Nous proposons dans cette thèse une nouvelle approche cumulative de recalage d'images basée sur des primitives construites à partir des lignes de niveaux. Les lignes de niveaux sont invariantes par rapport aux diverses perturbations affectant l'image tels que les changements de contraste. Par ailleurs, leur abondance dans une image suggère naturellement un processus de décision cumulatif. Nous proposons alors un algorithme récursif d'extraction des lignes de niveaux simple et efficace qui extrait les lignes par groupes rectiligne appelés ``segments''. Les segments sont ensuite groupés -- sous contrainte de proximité -- en fonction du modèle de transformation recherchée et afin de faciliter le calcul des invariants. Les primitives construites ont alors la forme de Z, Y ou W et sont classées en fonction de leur fiabilité, ce qui participe au paramétrage du processus de décision cumulatif. Le vote est multi-tours et constitué d'une phase préliminaire de construction de listes de préférences inspiré de la technique des mariages stables. Les primitives votent à une itération donnée en fonction de leur fiabilité. Chaque itération fournit ainsi un estimé de la transformation recherchée que le tour suivant peut raffiner. Ce procédé multi-tours permet, de ce fait, d'éliminer les ambiguïtés d'appariement générées par les motifs répétitifs présents dans les images. Notre approche a été validée pour recaler des images sous différents modèles de transformations allant de la plus simple (similarité) à la plus complexe (projective). Nous montrons dans cette thèse comment le choix pertinent de primitives basées sur les lignes de niveaux en conjonction avec un processus de décision cumulatif permet d'obtenir une méthode de recalage d'images robuste, générique et complète, fournissant alors différents niveaux de précision et pouvant ainsi s'appliquer à différents contextes. / In this thesis, we propose a new image registration method that relies on level-line primitives. Level-lines are robust towards contrast changes and proposed primitives inherit their robustness. Moreover, their abundance in the image is well adapted to a cumulative matching process based on a multi-stage primitive election procedure. We propose a simple recursive tracking algorithm to extract level lines by straight sets called "segments". Segments are then grouped under proximity constraints to construct primitives (Z, Y and W shapes) that are classified into categories according to their reliability. Primitive shapes are defined according to the transformation model. The cumulative process is based on a preliminary step of preference lists construction that is inspired from the stable marriage matching algorithm. Primitives vote in a given voting stage according to their reliability. Each stage provides a coarse estimate of the transformation that the next stage gets to refine. This process, in turn, eliminate gradually the ambiguity happened by incorrect correspondences. Our additional contribution is to validate further geometric transformations, from simple to complex ones, completing the path "similarity, affine, projective". We show in this thesis how the choice of level lines in conjunction with a cumulative decision process allows defining a complete robust registration approach that is tested and evaluated on several real image sequences including different type of transformations.

Intraocular lenses (IOLs) provide distance and near refraction and are becoming the standard for cataract surgery. Multifocal glasses increase the variability of toe clearance in older adults navigating stairs and increase fall risk; however, little is known about the biomechanics of stair navigation in individuals with multifocal IOLs. This study compared clearance while ascending and descending stairs in individuals with monofocal versus multifocal IOLs. Eight participants with multifocal IOLs (4 men, 4 women; mean age = 66.5 yr, standard deviation [SD] = 6.26) and fifteen male participants with monofocal IOLs (mean age = 69.9 yr, SD = 6.9) underwent vision and mobility testing. Motion analysis recorded kinematic and custom software-calculated clearances in three-dimensional space. No significant differences were found between groups on minimum clearance or variability. Clearance differed for ascending versus descending stairs: the first step onto the stair had the greatest toe clearance during ascent, whereas the final step to the floor had the greatest heel clearance during descent. This preliminary study indicates that multifocal IOLs have similar biomechanic characteristics to monofocal IOLs. Given that step characteristics are related to fall risk, we can speculate that multifocal IOLs carry no additional fall risk.

In this study, accurate target tracking for bearings-only tracking problem is investigated. A new tracking filter for this nonlinear problem is designed where both range parameterization and Rao-Blackwellized (marginalized) particle filtering techniques are used in a Gaussian mixture formulation to track both constant velocity and maneuvering targets. The idea of using target turn rate in the state equation in such a way that marginalization is possible is elaborated. Addition to nonlinear nature, unobservability is a major problem of bearings-only tracking. Observer trajectory generation to increase the observability of the bearings-only tracking problem is studied. Novel formulation of observability measures based on mutual information between the state and the measurement sequences are derived for the problem. These measures are used as objective functions to improve observability. Based on the results obtained better understanding of the required observer trajectory for accurate bearings-only target tracking is developed.

Estimating human motion is the topic of this thesis. We are interested in accurately estimating the motion of a human body using only video images capturing the subject in motion. Video images from up to two cameras are considered. The first main topic of the thesis is to investigate a new type of input data. This data consists of some sort of texture. This texture can be added to the human body segment under study or it can be the actual texture of the skin. In paper I we investigate if added texture together with the use of a two camera system can provide enough information to make it possible to estimate the knee joint center location. Evaluation is made using a marker based system that is run in parallel to the two camera video system. The results from this investigation show promise for the use of texture. The marker and texture based estimates differ in absolute values but the variations are similar indicating that texture is in fact usable for this purpose. In paper II and III we investigate further the usability in images of skin texture as input for motion estimation. Paper II approaches the problem of estimating human limb motion in the image plane. An image histogram based mutual information criterion is used to decide if an extracted image patch from frame k is a good match to some location in frame k+1. Eval- uation is again performed using a marker based system synchronized to the video stream. The results are very promising for the application of skin texture based motion estimation in 2D. In paper III, basically the same approach is taken as in paper II with the substantial difference that here estimation of three dimensional motion is addressed. Two video cameras are used and the image patch matching is performed both between cameras (inter-camera) in frame k and also in each cameras images (intra-camera) for frame k to k+1. The inter-camera matches yield triangulated three dimensional estimates on the approximate surface of the skin. The intra-camera matches provide a way to connect the three dimensional points between frame k and k+1 The resulting one step three dimensional trajectories are then used to estimate rigid body motion using least squares methods. The results show that there is still some work to be done before this texture based method can be an alternative to the marker based methods. In paper IV the second main topic of the thesis is discussed. Here we present an investigation in using model based techniques for the purpose of estimating human motion. A kinematic model of the thigh and shank segments are built with an anatomic model of the knee. Using this model, the popular particle filter and typical simulated data from the triangulation in paper III, an estimate of the motion variables in the thigh and shank segment can be achieved. This also includes one static model parameter used to describe the knee model. The results from this investigation show good promise for the use of triangulated skin texture as input to such a model based approach.

BACKGROUND and OBJECTIVES: Low-back overexertion injuries represent a large proportion of fireground “strains, sprains and muscular pains” and are a leading cause of disability and early retirement in firefighters. Given the inherently hazardous and unpredictable nature of many fireground activities, it is often infeasible to implement “task-focused” ergonomic controls and there are limited options to accommodate injured firefighters. Accordingly, effective and practical “worker-focused” injury prevention approaches are needed. Toward this end, four studies were conducted to address the following global thesis objectives: 1) Examine the possible role that firefighters’ personal movement strategies could have on their occupational low-back loading demands and injury potential; and 2) Compare the effects of two different exercise approaches on firefighters’ occupational low-back loading demands and injury potential. STUDY 1: Low-Back Loading Demands during Simulated Firefighting Tasks – Inter-Subject Variation and the Impact of Fatigue and Gender. Background: Non-modifiable fireground duties are considered hazardous for low-back health, but personal movement strategies could modulate low-back loading demands and injury potential. Study objectives were to quantify low-back loading demands during simulated firefighting tasks and to examine the impact of fatigue and gender on the peak loading response. Methods: Ten men and 10 women performed a battery of laboratory-simulated firefighting tasks before and following repeated bouts of a fatiguing stair-climbing protocol. An EMG-assisted three-dimensional dynamic biomechanical model was used to compute peak L4/L5 joint forces during task performance. Results: Peak low-back loading demands varied considerably between subjects and tasks, but 70% of all loading variables examined were of greater magnitudes in male subjects and 40% of all loading variables were of lower magnitudes in both males and females after stair-climbing. Some inter-subject variation in low-back loading was attributed to body size differences, but between- and within-subject differences in movement strategies also contributed to low-back loading variability between subjects and over time. Conclusions: Results of this study suggest that characteristics of individuals, tasks performed, and physical fatigue may influence peak low-back loading demands and injury potential in firefighters. Despite considerable inter-subject variation in the internal low-back loading response to fixed external task and environmental constraints, opportunities to attenuate low-back loading demands through movement behaviour adaptations alone may be limited to only a subset of fireground activities. STUDY 2: Ankle Immobilization alters Lifting Kinematics and Kinetics – Occupational Low-Back Loading Demands and Potential for Injury. Background: Firefighters with lingering lower extremity functional impairments could be forced to move in ways that increase their potential for sustaining occupational low-back lifting injuries. The study objective was to examine the impact of unilateral ankle immobilization on lifting kinematics and kinetics. Methods: With and without their right ankle immobilized, 10 male volunteers performed laboratory-simulated occupational lifting tasks. Together with force platform data, three-dimensional kinematics of the lumbar spine, pelvis, and lower extremities were collected, and a three-dimensional dynamic biomechanical model was used to calculate peak low-back compression and shear loading demands. Results: In comparison to the unaffected conditions, ankle immobilization resulted in less knee (p-values between 0.0004 and 0.0697) and greater lumbar spine (p-values between 0.0006 and 0.3491) sagittal motion when lifting. Associated with this compensatory movement strategy were greater L4/L5 anterior/posterior reaction shear forces (p-values between 0.0009 and 0.2450). However, in a few cases where individual compensatory movement strategies differed from the “group” response (i.e., subjects increased their sagittal knee and hip motion on the affected side), peak L4/L5 joint compressive loads increased while the peak L4/L5 anterior-posterior shear did not change. Conclusions: Distal lower extremity joint dysfunction can alter the way in which individuals move and load their low-backs when lifting. The specific ways in which individuals compensate for personal movement constraints could alter the potential site and mechanism of occupational low-back injury. STUDY 3: FMS™ Scores and Occupational Low-Back Loading Demands – Whole-Body Movement Screening as an Ergonomic Tool? Background: Results of Study 1 suggested that a whole-body movement screen could be used to identify personal characteristics that constrain movement behaviour in ways that impact occupational low-back loading demands and injury potential. The purpose of this study was to examine if Functional Movement Screen™ (FMS) scores could be used to project the low-back loading response to lifting. Methods: Sagittally symmetric and asymmetric laboratory-based lifting tasks were performed by 15 firefighters who scored greater than 14 on the FMS (high-scorers) and 15 size-matched low-scorers (FMS < 14). A three-dimensional dynamic biomechanical model was used to calculate low-back loading demands, and lumbar spine posture was recorded when peak low-back compression was imposed. Results: Regardless of the task performed, there were no differences in peak L4/L5 joint compression (p ≥ 0.4157), anterior/posterior reaction shear (p ≥ 0.5645), or medial/lateral reaction shear (p ≥ 0.2581) loading demands between high- and low-scorers. At the instant when peak compression force was detected, lumbar spine deviation was not different between high- and low-scorers about the lateral bend (p ≥ 0.4215), axial twist (p ≥ 0.2734), or flexion/extension (p ≥ 0.1354) axes. Conclusions: Using the previously established musculoskeletal injury prediction threshold value of 14, the composite FMS score did not project the low-back loading response to lifting. Future attempts to modify or reinterpret FMS scoring are warranted given that several previous studies have revealed links between composite FMS scores and musculoskeletal complaints. STUDY 4: Movement- vs. Fitness-Centric Exercise – Firefighter Fitness, Whole-Body Movement Qualities, and Occupational Low-Back Loading Outcomes. Background: The impact of exercise on firefighter job performance and cardiorespiratory fitness has been studied extensively, but its effect on musculoskeletal loading remains less understood. The aim of this study was to compare various physical fitness, general movement quality, and low-back loading outcomes between groups of firefighters who completed fitness- or movement-centric exercise. Methods: Fifty-four firefighters participated and were assigned to a control (CON), fitness-centric exercise (FIT), or movement-centric exercise (MOV) group. Before and after 12 weeks of exercise, subjects performed a physical fitness test battery, the Functional Movement Screen™ (FMS), and laboratory-simulated firefighting tasks during which low-back loading demands were quantified. Results: FIT and MOV subjects exhibited statistically significant improvements in nearly all measures of physical fitness (i.e., body composition, cardiorespiratory capacity, muscular strength, power, endurance, and flexibility), but FMS scores and occupational low-back loading demands were not impacted in a consistent way across individuals. Conclusions: Improving physical fitness can enhance job performance and prevent cardiac events in firefighters, but it was not clear that 12 weeks of exercise would alter their occupational low-back loading demands. Given variability in individual responses, the short study duration, and limited number and nature of tasks examined, more research incorporating alternative biomechanical and statistical analyses is needed to better understand how individuals adapt to chronic exercise and what impact these adaptations have on occupational movement behaviours, low-back loading demands, and low-back loading capacity. SUMMARY and CONCLUSIONS: Results confirmed that fireground activities are potentially hazardous for low-back health, as simulated occupational low-back loading demands routinely exceeded recommended exposure limits in the studies performed. However, results also indicated that personal movement strategies – possibly influenced by body size, preference, gender, physical fatigue, or distal lower extremity joint dysfunction – could alter occupational low-back loading demands and injury potential. It could not be concluded that occupational low-back loading demands and injury potential would be consistently affected by short-term improvements in physical fitness, nor could the low-back loading response to lifting be projected by scoring above or below 14 on the Functional Movement Screen™. Future research is warranted to examine the low-back loading demands associated with performing non-fireground duties, as opportunities may exist to implement ergonomic strategies to control cumulative low-back loading exposures. Particular attention should be paid to the exercise and training practices of firefighters, as musculoskeletal injuries sustained during these activities are potentially avoidable and could reduce the capacity of the musculoskeletal system to withstand demands imposed during non-modifiable fireground operations.

This thesis analyzes the human action recognition problem. Human actions are modeled as a time evolving temporal texture. Gabor filters, which are proved to be a robust 2D texture representation tool by detecting spatial points with high variation, is extended to 3D domain to capture motion texture features. A well known filtering algorithm and a recent unsupervised clustering algorithm, the Genetic Chromodynamics, are combined to select salient spatio-temporal features of the temporal texture and to segment the activity sequence into temporal texture primitives. Each activity sequence is represented as a composition of temporal texture primitives with its salient spatio-temporal features, which are also the symbols of our codebook. To overcome temporal variation between different performances of the same action, a Profile Hidden Markov Model is applied with Viterbi Path Counting (ensemble training). Not only parameters and structure but also codebook is learned during training.

With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent variables. In this thesis, we analyze the motion of the hand during a set of objects grasps using mul- tivariate Principal Component Analysis (mPCA) to extract both the principal variables and their correlation during grasping. We introduce the use of Functional PCA (fPCA) primarily on princi- pal components to study the dynamic requirements of the motion. The goal is to defined a set of synergies common and specific to all motions. We expand the analysis by classifying the objects grasps, or tasks, using their functional components, or harmonics over the entire motion. A set of groups are described based on these classification that confirms empirical findings. Lastly, we evaluate the motions generated from the analysis by applying them onto robotic hands. The results from the mPCA and fPCA procedures are used to map the principal components from each motion onto underactuated robotic designs. We produce a viable routine that indicates how the mapping is performed, and finally, we implement the motion generated onto a real hand. The resultant robotic motion was evaluated on how it mimics the human motion.

Steel Catenary Riser (SCR) is a popular solution for a floating production facility in the deep and ultra-deep ocean. In the analysis of SCR, the behavioral characteristics are investigated to check the failure modes by assessing the magnitude and the frequency of the stress and strain which SCR goes through in time series. SCR is affected by the motions of connected floating production facility and exciting environmental loads. The driven force and motion of SCR has an interaction with seabed soil which represents the stiffness and friction force where SCR touches the seabed. Dynamic response of SCR is primarily caused by the coupled motion of floating structure. The displacement of floating structure is often large and fast enough to cause short cycles of negative and positive tension on SCR. The interaction between SCR and seabed is concentrated at the touchdown zone resulting into the compression and corresponding deformation of pipeline at the position. This paper presents models of floating production facilities and connected mooring lines and SCRs in 100-year hurricane environmental loads and seabed, focusing on the motional characteristics of SCR at the touchdown zone. In time series simulation, the model of SCR is first analyzed as a pipeline with indefinite elasticity so that the SCR does not fail even if the exciting loads exceed the property limit of SCR. Then the SCR design is manually checked using criteria for each failure mode to estimate the integrity.

Worldwide research regarding the movement patterns, heart rate recordings and work–to–rest ratios of rugby union referees is very limited. It is therefore very important to extend research regarding this topic. The first objective of this dissertation was to determine the frequency, duration and intensity of movement patterns and work–to–rest ratio of different refereeing panels of South African Rugby Union referees during match–refereeing at the National Club Rugby Championship in Stellenbosch during 2007. The second objective was to compare the two halves of the match with regard to the frequency, duration and intensity of the different movement patterns and the work–to–rest ratios of various of SARU referees during match–refereeing at the National Club Rugby Championship in Stellenbosch during 2007. The South African Rugby Union referees were monitored during match–refereeing by means of video and heart rate recordings for a total of 16 matches within a week tournament. The frequency and duration of the different movement patterns during both halves of the matches were analysed using a Dartfish TeamPro analysis software package. Heart rates were recorded during the matches to determine the movement pattern intensities of the referees for the duration of each match using a Suunto Team pack heart rate monitoring system. The work–to–rest ratios were determined by comparing the time (in seconds) spent working (lateral movements and sprinting) to the time spent resting (standing still, walking and jogging). The results revealed a moderate practical significant difference (d=0.51) between the mean frequency of jogging movement patterns for the different refereeing panels. A moderate practical significant difference was also found between the mean duration of jogging (d=0.43) and sprinting (d=0.43) movement patterns of different refereeing panels. The mean intensity of the movement patterns by the different refereeing panels showed large practical significant differences between the anaerobic threshold (d=3.68) and sub–threshold (d=1.36) levels and a moderate practical significant difference for the maximal heart rate zones (d=0.43). Both the provincial and contender panel referees had work–to–rest ratios of 1:4 during match–refereeing. In comparing the two halves of rugby match–refereeing, a large practical significant difference was found between the mean frequency of movement pattern values for standing still (d=2.53), walking (d=2.50), jogging (d=2.42), lateral movements (d=2.86) and sprinting (d=1.31) as well as for mean duration of movement pattern values for standing still (d=2.05), lateral movements (d=0.76) and sprinting (d=0.77). Large practical significant difference were found between the time spent in the maximal threshold (d=2.07), anaerobic threshold (d=0.92) and sub–threshold (d=7.90) heart rate zones measured during the two halves of match–refereeing. Average work–to–rest ratios of 1:3.5 and 1:5 were found for the first and second halves of rugby match–refereeing, respectively. The information gained regarding the activity profile of SARU referees could be used to determine the influence of rugby refereeing experience on the movement patterns and work–to–rest ratio of rugby referees. It can also provide information for constructing specific training programmes and drills in the development of rugby match–required fitness standards for referees. A key component of a rugby union referee’s game is positioning. Being in the right place at the right time is vital. The results of this study suggest that movements associated with positioning ? namely standing still, walking and lateral movements are the major components of the game of referees’ movement during match–refereeing. However, further research is required on this topic of research. / Thesis (M.A. (Sport Science))--North-West University, Potchefstroom Campus, 2012.

Worldwide research regarding the movement patterns, heart rate recordings and work–to–rest ratios of rugby union referees is very limited. It is therefore very important to extend research regarding this topic. The first objective of this dissertation was to determine the frequency, duration and intensity of movement patterns and work–to–rest ratio of different refereeing panels of South African Rugby Union referees during match–refereeing at the National Club Rugby Championship in Stellenbosch during 2007. The second objective was to compare the two halves of the match with regard to the frequency, duration and intensity of the different movement patterns and the work–to–rest ratios of various of SARU referees during match–refereeing at the National Club Rugby Championship in Stellenbosch during 2007. The South African Rugby Union referees were monitored during match–refereeing by means of video and heart rate recordings for a total of 16 matches within a week tournament. The frequency and duration of the different movement patterns during both halves of the matches were analysed using a Dartfish TeamPro analysis software package. Heart rates were recorded during the matches to determine the movement pattern intensities of the referees for the duration of each match using a Suunto Team pack heart rate monitoring system. The work–to–rest ratios were determined by comparing the time (in seconds) spent working (lateral movements and sprinting) to the time spent resting (standing still, walking and jogging). The results revealed a moderate practical significant difference (d=0.51) between the mean frequency of jogging movement patterns for the different refereeing panels. A moderate practical significant difference was also found between the mean duration of jogging (d=0.43) and sprinting (d=0.43) movement patterns of different refereeing panels. The mean intensity of the movement patterns by the different refereeing panels showed large practical significant differences between the anaerobic threshold (d=3.68) and sub–threshold (d=1.36) levels and a moderate practical significant difference for the maximal heart rate zones (d=0.43). Both the provincial and contender panel referees had work–to–rest ratios of 1:4 during match–refereeing. In comparing the two halves of rugby match–refereeing, a large practical significant difference was found between the mean frequency of movement pattern values for standing still (d=2.53), walking (d=2.50), jogging (d=2.42), lateral movements (d=2.86) and sprinting (d=1.31) as well as for mean duration of movement pattern values for standing still (d=2.05), lateral movements (d=0.76) and sprinting (d=0.77). Large practical significant difference were found between the time spent in the maximal threshold (d=2.07), anaerobic threshold (d=0.92) and sub–threshold (d=7.90) heart rate zones measured during the two halves of match–refereeing. Average work–to–rest ratios of 1:3.5 and 1:5 were found for the first and second halves of rugby match–refereeing, respectively. The information gained regarding the activity profile of SARU referees could be used to determine the influence of rugby refereeing experience on the movement patterns and work–to–rest ratio of rugby referees. It can also provide information for constructing specific training programmes and drills in the development of rugby match–required fitness standards for referees. A key component of a rugby union referee’s game is positioning. Being in the right place at the right time is vital. The results of this study suggest that movements associated with positioning ? namely standing still, walking and lateral movements are the major components of the game of referees’ movement during match–refereeing. However, further research is required on this topic of research. / Thesis (M.A. (Sport Science))--North-West University, Potchefstroom Campus, 2012.