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This thesis presents a prototype system for generating animation control systems for isosurface-based characters that blurs the distinction between a skeletal rig and a particle system. Managing articulation and deformation set-up can be challenging for amorphous characters whose surface shape is defined at render time and can only be viewed as an approximation during the process of defining an animation performance. This prototype system utilizes conventional scripted techniques for defining animation control systems integrated with a graphical user interface that provides art directable control over surface contour, shape and silhouette for isosurface-based characters. Once animated, these characters can be rendered using Rendermans RIBlobby implementation and provide visual feedback of fluid motion tests. The prototype system fits naturally within common practices in digital character setup and provides the animator control over isosurface-based characters.

In the passing decades, the monitoring of pavements and passing vehicles was developed vigorously with the growth of information and sensing technology. Pavement monitoring is an essential part of pavement research and plays an important role in transportation system. At the same time, the monitoring system about the traffic, such as Weigh-in-Motion (WIM) system and traffic classification system, also attracted lots of attention because of their importance in traffic statistics and management. The monitoring system in this dissertation combines the monitoring for pavements and traffic together with the same sensing network. For pavement health monitoring purpose, the modulus of the asphalt layer can be back-calculated based on the collected mechanical responses under corresponding environmental conditions. At the same time, the actually strain and stress in pavements induced by each passing vehicle are also used for pavement distress prediction. For traffic monitoring purpose, the horizontal strain traces are analyzed with a Gaussian model to estimate the speed, wandering position, weight and classification of each passing vehicle. The whole system, including the sensing network and corresponding analysis method, can monitor the pavement and the traffic simultaneously, and is called transportation monitoring system. This system has a high efficiency because of its low cost and easy installation; multi-functionality to provide many important information of transportation system. Many related studies were made to improve the prototyped transportation monitoring system. With the assistance of numerical simulation software ABAQUS and 3D-Move, the effect of many loading and environmental conditions, including temperature, vehicle speed, tire configuration and inflation pressure, are taken into consideration. A method was set up to integrate data points from many tests of similar environmental and loading conditions based on Gaussian model. Another method for consistent comparison of variable field sensor data was developed. It was demonstrated that variation in field measurement was due to uncontrollable environmental and loading factors, which may be accounted for by using laboratory test and numerical simulation based corrections. / Ph. D.

To further improve performances of machine systems, mechatronics offers some opportunities. Traditionally, mechatronics deals with how to integrate mechanics and electronics without a systematic approach. This thesis generalizes the concept of mechatronics into a new concept called hybrid intelligent machine system. A hybrid intelligent machine system is a system where two or more elements combine to play at least one of the roles such as sensor, actuator, or control mechanism, and contribute to the system behaviour. The common feature with the hybrid intelligent machine system is thus the presence of two or more entities responsible for the system behaviour with each having its different strength complementary to the others. The hybrid intelligent machine system is further viewed from the systems structure, behaviour, function, and principle, which has led to the distinction of (1) the hybrid actuation system, (2) the hybrid motion system (mechanism), and (3) the hybrid control system. <p>This thesis describes a comprehensive study on three hybrid intelligent machine systems. In the case of the hybrid actuation system, the study has developed a control method for the true hybrid actuation configuration in which the constant velocity motor is not mimicked by the servomotor which is treated in literature. In the case of the hybrid motion system, the study has resulted in a novel mechanism structure based on the compliant mechanism which allows the micro- and macro-motions to be integrated within a common framework. It should be noted that the existing designs in literature all take a serial structure for micro- and macro-motions. In the case of hybrid control system, a novel family of control laws is developed, which is primarily based on the iterative learning of the previous driving torque (as a feedforward part) and various feedback control laws. This new family of control laws is rooted in the computer-torque-control (CTC) law with an off-line learned torque in replacement of an analytically formulated torque in the forward part of the CTC law. This thesis also presents the verification of these novel developments by both simulation and experiments. Simulation studies are presented for the hybrid actuation system and the hybrid motion system while experimental studies are carried out for the hybrid control system.

In the past, transportation related economic analysis has considered agency related costs only. However, transportation managers are moving towards more holistic economic analysis including road user and environmental costs and benefits. In particular, transportation air pollution is causing increasing harm to health and the environment. Transport managers are now considering related emissions in transport economical analyses, and have established strategies to help meet Kyoto Protocol targets, which specified a fifteen percent reduction in Canada's emissions related to 1990 levels within 2008-2012.<p>The objectives of this research are to model heavy vehicle emissions using a emissions computer model which is able to assess various transport applications, and help improve holistic economic transport modeling. Two case studies were evaluated with the model developed.<p>Firstly, the environmental benefits of deploying weigh-in-motion systems at weigh stations to pre-sort heavy vehicles and reduce delays were assessed. The second case study evaluates alternative truck sizes and road upgrades within short heavy oilfield haul in Western Canada. <p>The model developed herein employed a deterministic framework from a sensitivity analysis across independent variables, which identified the most sensitive variables to primary field state conditions. The variables found to be significant included idling time for the weigh-in-motion case study, road stiffness and road grades for the short heavy haul oilfield case study.<p>According to this research, employing WIM at weigh stations would reduce annual Canadian transportation CO₂ emissions by nearly 228 kilo tonnes, or 1.04 percent of the Canadian Kyoto Protocol targets. Regarding direct fuel savings, WIM would save from 90 to 190 million litres of fuel annually, or between $59 and $190 million of direct operating costs.<p>Regarding the short heavy oil haul case study, increasing allowable heavy vehicle sizes while upgrading roads could decrease the annual emissions, the fuel consumption, and their associated costs by an average of 68 percent. Therefore, this could reduce each rural Saskatchewan municipality's annual CO₂ emissions from 13 to 26.7-kilo tonnes, which translates to 0.06 and 0.12 percent of the Canadian Kyoto Protocol targets or between $544,000 and $ 1.1 million annually. <p>Based on these results, the model demonstrates its functionality, and was successfully applied to two typical transportation field state applications. The model generated emissions savings results that appear to be realistic, in terms of potential Kyoto targets, as well as users cost reductions and fuel savings.

To further improve performances of machine systems, mechatronics offers some opportunities. Traditionally, mechatronics deals with how to integrate mechanics and electronics without a systematic approach. This thesis generalizes the concept of mechatronics into a new concept called hybrid intelligent machine system. A hybrid intelligent machine system is a system where two or more elements combine to play at least one of the roles such as sensor, actuator, or control mechanism, and contribute to the system behaviour. The common feature with the hybrid intelligent machine system is thus the presence of two or more entities responsible for the system behaviour with each having its different strength complementary to the others. The hybrid intelligent machine system is further viewed from the systems structure, behaviour, function, and principle, which has led to the distinction of (1) the hybrid actuation system, (2) the hybrid motion system (mechanism), and (3) the hybrid control system. <p>This thesis describes a comprehensive study on three hybrid intelligent machine systems. In the case of the hybrid actuation system, the study has developed a control method for the true hybrid actuation configuration in which the constant velocity motor is not mimicked by the servomotor which is treated in literature. In the case of the hybrid motion system, the study has resulted in a novel mechanism structure based on the compliant mechanism which allows the micro- and macro-motions to be integrated within a common framework. It should be noted that the existing designs in literature all take a serial structure for micro- and macro-motions. In the case of hybrid control system, a novel family of control laws is developed, which is primarily based on the iterative learning of the previous driving torque (as a feedforward part) and various feedback control laws. This new family of control laws is rooted in the computer-torque-control (CTC) law with an off-line learned torque in replacement of an analytically formulated torque in the forward part of the CTC law. This thesis also presents the verification of these novel developments by both simulation and experiments. Simulation studies are presented for the hybrid actuation system and the hybrid motion system while experimental studies are carried out for the hybrid control system.

In the past, transportation related economic analysis has considered agency related costs only. However, transportation managers are moving towards more holistic economic analysis including road user and environmental costs and benefits. In particular, transportation air pollution is causing increasing harm to health and the environment. Transport managers are now considering related emissions in transport economical analyses, and have established strategies to help meet Kyoto Protocol targets, which specified a fifteen percent reduction in Canada's emissions related to 1990 levels within 2008-2012.<p>The objectives of this research are to model heavy vehicle emissions using a emissions computer model which is able to assess various transport applications, and help improve holistic economic transport modeling. Two case studies were evaluated with the model developed.<p>Firstly, the environmental benefits of deploying weigh-in-motion systems at weigh stations to pre-sort heavy vehicles and reduce delays were assessed. The second case study evaluates alternative truck sizes and road upgrades within short heavy oilfield haul in Western Canada. <p>The model developed herein employed a deterministic framework from a sensitivity analysis across independent variables, which identified the most sensitive variables to primary field state conditions. The variables found to be significant included idling time for the weigh-in-motion case study, road stiffness and road grades for the short heavy haul oilfield case study.<p>According to this research, employing WIM at weigh stations would reduce annual Canadian transportation CO₂ emissions by nearly 228 kilo tonnes, or 1.04 percent of the Canadian Kyoto Protocol targets. Regarding direct fuel savings, WIM would save from 90 to 190 million litres of fuel annually, or between $59 and $190 million of direct operating costs.<p>Regarding the short heavy oil haul case study, increasing allowable heavy vehicle sizes while upgrading roads could decrease the annual emissions, the fuel consumption, and their associated costs by an average of 68 percent. Therefore, this could reduce each rural Saskatchewan municipality's annual CO₂ emissions from 13 to 26.7-kilo tonnes, which translates to 0.06 and 0.12 percent of the Canadian Kyoto Protocol targets or between $544,000 and $ 1.1 million annually. <p>Based on these results, the model demonstrates its functionality, and was successfully applied to two typical transportation field state applications. The model generated emissions savings results that appear to be realistic, in terms of potential Kyoto targets, as well as users cost reductions and fuel savings.

Current production methods for creating a motion system for a deformable digital character model involve providing an underlying joint structure based o of a T-Pose, A-Pose or another arbitrary bind pose of the character. A bind pose is required to establish the skeleton-to-geometry spatial relationship that will be used as a mathematical reference to determine geometry deformations in animated poses. Using a set of human motion capture performances as input animation, the impact of the standard T-Pose and A-Pose on the stretching and compression of human character model geometry is compared relative to novel mean poses derived from each performance. Results demonstrate that using an averaged joint position of each specific performance as the bind pose for the performance reduces the overall deformation of the model. Appropriate applications of the mean pose as a bind pose could impact the resources required to repair deformation artifacts in animated deformable digital characters.

This thesis describes a system which is able to track and imitate human motion. The system is divided into two major parts: computer vision system and robot arm motion control system. Through the use of two real-time video cameras, computer vision system identifies the moving object depending on the colour features, as the object colour is matched within the colour range in the current image frame, a method that employs two vectors is used to calculate the coordinates of the object. After the object is detected and tracked coordinates are saved to a pre-establish database in the purpose of further data processing, a mathematical algorithm is performed to the data in order to give a better robotic motion control. Robot arm manipulator responds with a move within its workspace which corresponds to a consequential human-type motion. Experimental outcomes have shown that the system is reliable and can successfully imitate a human hand motion in most cases.