[pt] Este trabalho apresenta um ambiente computacional para modelagem geométrica aplicada à análise por elementos finitos usando multi-regiões e superfícies paramétricas representadas por NURBS. O principal objetivo é gerar modelos 3D para serem usados em simulações numéricas baseadas no Método de Elementos Finitos (MEF). Nessa proposta, a metodologia adotada consiste na combinação de alguns aspectos da modelagem geométrica tais como a detecção automática de regiões e a interseção de superfícies com geração de malhas de elementos finitos. No contexto da programação orientada a objetos, uma nova organização de classes para o modelador geométrico usado neste trabalho, denominado MG, é apresentada. Essa organização de classes permite a implementação do ambiente proposto, mantendo a interface com o usuário tão simples e eficiente quanto à versão original. A organização de classes também provê suporte para a geração de modelos usados em análise por elementos finitos. Enquanto as malhas de elementos finitos requeridas para simulações numéricas são geradas por algoritmos específicos implementados no modelador MG, os atributos são gerenciados por um sistema, denominado ESAM (Extensible System Attributes Management), que também é incorporado ao MG. Esse sistema permite que os atributos do modelador MG sejam configurados para o uso em diversos tipos de problemas de engenharia. A estrutura de dados usada neste ambiente é representada por um enfoque híbrido baseado na combinação de uma representação CGC (Complete Geometric Complex) do modelo e na estrutura de dados estendida do modelador MG. Além disso, a determinação da interseção de superfícies é realizada usando um algoritmo implementado no MG, enquanto que a representação CGC é responsável pelo reconhecimento de multi-regiões. O algoritmo de interseção de superfícies é modificado para tratar casos especiais não considerados na sua versão original. / [en] This work presents a computational environment for geometric modeling applied to finite-element analysis using multi-regions and parametric surfaces represented as NURBS. The main goal is to generate 3D models to be used in numerical simulations based on the Finite-Element Method (FEM). For this purpose, the adopted methodology consists of combining some aspects of geometric modeling, such as automatic region detection and surface intersection, with finite-element mesh generation. In the context of Object-Oriented Programming, a new class organization for the geometric modeler used in this work, called MG (Mesh Generation), is presented. This class organization allows the implementation of the proposed environment, keeping the user interface as simple and efficient as in the original version of the MG modeler. The proposed class organization also provides support for the generation of models used in finite-element analysis. While the finite-element meshes required for the numerical simulations are generated by specific algorithms implemented in MG, the attributes are managed by a system called ESAM (Extensible System Attributes Management), which also is incorporated into MG. This system allows the customization of simulation attributes in the MG modeler for use in different types of Engineering problems. The data structure used in this environment is represented by a hybrid approach based on the combination of a CGC (Complete Geometric Complex) representation and the MG`s data structure, which has been extended for this purpose. Moreover, the computation of surface intersections is accomplished by using an algorithm implemented in the MG, while the CGC representation is responsible for multi-region recognition. The surface-intersection algorithm has been modified in order to handle special cases that have not been treated in the original version.

[pt] Apresenta-se uma metodologia para modelagem de cascas para elementos finitos definidas em superfícies paramétricas. A metodologia consiste na criação de curvas e geração de malhas sobre os retalhos paramétricos constru´ıdos com base nestas curvas, que também são usadas para a conexão de malhas adjacentes. O modelo final é uma representação de todas as malhas combinadas em uma única estrutura de dados. As ferramentas básicas para geração de tais malhas são uma interface para modelagem de curvas espaciais e os algoritmos geom´etricos para construcão de mapeamentos nos domínios elementares. O problema central em modelagens compostas é o tratamento dado às malhas em superfícies que se interceptam. Um algoritmo capaz de modelar com precisão as curvas de interseção e de ajustar as duas malhas para as novas restrições geradas é apresentado neste trabalho. O algoritmo é parte de um programa completo para modelagem interativa de cascas, que tem sido usado no projeto de grandes sistemas flutuantes para explotação de petróleo em águas profundas. O uso de uma variante da estrutura de dados DCEL, que usa árvores de ordenação espacial para armazenar as entidades topol´ogicas ao invés de listas ou vetores, permite que malhas bastante refinadas sejam reconstru´ıdas em tempo compatível com o trabalho interativo. Estas árvores aceleram os cálculos de interseção necessários à determinação dos pontos de interpolação das curvas de trimming, permitindo tamb´em a reconstrução das malhas usando-se apenas consultas locais. / [en] We present a methodology for modeling finite-element meshes defined on parametric surface patches. The idea is to build curves and generate meshes over the parametric patches built with these curves, which also connect adjacent meshes. The final model is a representation of all meshes combined into a single data structure. The basic tools to generate such meshes are the user interface to model space curves and the geometric algorithms to construct the elementary domain mappings. The main problem in composite modeling is how to handle mesh surfaces that intersect each other. We present an algorithm that models the intersection curves precisely and adjusts both meshes to the newly formed borders. The algorithm is part of an interactive shell modeling program, which has been used in the design of large offshore oil structures. We avoid unacceptable interaction delays by using a variant of the DCEL data structure that stores topological entities in spatial indexing trees instead of linked lists. These trees speed up the intersection computations required to determine points of the trimming curves, and also allows mesh reconstruction using only local queries.

[pt] A geração de malhas geomecânicas de reservatórios ainda é uma tarefa tediosa que consome muito tempo. Para acelerar este processo, soluções que reconstroem analiticamente a geometria do reservatório têm sido propostas, mas essas soluções não são as mais adequadas para modelagem de objetos naturais. Este trabalho propõe uma modelagem discreta para a geometria do reservatório, onde os vértices da malha são posicionados por meio da solução de um problema de otimização quadrático e convexo. O problema de otimização é modelado de forma a garantir que as malhas geomecânicas de saída sejam suaves e que ao mesmo tempo respeitem as restrições do reservatório e dos horizontes presentes. Além disso, a metodologia proposta permite uma implementação eficiente, paralelizável e de baixo consumo de memória. Casos de teste com milhões de variáveis são apresentados para validar essa abordagem. Finalmente, a metodologia proposta neste trabalho para malhas de geomecânica pode ser naturalmente estendida para a modelagem estrutural de sub-superfícies na interpretação sísmica e de restauração geológica. / [en] Geomechanical mesh generation of complex reservoirs remains a tedious task prone to errors. Recently proposed solutions based on analytical reconstruction of the sub-surfaces are not capable to represent all the geometric details of natural objects. This work proposes a discrete model where the mesh vertices are positioned based on a convex quadratic optimization process. The optimization problem seeks to guarantee smooth meshes that conform with prescribed constraints. The resulting mesh therefore respects, as far as possible, the finite volume mesh of the reservoir pay zone and the existing horizons. Finally, the proposed methodology for Geomechanical meshes can be easily extend to model sub-surfaces present in the structural interpretation and geological restauration.

La maquette numérique d'un produit occupe une position centrale dans le processus de développement de produit. Elle est utilisée comme représentation de référence des produits, en définissant la forme géométrique de chaque composant, ainsi que les représentations simplifiées des liaisons entre composants. Toutefois, les observations montrent que ce modèle géométrique n'est qu'une représentation simplifiée du produit réel. De plus, et grâce à son rôle clé, la maquette numérique est de plus en plus utilisée pour structurer les informations non-géométriques qui sont ensuite utilisées dans diverses étapes du processus de développement de produits. Une demande importante est d'accéder aux informations fonctionnelles à différents niveaux de la représentation géométrique d'un assemblage. Ces informations fonctionnelles s'avèrent essentielles pour préparer des analyses éléments finis. Dans ce travail, nous proposons une méthode automatisée afin d'enrichir le modèle géométrique extrait d'une maquette numérique avec les informations fonctionnelles nécessaires pour la préparation d'un modèle de simulation par éléments finis. Les pratiques industrielles et les représentations géométriques simplifiées sont prises en compte lors de l'interprétation d'un modèle purement géométrique qui constitue le point de départ de la méthode proposée. / The digital mock-up (DMU) of a product has taken a central position in the product development process (PDP). It provides the geometric reference of the product assembly, as it defines the shape of each individual component, as well as the way components are put together. However, observations show that this geometric model is no more than a conventional representation of what the real product is. Additionally, and because of its pivotal role, the DMU is more and more required to provide information beyond mere geometry to be used in different stages of the PDP. An increasingly urging demand is functional information at different levels of the geometric representation of the assembly. This information is shown to be essential in phases such as geometric pre-processing for finite element analysis (FEA) purposes. In this work, an automated method is put forward that enriches a geometric model, which is the product DMU, with function information needed for FEA preparations. To this end, the initial geometry is restructured at different levels according to functional annotation needs. Prevailing industrial practices and representation conventions are taken into account in order to functionally interpret the pure geometric model that provides a start point to the proposed method.

Made available in DSpace on 2014-12-17T13:56:53Z (GMT). No. of bitstreams: 1 FernandoJMC_TESE.pdf: 4090837 bytes, checksum: c86bb775317f1faa46b14511be554257 (MD5) Previous issue date: 2013-03-02 / In the teaching practice of architecture and urbanism in Brazil, educational legislation views modeling laboratories and workshops as an indispensable component of the infrastructure required for the good functioning of any architectural course of study. Although the development of information technology at the international level has created new possibilities for digital production of architectural models, research in this field being underway since the early 1990s, it is only from 2007 onwards that such technologies started to be incorporated into the teaching activity of architecture and urbanism in Brazil, through the pioneering experience at LAPAC/FEC/UNICAMP. It is therefore a recent experiment whose challenges can be highlighted through the following examples: (i) The implementation of digital prototyping laboratories in undergraduate courses of architecture and urbanism is still rare in Brazil; (ii) As a new developing field with few references and application to undergraduate programs, it is hard to define methodological procedures suitable for the pedagogical curricula already implemented or which have already been consolidated over the years; (iii) The new digital ways for producing tridimensional models are marked with specificities which make it difficult to fit them within the existing structures of model laboratories and workshops. Considering the above, the present thesis discusses the tridimensional model as a tool which may contribute to the development of students skills in perceiving, understanding and representing tridimensional space. Analysis is made of the relation between different forms of models and the teaching of architectural project, with emphasis on the design process. Starting from the conceptualization of the word model as it is used in architecture and urbanism, an attempt is made to identify types of tridimensional models used in the process of project conception, both through the traditional, manual way of model construction as well as through the digital ones. There is also an explanation on how new technologies for digital production of models through prototyping are being introduced in undergraduate academic programs of architecture and urbanism in Brazil, as well as a review of recent academic publications in this area. Based on the paradigm of reflective practice in teaching as designed by Sch?n (2000), the experiment applied in the research was undertaken in the integrated workshop courses of architectural project in the undergraduate program of architecture and urbanism at Universidade Federal do Rio Grande do Norte. Along the experiment, physical modeling, geometric modeling and digital prototyping are used in distinct moments of the design process with the purpose of observing the suitability of each model to the project s phases. The procedures used in the experiments are very close to the Action Research methodology in which the main purpose is the production of theoretical knowledge by improving the practice. The process was repeated during three consecutive semesters and reflection on the results which were achieved in each cycle helped enhancing the next one. As a result, a methodological procedure is proposed which consists of the definition of the Tridimensional Model as the integrating element for the contents studied in a specific academic period or semester. The teaching of Architectural Project as it is developed along the fifth academic period of the Architecture and Urbanism undergraduate program of UFRN is taken as a reference / Na pr?tica do ensino de Arquitetura e Urbanismo no Brasil, verifica-se a exist?ncia de laborat?rios e oficinas de maquetes, reconhecidas pela legisla??o educacional como parte da infraestrutura necess?ria para o funcionamento de um curso. Embora a evolu??o da tecnologia da informa??o no ?mbito internacional disponibilize novas possibilidades para a produ??o digital de maquetes e modelos de Arquitetura com pesquisas produzidas desde o in?cio da d?cada de 1990, no Brasil essas tecnologias s? come?aram a ser apropriadas pelo ensino de Arquitetura e Urbanismo a partir de 2007 com a experi?ncia pioneira do LAPAC/FEC/UNICAMP. Trata-se, portanto de uma experi?ncia recente e que evidencia a desafios. Por exemplo: (i) s?o raros os casos de implanta??o de laborat?rios de prototipagem digital em cursos de Arquitetura e Urbanismo no Pa?s; (ii) por ser um campo em desenvolvimento com poucas refer?ncias de aplica??es na gradua??o, h? dificuldades na defini??o de procedimentos metodol?gicos que sejam adequados aos projetos pedag?gicos j? implantados e consolidados; (iii) as novas formas digitais de produ??o de modelos tridimensionais cont?m especificidades que dificultam a compatibiliza??o com as estruturas de laborat?rios e oficinas de maquetes j? existentes. Considerando o exposto, na presente tese se discute o modelo tridimensional como instrumento auxiliar no desenvolvimento da capacidade do estudante de perceber, compreender e representar o espa?o tridimensional. Analisa-se a rela??o entre diferentes formas de modelos e o ensino de projeto de Arquitetura e Urbanismo com interesse no processo projetual. Partindo da conceitua??o do modelo em Arquitetura e Urbanismo, busca-se identificar os tipos de modelos tridimensionais utilizados no processo de elabora??o do projeto, tanto nas formas tradicionais de constru??o manual de maquetes e modelos quanto nos meios digitais. Procura-se conhecer como as novas tecnologias para a produ??o digital de modelos por meio da prototipagem digital est?o sendo introduzidas nos cursos de gradua??o de Arquitetura e Urbanismo no Brasil, assim como a produ??o acad?mica recente na ?rea. Considerando o paradigma do ensino pr?tico reflexivo concebido por Sch?n (2000), o experimento realizado na pesquisa tem como ambiente de estudo o ateli? integrado de projeto do Curso de Arquitetura e Urbanismo da Universidade Federal do Rio Grande do Norte. No experimento a Modelagem f?sica, a Modelagem Geom?trica e a Prototipagem Digital s?o inseridas em momentos do processo do projeto com o objetivo de se observar a adequa??o do modelo ?s fases do projeto. A metodologia empregada nos experimentos muito se aproxima da Pesquisa A??o na qual o alvo principal ? a cria??o de conhecimento te?rico com o aprimoramento da pr?tica. O processo se repetiu por tr?s semestres consecutivos e a reflex?o sobre os resultados alcan?ados em cada ciclo forneceram subs?dios para aprimoramento no seguinte. Como resultado prop?e-se um procedimento metodol?gico no qual o Modelo Tridimensional constitui elemento integrador de conte?dos desenvolvidos em um per?odo curricular, tendo como refer?ncia o ensino de Projeto Arquitet?nico e Urban?stico no quinto per?odo do Curso de Arquitetura e Urbanismo da UFRN

[pt] Este trabalho surgiu da seguinte observação: os clássicos algoritmos de busca em 2d-tree começam da raiz para acessar dados armazenados nas folhas. Entretanto, como as folhas são os nós mais distantes da raiz, por que começar as buscas pela raiz? Com representações clássicas de 2d-trees, não existe outra forma de acessar uma folha. Existem 2d- trees, porém, que permitem acessar em tempo constante qualquer nó, dado sua posição e seu nível. Para o algoritmo de busca, a posição é conhecida, mas o nível não. Para estimar o nível de um nó qualquer, um método de otimização estatística do custo médio das buscas é proposto. Como os piores custos de busca são obtidos quando se começa da raiz, este método melhora ambos: o consumo de memória pelo uso de 2d-trees que permitem acessar em tempo constante qualquer nó, e o tempo de execução através da otimização proposta. / [en] This work emerged from the following observation: usual search procedures for 2d-trees start from the root to retrieve the data stored at the leaves. But since the leaves are the farthest nodes to the root, why start from the root? With usual 2d-trees representations, there is no other way to access a leaf. However, there exist 2d-trees which allow accessing any node in constant time, given its position in space and its depth in the 2d-tree. Search procedures take the position as an input, but the depth remains unknown. To estimate the depth of an arbitrary node a statistical optimization of the average cost for the search procedures is introduced. Since the highest costs of these algorithms are obtained when starting from the root, this method improves on both, the memory footprint by the use of 2d-trees which allow accessing any node in constant time, and execution time through the proposed optimization.

Orientadores: Hugo Enrique Hernández-Figueroa, Marli de Freitas Gomes Hernández / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação / Made available in DSpace on 2018-08-17T00:31:12Z (GMT). No. of bitstreams: 1 Freitas_IgorJoseFerreirade_M.pdf: 3550643 bytes, checksum: 47f42ac96909895e588fe72ae8cc8449 (MD5) Previous issue date: 2010 / Resumo: Este trabalho tem por objetivo desenvolver os estágios de Pré e Pós-processamento de um pacote de simulação eletromagnética, batizado de SSAR-BR, e também de um ambiente de grades computacionais que permitirá a resolução de problemas eletromagnéticos de grande porte. O estágio de processamento já foi desenvolvido como parte de uma tese de doutorado pertencente ao grupo de pesquisa deste departamento e se baseia no método das Diferenças Finitas no Domínio do Tempo (FDTD). O estágio de Pré-Processamento envolve um modelador básico de duas e três dimensões para modelagem geométrica de dispositivos de telecomunicações (fontes radiantes, terminais móveis e antenas) e modelos biológicos (partes do corpo humano e cobaias). O estágio de Pós-Processamento, por outro lado, permite visualizar os resultados das simulações eletromagnéticas executadas, através de gráficos em duas e três dimensões. Estes dois estágios já foram desenvolvidos nas linguagens Java e OpenGL. O ambiente computacional paralelo está baseado no conceito de Grade Computacional (do inglês Grid), isto é, numa infra-estrutura de software e hardware que visa à integração de recursos computacionais geograficamente dispersos, interconectados através de uma rede, com o objetivo de compartilhar tais recursos sob determinadas políticas de acesso, formando um ambiente computacional escalável, de baixo custo e de alto desempenho. A camada de software localizada entre a aplicação do usuário e o sistema operacional responsável por controlar o acesso aos recursos da Grade Computacional, é chamada de middleware. O middleware adotado é o UNICORE 6, que se caracteriza por fornecer acesso aos recursos da Grade Computacional de forma transparente e segura, seguindo padrões abertos definidos pela comunidade OGF (Open Grid Forum / Abstract: The aim of this work is to develop the Pre and Post-Processing stages from an electromagnetic simulation suite, called SSAR-BR, and also a grid computational environment, which permits the execution of large electromagnetic problems. The processing stage, based in the Finite Difference Time Domain (FDTD) method, has been already developed as part of a doctorate thesis made by a researcher from this department. The Pre-processing stage involves a fundamental modeling tool capable to model telecommunications devices (radiant sources, mobile terminals and antennas) and biological models (human body parts and guinea-pig). On the other hand, the Post-Processing stage permits visualizing the electromagnetic simulations results in a two and three dimensions way. Both stages were developed in Java and OpenGL languages. The parallel computational environment is based on Grid Computing paradigm which consists in software and hardware infra-structure that integrates dispersed computational resources interconnected across a network. Its purpose is to share such resources under an access control policy and establishing a scalable, low-cost and high performance computational environment. The middleware is the layer between the user and operation systems responsible to manage the Grid resources and, for this work, the UNICORE 6 was adopted. The mainly reasons were its safe and transparent access to the distributed environment and, most important, it follows the open patterns from OGF (Open Grid Forum) community / Mestrado / Telecomunicações e Telemática / Mestre em Engenharia Elétrica

Suivant le domaine où on les sollicite, les solutions d’un système de contraintes géométriques (SCG) peuvent être : – formelles et exactes : elles prennent par exemple la forme d’un plan de construction produisant toutes les solutions, obtenu en appliquant des règles dérivées de lemmes de géométrie. Beaucoup de SCG, surtout en 3D, résistent à cette approche ; – numériques et approchées : elles sont les solutions d’un système d’équations construit à partir des contraintes et trouvées grâce à des méthodes numériques efficaces quand elles ne recherchent qu’une solution. De par la nature des problèmes traités, chercher toutes les solutions conduit à une complexité exponentielle. Les méthodes par continuation, ou homotopie, permettent d’obtenir toutes les solutions d’un système d’équations polynomiales. Leur application à des SCG est coûteuse et difficilement sujette aux raisonnements permis par l’origine géométrique du problème car elles opèrent hors de l’espace des figures géométriques. Notre travail a pour objet la spécialisation d’une méthode par continuation à des SCG. La géométrie simplifie et justifie sa mise en œuvre dans l’espace des figures, ou des raisonnements géométriques sont possibles. On aborde également les cas ou l’ensemble de solutions d’un problème contient des éléments isolés et des continuums. Des solutions proches d’une esquisse fournie par un utilisateur sont d’abord trouvées. La recherche d’autres solutions, malgré sa complexité exponentielle, est rendue envisageable par une approche itérative. Une nouvelle méthode de décomposition est proposée pour maîtriser le coût de la résolution. / Depending on the required application field, the solutions of a geometric constraints system (GCS) are either : – symbolic and exact such as construction plans, providing all the solutions, obtained by applying geometric rules. Many problems, mostly in a 3D context, resist to this approach ; – or numerical and approximated : they are the solutions of a system of equations built from the constraints, provided by generical numerical methods that are efficient when only one solution is sought. However, searching all the solutions leads to an exponential computation cost, due to the nature of problems. Continuation methods, also called homotopic methods, find all the solutions of a polynomial system. Using them to solve systems of equations associated to systems of constraints is nevertheless costly. Moreover, combining them with geometric reasoning is a challenge, because they act in a projective complex space and not in the realizations space. The aim of this work is to specialize a continuation method to GCS. Geometry is exploited to simplify and justify its adaptation in the space of realizations, so allowing geometric reasoning. Cases where the connected components of the solution space of a problem have heterogeneous dimensions are addressed. The method discussed here provides in a first step solutions that are similar to a sketch drawn by the user. Then a procedure is proposed to search new solutions. Its iterative nature seems to make the exponential complexity of this task bearable. A new decomposition method is proposed, that restrains the resolution cost.

Les maillages volumiques sont très répandus en informatique graphique, en visualisation scientifique et en calcul numérique. Des opérations de subdivision, de simplification ou de remaillage sont parfois utilisées afin d’accélérer les traitements sur ces maillages. Afin de maîtriser la complexité de l’objet et des traitements numériques qui lui sont appliqués, une solution consiste alors à le représenter à différentes échelles. Les modèles existants sont conçus pour des approches spécifiques rendant leur utilisation limitée aux applications pour lesquelles ils ont été pensés. Nos travaux de recherche présentent un nouveau modèle pour la représentation de maillages multirésolutions en dimension quelconque basé sur le formalisme des cartes combinatoires. Nous avons d’abord appliqué notre modèle aux volumes de subdivision multirésolutions. Dans ce cadre, nous présentons plusieurs algorithmes de raffinement d’un maillage grossier initial. Ces algorithmes supportent des hiérarchies obtenues par subdivision régulière et adaptative. Nous proposons ensuite deux représentations, opposés en terme de coût spatial et temporel, pour ce modèle. / Volume meshes are widespread in computer graphics, scientific visualization and numerical computation. Subdivision, simplification or remeshing operations are sometimes used to speed up processing of these meshes. A solution to manage the complexity of the object and numerical processing applied to it consist in presenting this object at different scales. Nevertheless, existing models are designed for specific approaches making them limited to applications for which they were designed. Our research work present a new model for the representation of multiresolution meshes in any dimension based on the combinatorial maps model. We first applied our model to the multiresolution subdivision volumes. In this framework, we present several refinement algorithms of an initial coarse mesh. These algorithms support hierarchies obtained by regular and adaptive subdivision. Finally, we propose two representations, opposed in term of time and space complexity, of this model.

Ce travail de thèse porte sur la modélisation dynamique 3D du rein et le suivi d’une tumeur de cet organe. Il s’inscrit dans le projet KiTT (Kidney Tumor Tracking) qui regroupe des chercheurs issus de plusieurs domaines : la modélisation géométrique, la radiologie et l’urologie. Le cadre de cette thèse suit une tendance de mini-invasivité des gestes chirurgicaux observée ces dernières années (HIFU, coelioscopie). Sa finalité est d’aboutir à un nouveau protocole de destruction de tumeurs rénales totalement non-invasif, par la diffusion d’agents physiques (ondes d’ultrasons) à travers la peau et focalisés sur la tumeur. Devant le mouvement et la déformation que le rein présente au cours du cycle respiratoire, la problématique de ces travaux de recherche est de connaître en permanence la position de la tumeur afin d’ajuster à moyen terme la diffusion des ondes en conséquence. / This Ph.D. thesis deals with the 3D dynamic modeling of the kidney and tracking a tumor of this organ. It is in line with the KiTT project (Kidney Tumor Tracking) which gathers researchers from different fileds: geometric modeling, radiology and urology. This work arised from the tendency of nowadays surgical gestures to be less and less invasive (HIFU, coelioscopy). Its goal is to result in a totally non-invasive protocol of kidney tumors eradication by transmitting ultrasound waves through the skin without breaking in it. As the kidney presents motions and deformations during the breathing phase, the main issue is to know the kidney and tumor positions at any time in order to adjust the waves accordingly.