I dagens spelindustri baseras nästan samtliga 3D-spel på fysiksimuleringar med stela kroppar (rigid bodies). Examensarbetet undersöker vilka alternativa modeller som finns för att simulera mjuka deformerbara objekt, deformerbara i det avseendet att de kan ändra form och inte nödvändigtvis att de kan gå sönder i flera bitar. Rapporten inleds med en undersökande del som tar upp några existerande metoder för att hantera dynamiken inom ett mjukt objekt för att sedan beskriva en metod i detalj som dessutom implementeras i ett kodbibliotek. Ett deformerbart objekt är inte så spännande om det inte finns något sätt att deformera det på, därför undersöks även hur kollisionshantering kan gå till. Även här har rapporten först en undersökande del för att sedan beskriva en specifik metod i detalj som implementeras i kodbiblioteket. Examensarbetet resulterar i slutändan i en grundläggande interaktiv simuleringsmiljö för mjuka deformerbara objekt i form av ett kodbibliotek.

This dissertation presents new concepts and methodology in designing shape-morphing structures using bistable elements. Developed using the Pseudo-Rigid-Body Model (PRBM), linear bistable compliant mechanism elements produce predictable and controllable length changes. Step-by-step design procedures are developed to guide the design process of these bistable elements. Two different examples of Shape-Morphing Space Frames (SMSFs) were designed and prototyped utilizing the bistable linear elements in a single-layer grid, in addition to flexures and rigid links, to morph a cylindrical space frame into both a hyperbolic and a spherical space frame. Moreover, bistable unit-cell compliant-mechanism elements were also developed to morph a compact structure from a specific initial shape to a final specific shape. The detailed design of those unit cells were done using Computer-aided design (CAD) software following a novel design procedure to transform a one-degree-of-freedom mechanism into a structure with sufficient compliance within its links to toggle between two chosen stable positions. Two different design examples were investigated in this research and prototyped to demonstrate the ability to morph disks into a hemisphere or a sphere with the structure being stable in both states (disk and sphere).

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / In this work, the ammonium salt of acid and a new polymeric compound of Cadmium, ligand 1,4-phenylene bis phenylphosphinic acid already reported by Herring at 1967 (Herring, L., D.; United States Patent, 3, 341-576, 1967) were synthesized and characterized. The reaction between an organometallic and a protector group aminephosphine gave rise to a diaminphenylphosphine which was subsequently oxided generating a white powder 1,4-phenylene bis phenylphosphinic acid. Acid when submitted at solvothermics conditions of methanol, led to colorless needle shaped crystals of 1. The dissolution of phenylene 1,4-phenylphosphinic acid in alcoholic medium followed by slow evaporation of the solvent generated needle-shaped crystals 2. The reaction between the ammonium salt of the acid in ethanol and cadmium chloride originated under conditions solvothermic colorless crystals plate-shaped to a compound of cadmium 3. Three compounds were first analyzed by infrared spectroscopy. Thermogravimetric analysis was performed for compound 1. Compounds 1, 2 and 3 were analyzed by X-ray diffraction of single crystal. Compound 1 is presented in the form of a two-dimensional network formed by hydrogen bonds, from strong to moderate, forming chains along the direction [010]. Compound 2 presents a rare two-dimensional array consisting of ammonium and hydronium. Structure is arranged by a complex network based on hydrogen bonds, with growth in the directions of a and b, being made available by alternating organic and inorganic layers. The coordination polymer 3 is two-dimensional and stretches along the [100], by double ligand bridges bisphenylphosphinate. Along [010], chains are connected by bridges of simple ligand, also occur in this direction, weak hydrogen bonds between-OH groups of ligands and deprotonated oxygen atoms of the protonated ligands. Each oxygen of the ligand connects so bismonodentate the cadmium atoms that exhibit octahedral geometry. Hydrogen bonds in these three compounds were important in maintaining their solid state structures. / Neste trabalho, foram sintetizados e caracterizados o ligante ácido benzeno 1,4-bisfenilfosfínico, já relatado por Herring em 1967 (Herring, L., D.; United States Patent, 3, 341-576, 1967), o sal de amônio do ácido e um novo composto polimérico de cádmio. A reação entre um organolítio e um grupo protetor organocloroaminofosfina deu origem a uma diaminafenilfosfina que foi posteriormente oxidada gerando um pó branco do ácido benzeno 1,4-bisfenilfosfínico. O ácido, quando submetido a condições solvotérmicas em metanol, originou cristais em forma de agulhas 1. A dissolução de 1 em solução alcoólica de amônio, seguida de evaporação lenta do solvente gerou cristais em forma de agulhas 2. A reação entre 1 e cloreto de cádmio em metanol sob condições solvotermais originou cristais incolores em forma de placas para um composto de cádmio 3. Os três compostos foram analisados primeiramente por espectroscopia de infravermelho. Análise termogravimétrica foi realizada para o composto 1. A análise estrutural dos compostos 1, 2 e 3 foi realizada através de difração de raios-X de monocristal. O composto 1 apresenta-se na forma de uma rede bidimensional formada por ligações de hidrogênio de forte a moderadas que formam cadeias ao longo da direção [010]. O composto 2 apresenta um raro arranjo bidimensional constituído por íons amônio e hidrônio. Sua estrutura é formada por uma complexa rede baseada em ligações de hidrogênio, com crescimento nas direções de a e b, sendo composta pela disposição alternada de camadas inorgânicas e orgânicas. O polímero de coordenação 3 é bidimensional e se estende na direção [100], através de pontes duplas do ligante bisfenilfosfinato. Na direção [010], as cadeias são conectadas por pontes simples do ligante, também nesta direção, ocorrem fracas ligações de hidrogênio entre grupos -OH de ligantes e átomos de oxigênio dos ligantes neutros. Cada oxigênio do ligante conecta-se de forma bismonodentada aos átomos de cádmio, que apresentam geometria octaédrica. As ligações de hidrogênio nestes três compostos mostraram-se importantes na manutenção de suas estruturas no estado sólido.

Cette thèse contribue au problème de la reconstruction 3D pour les surfaces déformables avec une seule caméra. Afin de modéliser la déformation de la surface, nous considérons l’isométrie puisque de nombreuses déformations d’objets réels sont quasi-isométriques. L’isométrie implique que, lors de sa déformation, la surface ne peut pas être étirée ou compressée. Nous étudions deux problèmes. Le premier est le problème basé sur une modèle 3D de référence et une seule image. L’état de l’art propose une méthode locale et analytique de calcul direct de profondeur sous l’hypothèse d’isométrie. Dans cette méthode, la solution pour le gradient de la profondeur n’est pas utilisée. Nous prouvons que cette méthode s’avère instable lorsque la géométrie de la caméra tend à être affine. Nous fournissons des méthodes alternatives basées sur les solutions analytiques locales des quantités de premier ordre, telles que les gradients de profondeur ou les normales de la surface. Nos méthodes sont stables dans toutes les géométries de projection. Dans le deuxième type de problème de reconstruction sans modèle 3D de référence, on obtient les formes de l’objet à partir d’un ensemble d’images où il apparaît déformé. Nous fournissons des solutions locales et globales basées sur le modéle de la caméra perspective. Dans la méthode locale ou par point, nous résolvons pour la normale de la surface en chaque point en supposant que la surface est infinitésimalement plane. Nous calculons ensuite la surface par intégration. Dans la méthode globale, nous trouvons une relaxation convexe du problème. Celle-ci est basée sur la relaxation de l’isométrie en contrainte d’inextensibilité et sur la maximisation de la profondeur en chaque point de la surface. Cette solution combine toutes les contraintes en un seul programme d’optimisation convexe qui calcule la profondeur et utilise une représentation éparse de la surface. Nous détaillons les expériences approfondies qui ont été réalisées pour démontrer l’efficacité de chacune des méthodes. Les expériences montrent que notre solution libre de modèle de référence local fonctionne mieux que la plupart des méthodes précédentes. Notre méthode local avec un modèle 3D de référence et notre méthode globale sans modèle 3D apportent de meilleurs résultats que les méthodes de l’état de l’art en étant robuste au bruit de la correspondance. En particulier, nous sommes en mesure de reconstruire des déformations complexes, non-lisses et d’articulations avec la seconde méthode; alors qu’avec la première, nous pouvons reconstruire avec précision de déformations larges à partir d’images prises avec des très longues focales. / This thesis contributes to the problem of 3D reconstruction for deformable surfaces using a single camera. In order to model surface deformation, we use the isometric prior because many real object deformations are near-isometric. Isometry implies that the surface cannot stretch or compress. We tackle two different problems. The first is called Shape-from-Template where the object’s deformed shape is computed from a single image and a texture-mapped 3D template of the object surface. Previous methods propose a differential model of the problem and compute the local analytic solutions. In the methods the solution related to the depth-gradient is discarded and only the depth solution is used. We demonstrate that the depth solution lacks stability as the projection geometry tends to affine. We provide alternative methods based on the local analytic solutions of first-order quantities, such as the depth-gradient or surface normals. Our methods are stable in all projection geometries. The second type of problem, called Non-Rigid Shape-from-Motion is the more general templatefree reconstruction scenario. In this case one obtains the object’s shapes from a set of images where it appears deformed. We contribute to this problem for both local and global solutions using the perspective camera. In the local or point-wise method, we solve for the surface normal at each point assuming infinitesimal planarity of the surface. We then compute the surface by integration. In the global method we find a convex relaxation of the problem. This is based on relaxing isometry to inextensibility and maximizing the surface’s average depth. This solution combines all constraints into a single convex optimization program to compute depth and works for a sparse point representation of the surface. We detail the extensive experiments that were used to demonstrate the effectiveness of each of the proposed methods. The experiments show that our local template-free solution performs better than most of the previous methods. Our local template-based method and our global template-free method performs better than the state-of-the-art methods with robustness to correspondence noise. In particular, we are able to reconstruct difficult, non-smooth and articulating deformations with the latter; while with the former we can accurately reconstruct large deformations with images taken at very long focal lengths.

Dans le cadre des études relatives à la sûreté sismique des installations industrielles, on est amené à se préoccuper de la stabilité de structures libres (des équipements, des containers, des fûts. . . ) posées à même le sol. De nombreuses méthodes ont permis d’établir des critères de sûreté réputés conservatifs, sans qu’il soit besoin de représenter finement le comportement dynamique de l’objet. Dans le cadre de cette thèse, on a cherché à analyser la capacité de prédiction par des modèles numériques du mouvement de corps rigides libres soumis à des séismes impliquant impacts et glissements. Pour cela, on s’est appuyé sur deux campagnes expérimentales qui ont été menées au laboratoire EMSI du CEA/Saclay sur des blocs parallélépipédiques en acier, élancés et disposant de 4 appuis non ponctuels usinés avec des tolérances standards. Dans un premier temps, des essais de lâcher (bloc immobile en appuis sur deux pieds, puis lâché sans source d’excitation extérieure), souvent analysés dans la littérature comme un mouvement plan, ont fait apparaître un mouvement 3D reproductible dans les premiers instants consécutifs au lâcher. L’analyse fine de ce mouvement a permis, d’une part, de conclure qu’il était dû à des défauts de géométrie des pieds et, d’autre part, d’élaborer un modèle numérique représentatif incluant ces défauts. Dans un second temps, il a été question d’étudier l’aptitude du modèle numérique à représenter le comportement dynamique au cours du temps d’un bloc rigide élancé non idéal soumis à des excitations sismiques. Les blocs ont été soumis à 100 réalisations d’un processus stationnaire (essais de variabilité) puis 100 fois à la même accélération (essais de répétabilité). D’un point de vue statistique, et malgré les incertitudes expérimentales, ce travail a permis d’exhiber une bonne adéquation entre les résultats des modèles numériques et les résultats expérimentaux. En outre, il a permis de quantifier la durée au-delà de laquelle une prédiction du comportement ne peut plus être considérée comme pertinente. Pour finir, on s’est attaché à appliquer des outils classiques de fiabilité au problème de bloc rigide soumis à des séismes, ainsi que la méthode récente des Subset Simulations. / In the field of nuclear safety, the stability of free standing structures like containers, barrels or electronical devices is considered to be an important matter. Until now, the literature written on the subject presents some stability criteria known to be conservative without needing to represent in detail the object behavior. This thesis attempts to analyse the capacity numerical models have to predict the behavior of blocks submitted to seismic acceleration, with impacts and friction. To this effect, two experimental campaigns were carried out in the EMSI laboratory (CEA Saclay, France) on slender massive prismatic steel blocks, with 4 machined (i.e. non-ideal) feet. First of all, release tests (the block is in an unsteady position on 2 feet, kept still with a wire, then the wire is cut and the block is released without any ground motion) are usually analysed as a plane motion. Our experiments have shown a reproducible out-of-plane (3D) motion during the first seconds of the release. A detailed analysis highlighted the fact that this 3D motion is induced by geometrical defects on the block feet, and allowed us to build an accurate numerical model of this behavior. The ability of this numerical model to match the dynamic behavior of a non-ideal rigid slender block has been questioned. In a second campaign, 4 blocks were subjected on the one hand to 100 realisations of a stationnary process, and on the other hand 100 times to the same excitation. This accounts for an analysis of the variability of two 100-samples of results obtained under two different input variability levels. From a statistical point of view, despite experimental uncertainties this article demonstrates a good agreement between numerical and experimental results. Finally, some classical tools of reliabily were applied to the rocking block problem, as well as a newer method called Subset Simulation.

In the present work, we experimentally study thrust generation from sinusoidally pitched rigid and flexible foils immersed in a uniform flow. The flexible foils are made by attaching a flexible flap of known flexural rigidity and flap length to the trailing edge of a rigid foil. For such thrust generating systems, a propulsive efficiency (η) may be defined as the ratio of the useful work done to the input energy requirement. In the present experiments, the propulsive efficiency (η) of the flapping foil can be determined from direct measurement of the unsteady forces and torque on the foil. The effects of systematic variation of the flexural rigidity of the foil, from highly flexible to rigid, on the thrust and efficiency characteristics of the foil are investigated. Studying such oscillating foils helps one to understand and mimic the efficient thrust generating mechanism in fishes and other creatures that use flapping to locomote themselves. A strain guage based loadcell is used to measure the forces normal to the foil (N) and forces along the chord of the foil (A). With a potentiometer, the instantaneous angular position (θ) is also measured, so that instantaneous lift (L) and thrust (T ) can be calculated. The measured moment (M) is used to calculate the instantaneous power input (P = Mθ˙). The foil is immersed in a uniform flow (u) set in a water tunnel, and the sinusoidal pitching (θ = θmaxsinωt) is provided by a servo motor. The Reynolds number (Re = uc/ν) in the present study is in the range of 103 to 104 . For the case of the rigid foil, the thrust and efficiency characteristics are presented for variation of the non-dimensional flapping frequency called the ‘reduced frequency’ (k = πfc/u), which is varied in the range of 1 to 10. At small reduced frequency (k < 3), the foil experiences a mean drag, while at k > 3, the foil experiences a mean thrust that grows rapidly as the reduced frequency (k) is increased. The thrust characteristics of the rigid foil are decided mainly by the normal force’s phase with respect to θ (φCN ) and its magnitude ([CN ]), as the chord-wise force is very small compared to the normal force (A << N). The measurements show that the non-dimensional mean thrust coefficient (CT ) scales as k2 and non-dimensional mean power (CP ) scales as k3 for k Ҳ 4. The maximum efficiency for rigid foils is found to be 8 % and it occurs at k 6. For the flexible foil case, the effect of making a portion of the total foil flexible by means of attaching a flexible flap of known flexural rigidity (EI) and flap length (cF ) to a rigid foil of length (cR) is studied. Unlike the rigid foils, the chordwise force (A) becomes an important factor in determining the thrust and efficiency characteristics of the flexible foils, due to the bending of the flap. We present results for a broad range of flexural rigidities from highly flexible flaps to stiff flaps, with the extent of flexibility fixed at cF /cR =0.8. We find that there is an optimal flexural rigidity for which the efficiency (η) reaches a maximum of 28 %. This represents a 250 % improvement compared to the rigid foil. The flexible foils with stiff flaps show a strange behavior with all the mean thrust coming from chordwise forces (A), unlike other flexible foils where the contribution to mean thrust come from both normal and chordwise forces. The effect of varying the extent of flexibility (cF/cR) with fixed flexural rigidity has also been studied. We define a non-dimensional flexibility parameter, R∗ = EI/(0.5ρu2sc3F ), which can combine the effect of variations in EI and cF /cR. Using this non-dimensional flexibility parameter (R∗), we find out that mean thrust and efficiency data for both the EI and cF/cR variation study collapse onto a single curve, indicating that R∗ can indeed be a single parameter characterizing flexibility. The present work shows that flexible foils can improve efficiency over rigid foils. Efficiency improvements can come in two ways depending on the R∗ of the flexible foil. Flexible foils with R∗ in the range of 10−2 to 100 show nearly 250% improvement in efficiency, accompanied by nearly 70 % loss in thrust compared to an entirely rigid foil of the same total chord. Flexible foils with R∗ in the range of 100 to 101 show nearly 50 % improvement in efficiency accompanied by nearly 100% increase in thrust.

Secondary currents are one of the important features that characterize flow in river bends and confluences. Fluid particles follow a helical path instead of moving nearly parallel to the axis of the channel. The local imbalance between the vertically varying centrifugal force and the cross-stream pressure gradient results in generating the secondary flow and raising a typical motion of the helical flow. A number of studies, including experimental or mathematical, have been conducted to examine flow characteristics in curved open channels, river meanders, or confluences. In this research, the influence of secondary currents is studied on the elevation of water surface and the hydraulic structures in channel bends and confluences by employing a 3D OpenFOAM numerical model. The research implements the 3D OpenFOAM numerical model to simulate the horizontal distribution of the flow in curved rivers. In addition, the progress in unraveling and understanding the bend dynamics is considered. The finite volume method in (OpenFOAM) software is used to simulate and examine the behavior of secondary current in channel bends and confluences. Thereafter, a comparison between the experimental data and a numerical model is conducted. Two sets of experimental data are used; the data provided by Rozovskii (1961) for sharply curved channel, and the dataset provided by Shumate (1998) for confluent channel. Two solvers in (OpenFOAM) software were selected to solve the problem regarding the experiment; InterFoam and PisoFoam. The InterFoam is a transient solver for incompressible flow that is used with open channel flow and Free Surface Model. The PisoFoam is a transient solver for incompressible flow that is used with closed channel flow and Rigid-Lid Model. Various turbulence models (i.e. Standard k-ε, Realizable k-ε, LRR, and LES) are applied in the numerical model to assess the accuracy of turbulence models in predicting the behaviour of the flow in channel bends and confluences. The accuracies of various turbulence models are examined and discussed.

Orientador: Margarida Pinheiro Mello / Dissertação (mestrado) - Universidade Estadual de Campinas, Instituto de Matemática, Estatística e Computação Científica / Made available in DSpace on 2018-08-08T02:52:04Z (GMT). No. of bitstreams: 1 Lima_RodrigoSilva_M.pdf: 952013 bytes, checksum: b746a6fed088b1d0474822b76dd7092f (MD5) Previous issue date: 2007 / Resumo: Robótica, computação gráfica, aeronáutica e biomecânica têm em comum o estudo de movimentos rígidos, aqueles compostos por rotações e translações. Ao contrário das translações, cuja representação matemática não apresenta dificuldades, as rotações trazem consideráveis desafios. Neste trabalho de mestrado estudamos algumas propriedades do grupo de rotações 50(3) bem como três maneiras de se representar uma rotação: via mapa exponencial, via ângulos de Euler e via quatérnions unitários. Como as duas últimas representações são as mais comuns na literatura, fazemos uma comparação do uso de ângulos de Euler e quatérnions unitários na formulação e resolução de dois problemas concretos: o problema do empacotamento de moléculas e o problema da orientação absoluta. / Abstract: Robotics, graphics computation, aeronautics and biomechanics have in common the study of rigid motions, composed by rotations and translations. The translations are mathematically simple, but the treatment of rotations raises some difficulties. In this work we study some properties of rotation group 80(3) and three commonly used methods to describe rotations, namely, the exponencial map, Euler angles and unitary quaternions. We employ the latter two in the formulation of two optimization problems: the absolute orientation problem and the molecule-packing problem. Several computational experiments are performed in order to establish the relative efficiency of the two representations in these examples. In the first optimization problem there is a tie, whereas in the molecule-packing problem the representation using quaternions is slightly superior. / Mestrado / Otimização e Pesquisa Operacional / Mestre em Matemática Aplicada

Orientador: Luis Augusto Passeri / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Odontologia de Piracicaba / Made available in DSpace on 2018-07-31T15:14:06Z (GMT). No. of bitstreams: 1 Trivellato_AlexandreElias_D.pdf: 3724190 bytes, checksum: f29e801dbdb08b31267899c2943a54d9 (MD5) Previous issue date: 2001 / Resumo: O objetivo deste estudo foi avaliar a estabilidade da fixação promovida por placas e parafusos de titânio do sistema de 2,0 mm, realizada em osteotomia de costela bovina submetidas ao teste de resistência à flexão variando o número, a extensão e a localização das placas. Do teste de resistência à flexão, foram obtidos valores de carga aplicada e de deslocamento na área da osteotomia. Os valores foram avaliados por meio do teste de Tukey em nível de significância de 5%. Na carga aplicada foi observado melhor comportamento quando da utilização de duas placas de seis furos ou duas placas sendo uma de seis furos na base e de quatro furos na região superior. Em seguida, de duas placas de quatro furos e, em ordem decrescente, mas sem variação quanto ao tamanho das placas, por uma na porção superior e finalmente por uma na base. Quanto ao deslocamento, não houve variação pela extensão da placa, onde o menor valor foi observado para uma placa na posição superior e o pior com uma placa em borda inferior, não havendo diferença com duas placas relacionadas ao maior ou ao menor deslocamento / Abstract: The aim of this study was to evaluate the stability fixation promoted by titanium plates and screws of 2.0mm system. It was done in vitro by using 2.0mm system in osteotomies carried out in bovine ribs thereafter submitted to bending test changing the number, the extension, and the location of the plates. From bending tests were obtained the load applied and the gap between the superior cortices of bone in the osteotomy area. The values were compared through Tukey test with 5% of significance. Considering the applied load, the best results were seen when either two 6-hole plates or a combination of 6 hole and 4-hole were used, the former in the basis and the later superiorly. Those were followed by the results obtained with using two 4-hole plates. Lower applied loads were obtained, despite of the size, using only one plate superiorly and only one in the basis. Related to gap between the superior cortices of bone there was no influence of the plate extension, and the lower value was obtained with one plate superiorly and the higher was obtained with one plate in the basis / Doutorado / Cirurgia e Traumatologia Buco-Maxilo-Faciais / Doutor em Clínica Odontológica

京都大学 / 新制・課程博士 / 博士(情報学) / 甲第23543号 / 情博第773号 / 新制||情||132(附属図書館) / 京都大学大学院情報学研究科知能情報学専攻 / (主査)准教授 延原 章平, 教授 西野 恒, 教授 西田 眞也, 教授 佐藤 いまり(国立情報学研究所) / 学位規則第4条第1項該当 / Doctor of Informatics / Kyoto University / DFAM