèle qui utilise les équations de Navier-Stokes incompressibles et monophasiques ,l’équation de Phillips [Phillips et al., 1992] et une loi rhéologique [Krieger, 1972]. Après validation des résultats numériques par comparaison avec des résultats expérimentaux [Hampton et al., 1997] et théoriques [Belfort et al., 1994], le modèle est utilisé pour simuler l’écoulement autour de géométries de tissage proches du matériau étudié. / In order to improve thermo-mechanical behavior of tubine blades in SAFRAN engines plane, a new composite material is necessary. The manufacturing process to obtain this composite is intricate and requires a two steps fluid densification process. This thesis focuses on numerical simulation of the first one called Slurry Cats/APS. In this step, suspended particles are introducted and captured in the reinforcement. For that purpose,we carry out a model at fiber scale, using Navier-Stokes equations in incompressible and monophasic formulation, Phillips equations [Phillips et al., 1992] and a rheological law [Krieger, 1972]. After validation step consisting in a comparison of computational results with experiments [Hampton et al., 1997] and theorical law [Belfort et al., 1994], this model has been used to simulate flow around geometries similar to those encountered in our composite material.

L’utilisation de systèmes robotiques pour la navigation dans des zones confinées pose des défis intéressants sur les thèmes de conception, de modélisation et de commande, particulièrement complexes pour les applications médicales. Dans ce contexte, nous introduisons un nouveau concept de robots continus, fortement prometteurs pour des applications biomédicales, dont la forme complexe, la dextérité et la capacité de miniaturisation constituent des avantages majeurs pour la navigation intra corporelle. Parmi cette classe, les robots à tubes concentriques (RTC), qui constituent notre point de départ, sont améliorés grâce à un actionnement embarqué innovant. Nos travaux s’articulent autour de deux thématiques aux frontières de l’état de l’art. D’une part, nous avons proposé une modélisation générique et conduit une analyse cinématique approfondie de robots continus basés sur l’architecture des RTC standards et ceux avec changement de courbure de leurs tubes dans deux variantes : courbures unidirectionnelle et bidirectionnelle. D’autre part, leur commande cartésienne en pose complète est introduite avec une validation expérimentale sur un prototype développé de RTC standard, ainsi que les simulations numériques d’une loi de commande comprenant la gestion de la redondance des RTC à changement de courbure. D’autre part, nous avons effectué la synthèse, la caractérisation et la mise en œuvre de micro-actionneurs souples basés sur les polymères électro-actifs (PEA), intégrés pour la première fois dans un robot continu.Ainsi, l’asservissement visuel d’un prototype de robot télescopique souple est proposé avec des précisions atteignant 0.21 mm sur différentes trajectoires. / Major challenges need to be risen in order to perform navigation in confined spaces with robotic systems in terms of design, modeling, and control, particularly for biomedical applications. Indeed,the complex shape, dexterity, and miniaturization ability of continuum robots can help solving intracorporeal navigation problems. Within this class, we introduce a novel concept in order to augment the concentric tube robots (CTR) with embedded actuation. Our works hinge on two majorcutting-edge thematics. On the one hand, we address modeling and kinematics analysis of standard CTR as well as variable curvature CTR with their two varieties : single and double bending directions.Furthermore, we perform the experimental validation of Cartesian control of a CTR prototype, anda task hierarchy based control law for redundancy resolution of CTR with variable curvatures. Onthe other hand, we develop the synthesis, the characterization, and the integration of soft microactuatorsbased on electro-active polymers (EAP) for the first time in a continuum robot. Thus, thevisual servoing of a telescopic soft robot is performed with precisions down to 0.21 mm following different trajectories.

Se cree que la medicina in silico supondrá uno de los cambios más disruptivos en el futuro próximo. A lo largo de la última década se ha invertido un gran esfuerzo en el desarrollo de modelos computacionales predictivos para mejorar el poder de diagnóstico de los médicos y la efectividad de las terapias. Un punto clave de esta revolución, será la personalización, que conlleva en la mayoría de los casos, la creación de modelos computacionales específicos de paciente, también llamados gemelos digitales. Esta práctica está actualmente extendida en la investigación y existen en el mercado varias herramientas de software que permiten obtener modelos a partir de imágenes. A pesar de eso, para poderse usar en la práctica clínica, estos métodos se necesita reducir drásticamente el tiempo y el trabajo humano necesarios para la creación de los modelos numéricos. Esta tésis se centra en la propuesta de la versión basada en imágenes del Cartesian grid Finite Element Method (cgFEM), una técnica para obtener de forma automática modelos a partir de imágenes y llevar a cabo análisis estructurales lineales de huesos, implantes o materiales heterogéneos. En la técnica propuesta, tras relacionar la escala de los datos de la imágen con valores de propiedades mecánicas, se usa toda la información contenida en los píxeles para evaluar las matrices de rigidez de los elementos que homogenizan el comportamiento elástico de los grupos de píxeles contenidos en cada elemento. Se h-adapta una malla cartesiana inicialmente uniforme a las características de la imágen usando un procedimiento eficiente que tiene en cuenta las propiedades elásticas locales asociadas a los valores de los píxeles. Con eso, se evita un suavizado excesivo de las propiedades elásticas debido a la integración de los elementos en áreas altamente heterogéneas, pero, no obstante, se obtienen modelos finales con un número razonable de grados de libertad. El resultado de este proceso es una malla no conforme en la que se impone la continudad C0 de la solución mediante restricciones multi-punto en los hanging nodes. Contrariamente a los procedimientos estandar para la creación de modelos de Elementos Finitos a partir de imágenes, que normalmente requieren la definición completa y watertight de la geometrá y tratan el resultado como un CAD estandar, con cgFEM no es necesario definir ninguna entidad geométrica dado que el procedimiento propuesto conduce a una definición implícita de los contornos. Sin embargo, es inmediato incluirlas en el modelo en el caso de que sea necesario, como por ejemplo superficies suaves para imponer condiciones de contorno de forma más precisa o volúmenes CAD de dispositivos para la simulación de implantes. Como consecuencia de eso, la cantidad de trabajo humano para la creación de modelos se reduce drásticamente. En esta tesis, se analiza en detalles el comportamiento del nuevo método en problemas 2D y 3D a partir de CT-scan y radiográfias sintéticas y reales, centrandose en tres clases de problemas. Estos incluyen la simulación de huesos, la caracterización de materiales a partir de TACs, para lo cual se ha desarrollado la cgFEM virtual characterisation technique, y el análisis estructural de futuros implantes, aprovechando la capacidad del cgFEM de combinar fácilmente imágenes y modelos de CAD. / Es creu que la medicina in silico suposarà un dels canvis més disruptius en el futur pròxim. Al llarg de l'última dècada, s'ha invertit un gran esforç en el desenvolupament de models computacionals predictius per millorar el poder de diagnòstic dels metges i l'efectivitat de les teràpies. Un punt clau d'aquesta revolució, serà la personalització, que comporta en la majoria dels casos la creació de models computacionals específics de pacient. Aquesta pràctica està actualment estesa en la investigació i hi ha al mercat diversos software que permeten obtenir models a partir d'imatges. Tot i això, per a poder-se utilitzar en la pràctica clínica aquests métodes es necessita reduir dràsticament el temps i el treball humà necessaris per a la seva creació. Aquesta tesi es centra en la proposta d'una versió basada en imatges del Cartesian grid Finite Element Method (cgFEM), una técnica per obtenir de forma automàticament models a partir d'imatges i dur a terme anàlisis estructurals lineals d'ossos, implants o materials heterogenis. Després de relacionar l'escala del imatge a propietats macàniques corresponents, s'usa tota la informació continguda en els píxels per a integrar les matrius de rigidesa dels elements que homogeneïtzen el comportament elàstic dels grups de píxels continguts en cada element. Es emphh-adapta una malla inicialment uniforme a les característiques de la imatge usant un procediment eficient que té en compte les propietats elàstiques locals associades als valors dels píxels. Amb això, s'evita un suavitzat excessiu de les propietats elàstiques a causa de la integració dels elements en àrees altament heterogénies, però, tot i això, s'obtenen models finals amb un nombre raonable de graus de llibertat. El resultat d'aquest procés és una malla no conforme en la qual s'imposa la continuïtat C0 de la solució mitjançant restriccions multi-punt en els hanging nodes. Contràriament als procediments estàndard per a la creació de models d'Elements finits a partir d'imatges, que normalment requereixen la definició completa i watertight de la geometria i tracten el resultat com un CAD estàndard, amb cgFEM no cal definir cap entitat geométrica. No obstant això, és immediat incloure-les en el model en el cas que sigui necessari, com ara superfícies suaus per imposar condicions de contorn de forma més precisa o volums CAD de dispositius per a la simulació d'implants. Com a conseqüéncia d'això, la quantitat de treball humà per a la creació de models es redueix dràsticament. En aquesta tesi, s'analitza en detalls el comportament del nou métode en problemes 2D i 3D a partir de CT-scan i radiografies sintétiques i reals, centrant-se en tres classes de problemes. Aquestes inclouen la simulació d'ossos, la caracterització de materials a partir de TACs, per a la qual s'ha desenvolupat la cgFEM virtual characterisation technique, i l'anàlisi estructural de futurs implants, aprofitant la capacitat del cgFEM de combinar fàcilment imatges i models de CAD. / In silico medicine is believed to be one of the most disruptive changes in the near future. A great effort has been carried out during the last decade to develop predicting computational models to increase the diagnostic capabilities of medical doctors and the effectiveness of therapies. One of the key points of this revolution, will be personalisation, which means in most of the cases creating patient specific computational models, also called digital twins. This practice is currently wide-spread in research and there are quite a few software products in the market to obtain models from images. Nevertheless, in order to be usable in the clinical practice, these methods have to drastically reduce the time and human intervention required for the creation of the numerical models. This thesis focuses on the proposal of image-based Cartesian grid Finite Element Method (cgFEM), a technique to automatically obtain numerical models from images and carry out linear structural analyses of bone, implants or heterogeneous materials. In the method proposed in this thesis, after relating the image scale to corresponding elastic properties, all the pixel information will be used for the integration of the element stiffness matrices, which homogenise the elastic behaviour of the groups of pixels contained in each element. An initial uniform Cartesian mesh is h-adapted to the image characteristics by using an efficient refinement procedure which takes into account the local elastic properties associated to the pixel values. Doing so we avoid an excessive elastic property smoothing due to element integration in highly heterogeneous areas, but, nonetheless obtain final models with a reasonable number of degrees of freedom. The result of the process is non-conforming mesh in which C0 continuity is enforced via multipoint constraints at the hanging nodes. In contrast to the standard procedures for the creation of Finite Element models from images, which usually require a complete and watertight definition of the geometry and treat the result as a standard CAD, with cgFEM it is not necessary to define any geometrical entity, as the procedure proposed leads to an implicit definition of the boundaries. Nonetheless, they are straightforward to include in the model if necessary, such as smooth surfaces to impose the boundary conditions more precisely or CAD device volumes for the simulation of implants. As a consequence, the amount of human work required for the creation of the numerical models is drastically reduced. In this thesis, we analyse in detail the new method behaviour in 2D and 3D problems from CT-scans and X-ray images and synthetic images, focusing on three classes of problems. These include the simulation of bones, the material characterisation of solid foams from CT scans, for which we developed the cgFEM virtual characterisation technique, and the structural analysis of future implants, taking advantage of the capability of cgFEM to easily mix images and CAD models. / Giovannelli, L. (2018). Direct creation of patient-specific Finite Element models from medical images and preoperative prosthetic implant simulation using h-adaptive Cartesian grids [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/113644 / TESIS

Spotřeba a energetická efektivita se stává jedním z nejdůležitějších parametrů při návrhu počítačových systémů, zejména kvůli omezené kapacitě napájení u zařízení napájených bateriemi a velmi vysoké spotřebě energie rostoucích datacenter a cloudové infrastruktury. Současně jsou uživatelé ochotni do určité míry tolerovat nepřesné nebo chybné výpočty v roustoucím počtu aplikací díky nedokonalostem lidských smyslů, statistické povaze výpočtů, šumu ve vstupních datech apod. Přibližné počítání, nová oblast výzkumu v počítačovém inženýrství, využívá rozvolnění požadavků na funkčnost za účelem zvýšení efektivity počítačových systémů, pokud jde o spotřebu energie, výpočetní výkon či složitost. Aplikace tolerující chyby mohou být implementovány efektivněji a stále sloužit svému účelu se stejnou nebo mírně sníženou kvalitou. Ačkoli se objevují nové metody pro návrh přibližně počítajících výpočetních systémů, je stále nedostatek automatických návrhových metod, které by nabízely velké množství kompromisních řešení dané úlohy. Konvenční metody navíc často produkují řešení, která jsou daleko od optima. Evoluční algoritmy sice přinášejí inovativní řešení složitých optimalizačních a návrhových problémů, nicméně trpí několika nedostatky, např. nízkou škálovatelností či vysokým počtem generací nutných k dosažení konkurenceschopných výsledků. Pro přibližné počítání je vhodný zejména multikriteriální návrh, což existující metody většinou nepodporují. V této práci je představen nový automatický multikriteriální paralelní evoluční algoritmus pro návrh a aproximaci digitálních obvodů. Metoda je založena na kartézském genetickém programování, pro zvýšení škálovatelnosti byla navržena nová vysoce paralelizovaná implementace. Multikriteriální návrh byl založen na principech algoritmu NSGA-II. Výkonnost implementace byla vyhodnocena na několika různých úlohách, konkrétně při návrhu (přibližně počítajících) aritmetických obvodů, Booleovských funkcích s vysokou nelinearitou či přibližných logických obvodů pro tří-modulovou redundanci. V těchto úlohách bylo dosaženo význammých zlepšení ve srovnání se současnými metodami.

This diploma thesis deals with the use of Cartesian Genetic Programming (CGP) for combinational circuits design. The work addresses the issue of optimizaion of selected logic circuts, arithmetic adders and multipliers, using Cartesian Genetic Programming. The implementation of the CPG is performed in the Python programming language with the aid of NumPy, Numba and Pandas libraries. The method was tested on selected examples and the results were discussed.

The aim of this work is to automatically design a program that is able to detect dyskinetic movement features in the measured patient's movement data. The program will be developed using Cartesian genetic programming equipped with coevolution of fitness predictors. This type of coevolution allows to speed up a design performed by Cartesian genetic programming by evaluating a quality of candidate solutions using only a part of training data. Evolved classifier achieves a performance (in terms of AUC) that is comparable with the existing solution while achieving threefold acceleration of the learning process compared to the variant without the fitness predictors, in average. Experiments with crossover methods for fitness predictors haven't shown a significant difference between investigated methods. However, interesting results were obtained while investigating integer data types that are more suitable for implementation in hardware. Using an unsigned eight-bit data type (uint8_t) we've achieved not only comparable classification performance (for significant dyskinesia AUC = 0.93 the same as for the existing solutions), with improved AUC for walking patient's data (AUC = 0.80, while existing solutions AUC = 0.73), but also nine times speedup of the design process compared to the approach without fitness predictors employing the float data type, in average.

Tato diplomová práce se zabývá  aproximativní implementace aritmetických operací v obrazových filtrech. Zejména tedy využitím aproximativních technik pro úpravu způsobu násobení v netriviálním obrazovém filtru. K tomu je využito několik technik, jako použití převodu násobení s pohyblivou řadovou čárkou na násobení s pevnou řadovou čárkou, či využití evolučních algoritmů zejména kartézkého genetického programování pro vytvoření nových aproximovaných násobiček, které vykazují přijatelnou chybu, ale současně redukují výpočetní náročnost filtrace. Výsledkem jsou evolučně navržené aproximativní násobičky zohledňující distribuci dat v obrazovém filtru a jejich nasazení v obrazovém filtru a porovnání původního filtru s aproximovaným fitrem na sadě barevných obrázků.

From an overview of most commonly used kinematic conceptions of robotic manipulators, the conception of Cartesian robot was identified as the most suitable for the given task of colony picking. A control system consisting of two modular parts has been designed for the colony picking robot. ColonyCounter module is a set of image processing libraries for identification of microbial colonies in image data and precise localization of individual colonies. This has been achieved by combination of multiple methods, most importantly connected components labelling and Hough circular transform. The second module – ColonyPicker – utilizes output of ColonyCounter module to plan the picking and placing of colonies. Subsequently it controls the transfer process itself using an innovative task planning and executing system.

Cartesian genetic programming (CGP) is a form of genetic programming where candidate programs are represented in the form of directed acyclic graphs. It was shown that CGP can be accelerated using coevolution with a population of fitness predictors which are used to estimate the quality of candidate solutions. The major disadvantage of the coevolutionary approach is the necessity of performing many time-consuming experiments to determine the best size of the fitness predictor for the particular task. This project introduces a new fitness predictor representation with phenotype plasticity, based on the principles of colearning in evolutionary algorithms. Phenotype plasticity allows to derive various phenotypes from the same genotype. This allows to adapt the size of the predictors to the current state of the evolution and difficulty of the solved problem. The proposed algorithm was implemented in the C language and optimized using SSE2 and AVX2 vector instructions. The experimental results show that the resulting image filters are comparable with standard CGP in terms of filtering quality. The average speedup is 8.6 compared to standard CGP. The speed is comparable to standard coevolutionary CGP but it is not necessary to experimentally determine the best size of the fitness predictor while applying coevolution to a new, unknown task.