The present thesis deals with the study of vision techniques for the detection of human pose based on the analysis of a single image, as well as the tracking of these poses along a sequence of images. It is proposed to model the human pose by four kinematic chains that model the four articulated extremities. These kinematic chains and head remain attached to the body. The four kinematic chains are composed by three keypoints. Therefore, the model initially has a total of $14$ parts. In this thesis it is proposed to modify the technique called Deformable Parts Model (DPM), adding the depth channel. Initially, the DPM model was defined over three RGB channel images. While in this thesis it is proposed to work on images of four RGBD channels, so the proposed extension is called 4D-DPM. The experiments performed with 4D-DPM demonstrate an improvement in the accuracy of pose detection with respect to the initial DPM model, at the cost of increasing its computational cost when treating an additional channel. On the other hand, it is defined to reduce the previous computational cost by simplifying the model that defines the human pose. The idea is to reduce the number of variables to be detected with the 4D-DPM model, so that the suppressed variables can be calculated from the detected variables using inverse kinematics models based on dual quaternions. In addition, it is proposed to use a particle filter models to continue improving the accuracy of detection of human poses along a sequence of images. Considering the problem of detection and monitoring of human body pose along a video sequence, this thesis proposes the use of the following method. 1. Camara calibration. RGBD image processing. Subtraction of the image background with the MSER method. 2. 4D-DPM: method used to detect the keypoints (variables of the pose model) within an image. 3. Particle filters: this type of filter is designed to track the keypoints over time and correct the data obtained by the sensor. 4. Inverse kinematic modeling: the control of kinematic chains is performed with the help of dual cuaternions in order to obtain the complete pose model of the human body. The overall contribution of this thesis is the proposal of the previous method that, combining the previous methods, is able to improve the accuracy in the detection and the follow up of the human body pose in a video sequence, also reducing its computational cost . This is possible due to the combination of the 4D-DPM method with the use of inverse kinematics techniques. The original DPM method should detect $14$ point of interest on an RGB image to estimate the human pose. However, the proposed method, where a point of interest for each limb is removed, must detect $10$ point of interest on an RGBD image. Subsequently, the eliminated $4$ point of interest are calculated by using inverse kinematics methods from the calculated $10$ point of interest. To solve the problem of inverse kinematics a dual quaternions methods is proposed for each of the $4$ kinematic chains that model the extremities of the skeleton of the human body. The particle filter is applied over the time sequence of the 10 points of interest of the posture model detected through the 4D-DPM method. To design these particle filters it is proposed to add the following restrictions to weight the particles generated: 1. Restrictions on joint limits. 2. Softness restrictions. 3. Collision detection. 4. Projection of poly-spheres / La presente tesis trata sobre el estudio de técnicas de visión para la detección de la postura del esqueleto del cuerpo humano basada en el análisis de una sola imagen, además del seguimiento de estas posturas a lo largo de una secuencia de imágenes. Se propone modelar la postura del esqueleto cuerpo humano mediante cuatro cadenas cinemáticas que modelan las cuatro extremidades articuladas. Estas cadenas cinemáticas y la cabeza permanecen unidas al cuerpo. Las cuatro cadenas cinemáticas se componen de tres puntos de interés. Por lo tanto, el modelo inicialmente dispone de un total de 14 puntos de interés. En esta tesis se propone modificar la técnica denominada Deformable Parts Model (DPM), añadiendo el canal de profundidad denominado ``Depth''. Inicialmente el modelo DPM se definió sobre imágenes de tres canales RGB. Mientras que en esta tesis se propone trabajar sobre imágenes de cuatro canales RGBD, por ello a la ampliación propuesta se le denomina 4D-DPM. Por otra parte, se propone reducir el coste computacional anterior simplificando el modelo que define la postura del cuerpo humano. La idea es reducir el número de variables a detectar con el modelo 4D-DPM, de tal manera que las variables suprimidas se puedan calcular a partir de las variables detectadas, utilizando modelos de cinemática inversa basados en cuaterniones duales. Los experimentos realizados demuestran que la combinación de estas dos técnicas permite, reduciendo el coste computacional del método original DPM, mejorar la precisión de la detección de postura debido a la información extra del canal de profundidad. Adicionalmente, se propone utilizar modelos de filtros de partículas para continuar mejorando la precisión de la detección de las posturas humanas a lo largo de una secuencia de imágenes. Atendiendo al problema de detección y seguimiento de las postura del esqueleto del cuerpo humano a lo largo de una secuencia de vídeo, esta tesis propone el uso del siguiente método. 1. Calibración de cámaras. Procesamiento de imágenes RGBD. Sustracción del fondo de la imagen con el método MSER. 2. 4D-DPM: método utilizado para detectar los puntos de interés (variables del modelo de postura) dentro de una imagen. 3. Filtros de partículas: se diseña este tipo de filtros para realizar el seguimiento de los puntos de interés a lo largo del tiempo y corregir los datos obtenidos por el sensor. 4. Modelado cinemático inverso: se realiza el control de cadenas cinemáticas con la ayuda de cuaterniones duales con el fin de obtener el modelo completo de la postura del esqueleto del cuerpo humano. La contribución global de esta tesis es la propuesta del método anterior que, combinando los métodos anteriores, es capaz de mejorar la precisión en la detección y el seguimiento de la postura del esqueleto del cuerpo humano en una secuencia de vídeo, reduciendo además su coste computacional. El método original DPM debe detectar 14 puntos de interés sobre una imagen RGB para estimar la postura de un cuerpo humano. Sin embargo, el método propuesto debe detectar 10 puntos de interés sobre una imagen RGBD. Posteriormente, los 4 puntos de interés eliminados se calculan mediante la utilización de métodos de cinemática inversa a partir de los 10 puntos de interés calculados. Para resolver el problema de la cinemática inversa se propone utilizar cuaterniones duales para cada una de las 4 cadenas cinemáticas que modelan las extremidades del esqueleto del cuerpo humano. El filtro de partículas se aplica sobre la secuencia temporal de los 10 puntos de interés del modelo de postura detectados a través del método 4D-DPM. Para diseñar estos filtros de partículas se propone añadir las siguientes restricciones, explicadas en la memoria, para ponderar las partículas generadas: 1. Restricciones en los límites de articulaciones. 2. Restricciones de suavidad. 3. Detección de colisiones. 4. Proyección de las poli-esferas. / La present tesi tracta sobre l'estudi de tècniques de visió per a la detecció de la postura de l'esquelet del cos humà basada en l'anàlisi d'una sola imatge, a més del seguiment d'estes postures al llarg d'una seqüència d'imatges. Es proposa modelar la postura de l'esquelet del cos humà per mitjà de quatre cadenes cinemàtiques que modelen les quatre extremitats articulades. Estes cadenes cinemàtiques i el cap romanen unides al cos. Les quatre cadenes cinemàtiques es componen de tres punts d'interés. Per tant, el model inicialment disposa d'un total de $14$ punts d'interés. En esta tesi es proposa modificar la tècnica denominada Deformable Parts Model (DPM) , afegint el canal de profunditat denominat ``Depth''. Inicialment el model DPM es va definir sobre imatges de tres canals RGB. Mentres que en esta tesi es proposa treballar sobre imatges de quatre canals RGBD, per això a l'ampliació proposada se la denomina 4D-DPM. D'altra banda, es proposa reduir el cost computacional anterior simplificant el model que definix la postura del cos humà. La idea és reduir el nombre de variables a detectar amb el model 4D-DPM, de tal manera que les variables suprimides es puguen calcular a partir de les variables detectades, utilitzant models de cinemàtica inversa basats en quaternions duals. Els experiments realitzats demostren que la combinació d'estes dos tècniques permet, reduint el cost computacional del mètode original DPM, millorar la precisió de la detecció de la postura degut a la informació extra del canal de profunditat. Addicionalment, es proposa utilitzar models de filtres de partícules per a continuar millorant la precisió de la detecció de les postures humanes al llarg d'una seqüència d'imatges. Atenent al problema de detecció i seguiment de les postura de l'esquelet del cos humà al llarg d'una seqüència de vídeo, esta tesi proposa l'ús del següent mètode. 1. Calibratge de càmeres. Processament d'imatges RGBD. Sostracció del fons de la imatge amb el mètode MSER. 2. 4D-DPM: mètode utilitzat per a detectar els punts d'interés (variables del model de postura) dins d'una imatge. 3. Filtres de partícules: es dissenya este tipus de filtres per a realitzar el seguiment dels punts d'interés al llarg del temps i corregir les dades obtingudes pel sensor. 4. Modelatge cinemàtic invers: es realitza el control de cadenes cinemàtiques amb l'ajuda de quaternions duals a fi d'obtindre el model complet de l'esquelet del cos humà. La contribució global d'esta tesi és la proposta del mètode anterior que, combinant els mètodes anteriors, és capaç de millorar la precisió en la detecció i el seguiment de la postura de l'esquelet del cos humà en una seqüència de vídeo, reduint a més el seu cost computacional. Açò és possible a causa de la combinació del mètode 4D-DPM amb la utilització de tècniques de cinemàtica inversa. El mètode original DPM ha de detectar 14 punts d'interés sobre una imatge RGB per a estimar la postura d'un cos humà. No obstant això, el mètode proposat ha de detectar 10 punts d'interés sobre una imatge RGBD. Posteriorment, els 4 punts d'interés eliminats es calculen per mitjà de la utilització de mètodes de cinemàtica inversa a partir dels 10 punts d'interés calculats. Per a resoldre el problema de la cinemàtica inversa es proposa utilitzar quaternions duals per a cada una de les 4 cadenes cinemàtiques que modelen les extremitats de l'esquelet del cos humà. El filtre de partícules s'aplica sobre la seqüència temporal dels 10 punts d'interés del model de postura detectats a través del mètode 4D-DPM. Per a dissenyar estos filtres de partícules es proposa afegir les següents restriccions per a ponderar les partícules generades: 1. Restriccions en els límits d'articulacions. 2. Restriccions de suavitat. 3. Detecció de col·lisions. 4. Projecció de les poli-esferes. / Martínez Bertí, E. (2017). SEGUIMIENTO DE PERSONAS APLICANDO RESTRICCIONES CINEMÁTICAS BASADAS EN MODELOS DE CUERPOS RÍGIDOS ARTICULADOS [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/86159 / TESIS

Joseph Fiala (1754-1816) was a composer and performer of the classical period. His many compositions include manuscripts of a concerto for clarinet, taille, and orchestra in the Fürstlich Thurn und Taxis Hofbibliothek in Regensburg, West Germany and the Library of Congress in Washington, D.C. , U.S.A. This paper identifies the instrument called "taille" as the English horn and discusses the work in areas of form, harmony, rhythm, orchestration, and use of solo instruments. Comparison with contemporary works shows the piece is typical of the eighteenth-century symphonie concertante and, together with the composer's manuscript, provides a basis for editing of the solo parts.

Får- och byggnadskroppsdelar - Handlingar och spatiala relationer kring byggnadsdeponeringar av får på Öland. Sheep and building body parts - Actions and spatial relations regarding buildingdeposits of sheep on Öland. Abstract This essay studies ten Ölandic examples of sheep bodies or sheep body parts deposited in Iron Agebuildings. In addition to literary works, the source material examined in the essay also consists ofunpublished sources and two osteological examinations, which were carried out as a part of thework on the essay (appendix 1 & 2).The purpose of the essay is to study both the actions that become visible through the skeletalmaterial, and the possible presence of spatial patterns regarding the bone deposits. The work iscarried out using an action-theoretical approach. Furthermore, a comparative method is used toexamine the ten sites in relation to each other. The results from this are ambiguous. The thesis' mainconclusion is; 1) that the bodies of sheep was sometimes disintegrated on Öland during the IronAge, to be; 2) placed in a certain spatial proximity of the foundation of roof-supporting posts. Keywords: Öland, Iron Age, Ritual Deposits, Sheep, bodies, body parts, foundation, sacrifice, action-theory

Volatile and semi-volatile organic compounds are ubiquitous, and some of them are hazardous. The ability to rapidly detect and identify trace levels of them in air has become increasingly important. The conventional device used today for sampling and concentrating them in air is thermal desorption tubes filled with specific sorbents, which can only collect air samples at flow rates of 100-200 mL/min. In order to detect low concentration (ppt level) VOC compounds, long sampling time (>2 h) and sensitive detection are required. At the same time, portable instrumentation for on-site analysis has been developing rapidly. The somewhat lower performance of portable instruments compared to benchtop systems requires the sampling of even greater sample volume in order to reach the same detection limits. In this study, two high flow rate air sampling devices, i.e., a multi-capillary trap and a concentric packed trap, were developed to sample a large volume of air in a short time period. The multi-capillary trap was constructed by bundling analytical capillary gas chromatography columns together in parallel. As low as single digit ppt detection limits were reached in less than 25 min with this trap, and as high as 8.0 L/min flow rate was sampled. The simple and compact multi-capillary trap could be easily used with a conventional thermal desorption system to perform high flow rate sampling. A concentric packed high flow rate trap was also developed by packing sorbent layers concentrically around an empty tube. The concentric packed trap achieved a high flow rate (>10 L/min) because it had a high surface area and short sorbent bed. Also, its large sorbent amount (>1 g) provided large breakthrough volume (>100 L) required to achieve low detection limits. An equilibrium distribution sampling system was developed by absorbing selected analytes in granular PDMS to provide calibration for on-site instrumentation. Furthermore, a needle trap device was coupled in tandem to both high flow rate air samplers to perform second-stage concentration of VOCs down to the ppt level. Concentration factors of 104 to 105 were achieved within 30 min using both systems, i.e., over 10 to 100 times more sample was collected compared to conventional TD systems.

The subject of this thesis is to assemble a business plan for expansion of production capacities of Industrial Engineering company s.r.o. by acquisition of new technologies. The theoretical part describes the importance of the business plan, the importance of business and basic legal forms of business. The part of it is also a description of the stucture and assembly of the business plan. In the practical parts there is an analysis of the current situation and marketing analysis, alon with the processing of the business plan assessed the feasibility of the project with a positive result.

This thesis concerns the technological processes of machining of thin-walled parts and the modification of said processes in dependence on the following interopera-tive measurement of the real dimensions of these parts. Within the theoretical part a research study of technological possibilities of measuring thin-walled parts and principles of probe programming are presented. In the main practical part of the the-sis a proposal of an experiment is described, which tests the individual technologi-cal steps and their influence on the quality of a prototype of the produced thin-walled part. Numerical (NC) codes are created using parametric programming, which are then used during the realization of the experiment itself. In the conclusi-on there are presented and discussed the results of measuring of the machined surfaces and the influence of correction paths, which should help to achieve a mo-re accurate production according to given dimensions. This experiment, however, has not met the expected results. That is why new procedures have been designed in order to create said paths, which can be used in a future realization of this expe-riment.

Master‘s thesis deals with sawing of the thin-walled parts with high speed steel slitting saw. At first the most used conventional and unconventional possibilities of materiál cutting are described by a form of search. The next chapter describes forces arising from splitting saw machining, including their dependence on a specific cutting force, a chip cross section and a engagement angle. The second part of the thesis deals with the technological improvement of the cutting process, where three possible solutions are considered – geometry of the cutting tool, PVD coating deposition of the cutting tool and process fluid change. In the experimental part non coated slitting saw with burrs, non coated deburred slitting saw and coated slitting saws are compared. Used coatings were Ti(C,N), Cr-Al-Si-N, Al-Cr-B-N, and TripleCoating Cr, which is consisting of three layers TiN + (Al,Ti)N + Cr-Al-Si-N. The experiment has shown that the cutting forces inceases as the edge radius and wear level of the cutting tool increases. Coated cuttung tools has shown lower differences between the first and the last cut. Slitting saws have been also used in real cutting process to verify experimental results.

This thesis deals with 3D printing, materials used for 3D printing, testing of the materials and learning their real parameters. Goal of the thesis is comparing selected materials, executing series of mechanical test and selecting suitable material for printing high-quality plastic parts for use in automobiles, especially for reproduction of parts that are no longer made for oldtimers and for use in motorsport.

The diploma thesis dealswith a design of a robotic cell for depalletization and the establishment of a rail into a production station. Pieces are weighed into the depalletizing unit in a shape-adapted crates otherwise known as blisters. Each blister contains five to eight pieces(depending on the type of a rail) and anti-corrosion paper. After removing the paper and the piece from the blister, an identification code is stamped on the piece. Then the finished piece travels to the next station. The aim of this thesis is to design arobotic cell that can handle all operations in a given cycle time and to create a simulation model in Siemens Process Simulate program to verify the cell functionality.

This diploma thesis is focused on the design of a robotic workstation for laser marking of aluminium hinges for the automotive industry. Robots remove wheel hinges from palettes at the end of a preassembly line, mark them a sort them. At first, selected marking technologies used in the automotive industry are introduced. Afterwards, a few robot and process simulation software are described. Subsequently, several layout variants are created as viable options for process handling and the chosen variant is designed in detail. Using RobotStudio software, a simulation of the robotic marking cell is made for process verification. Finally, a technical - economic evaluation is performed.