A análise em tempo real de pares de imagens estereoscópicas para extração de características dimensionais da cena tem apresentado crescente interesse, possibilitando robusta navegação robótica e identificação de objetos em cenários dinâmicos. A presente dissertação propõe um método que emprega a análise pixel a pixel e observação de janelas, em pares de imagens estereoscópicas, para extração de denso mapa de disparidades. A arquitetura de processamento proposta é única em sua constituição, misturando elementos de processamento concorrente e seqüencial. O algoritmo estrutura-se em processamento pipeline, permitindo sua implementação em dispositivos de lógica programável e obtenção de resultados em tempo real. / Real-time analysis of stereo images for extraction of dimensional features has been focus of great interest, providing means for autonomous robot navigation and identification of objects in dynamic environments. This work describes a method based in pixel-to-pixel and windows based matching analysis, in stereo images, for constructing dense disparity maps. The proposed processing structure is unique, mixing concurrent and sequential elements. Pipelines structure is employed, targeting implementation in FPGA devices and enabling real-time results.

[pt] A principal motivação para realização deste trabalho é verificar a viabilidade de uso da técnica de mapeamento de textura com relevo em aplicações que exijam interação em tempo real como, por exemplo, jogos eletrônicos. Esta dissertação apresenta uma extensão ao mapeamento de textura com relevo que suporta a representação de efeitos dependentes do ponto de vista e da direção de iluminação, que antes não eram possíveis de serem representados. Além disso, propõe uma forma de paralelizar tal mapeamento entre CPU e GPU (Graphic Processor Unit), utilizando-se para isto da tecnologia de Hyper-Threading. Nesta nova abordagem, cada amostra pertencente a uma textura com relevo é aumentada para incluir três valores escalares representando o vetor normal à superfície reproduzida pela textura. Desta forma, o cálculo de iluminação pode ser efetuado por pixel. A paralelização do processo de mapeamento de textura com relevo demonstra-se favorável uma vez que são obtidos ganhos de até 37% em relação ao tempo de processamento da abordagem convencional. / [en] The main motivation for this work is to verify the feasibility of using relief texture mapping in high-demand real-time applications, such as computer games. This dissertation presents an extension to relief texture mapping that supports the representation of effects that depend of viewpoint and illumination direction, which could not be represented with previous techniques. Moreover, it proposes a way to parallelize relief texture mapping between CPU and GPU, using Hyper-Threading technology. In this new approach, each element that belongs to a relief texture is augmented to include three scalar values representing the normal vector of the reproduced surface. So, the illumination can be calculated per pixel. In the proposed approach, the parallelization of the relief texture mapping represents an acceleration of up to 37% when compared to conventional techniques.

Sistemas dutoviários desempenham um papel fundamental na cadeia de suprimento da indústria de petróleo. Este tipo de sistema é responsável pelo transporte da maior parte do volume de petróleo e seus derivados. Sistemas de dutos transportam uma grande quantidade de diferentes tipos de petróleo e seus derivados a custo mais baixo que outros tipos de modais. Dutos interligam campos de produção de petróleo, portos, refinarias, centros de distribuição (ou depósitos), e mercado consumidor. O problema estudado neste trabalho é baseado em um sistema que é composto por uma refinaria que pode transferir vários produtos para um terminal (depósito) através de um único duto. Os produtos são conjuntos de derivados de petróleo que devem ser transferidos da refinaria para o terminal ou do terminal para a refinaria. Ambos, refinaria e terminal estão conectados a outras refinarias, terminais e mercados consumidores e com isto formam uma complexa rede de dutos. Por outro lado há um conjunto de demandas externas e internas. Esta última demanda decorre da necessidade de processamento de produtos intermediários que são misturas compostas de várias correntes intermediárias, tais como diluentes de óleos combustíveis, propano intermediário, e diesel intermediário. Com o objetivo de obter vantagens sobre a estrutura da rede de transporte, torna-se benéfica e mesmo necessária a operação do duto em ambas as direções para atender tanto à demanda externa quanto à interna. O objetivo deste trabalho é desenvolver um modelo matemático para a programação de um sistema de poliduto. A formulação para a programação deve considerar a possibilidade de trocar o sentido do poliduto. Neste contexto, a programação de um poliduto envolve decisões tais como sentido de operação, quantidade, temporização e seqüências de produtos, com objetivo de obter uma solução ótima, considerando todas as restrições de demanda, perfil de produção, estoques e custos. O modelo de programação é baseado em uma representação de tempo discreto e composto da área de tancagem da refinaria, um terminal, e um poliduto. Além disto o duto é dividido em segmentos de volumes iguais como em Rejowski Jr e Pinto (2003). As principais variáveis de decisão são a direção da movimentação do duto (da refinaria para terminal ou do terminal para refinaria) e o que está sendo movimentado a cada intervalo. Estas decisões são formuladas através de uma representação disjuntiva. As disjunções são transformadas em uma formulação baseada em programação matemática mista-inteira, a partir da representação Convex-hull. A função objetivo considera os custos de estocagem, movimentação e interface de produtos. O modelo é aplicado inicialmente a um caso protótipo e posteriormente aplicado a um sistema real composto pelos terminais de São Sebastião e Guararema e o poliduto OSPLAN. Neste caso ao todo quatro famílias de produtos são transportadas: gasolina, querosene, nafta e diesel. A programação é gerada para o período de uma semana. / Pipeline systems play a major role in the supply chain of the petroleum industry. These systems are responsible for the transportation of most of the crude oil and petroleum derivatives. Pipeline systems transfer large amounts of different petroleum types and their products at a lower cost than any other transportation mode. Pipelines interconnect oil fields, ports, refineries, distribution centers (or depots), and consumer markets. The problem addressed is this work is based on a system that is composed by an oil refinery that must transfer multiple products through a single pipeline connected to one depot. The products are a set of petroleum derivatives that must be either transported from the refinery to the depot or from the depot to the refinery. Both depot and refinery also connect other refineries as well as other depots and customers, thus forming a complex transportation network. On the other hand, there are several demands that arise either from external customers or from refineries. The latter demand is due from the need of processing intermediate streams with components mixtures such as diluents, propane and diesel. In order to take advantage of the structure of the transportation network, it becomes beneficial and even necessary to operate the pipeline in both directions so that internal and external demands are satisfied. The objective of this work is to develop a mathematical model for the short term scheduling of a multiproduct pipeline system. The scheduling formulation must account for the bidirectionality of the multiproduct pipeline. In this context, the scheduling a multiproduct pipeline involves the from-to decision, the product amounts, their sequence and timing, in the optimal sense, considering all constrains on demands, production rates, inventories, and costs. The scheduling model is based on a discrete time representation and is composed by one refinery tank farm, one depot and one multiproduct pipeline. Moreover, the pipeline is divided into segments of equal volume, as in Rejowski Jr and Pinto (2003). The main decisions variables are the directions of transfer (refinery to depot or depot to refinery) and the types of products at each time interval. These decisions are formulated with a disjunctive representation. The disjunctions are represented in mixed integer formulation based on the convex-hull approach. The objective function involves inventory, transfer and product interface costs. The model is first applied to a prototype case and after applied to a real-world system that is composed of the São Sebastião and Guararema depot and the OSPLAN pipeline. Overall four families of products are transported: gasoline, kerosene, naphtha and oil diesel. These are scheduled over a period of one week.

A análise em tempo real de pares de imagens estereoscópicas para extração de características dimensionais da cena tem apresentado crescente interesse, possibilitando robusta navegação robótica e identificação de objetos em cenários dinâmicos. A presente dissertação propõe um método que emprega a análise pixel a pixel e observação de janelas, em pares de imagens estereoscópicas, para extração de denso mapa de disparidades. A arquitetura de processamento proposta é única em sua constituição, misturando elementos de processamento concorrente e seqüencial. O algoritmo estrutura-se em processamento pipeline, permitindo sua implementação em dispositivos de lógica programável e obtenção de resultados em tempo real. / Real-time analysis of stereo images for extraction of dimensional features has been focus of great interest, providing means for autonomous robot navigation and identification of objects in dynamic environments. This work describes a method based in pixel-to-pixel and windows based matching analysis, in stereo images, for constructing dense disparity maps. The proposed processing structure is unique, mixing concurrent and sequential elements. Pipelines structure is employed, targeting implementation in FPGA devices and enabling real-time results.

Uppsatsens har som avsikt att behandla ämnet könsfördelning inom ledningsgrupper i bolag.Detta genom att belysa de läckor som teorin “The leaky pipeline” tar upp som orsaker till attkvinnor i större utsträckning än män inte når de högre positionerna inom organisationer. Vilkametoder som skall användas för att nå en jämnare könsfördelning är en fråga som ständigtdiskuteras och debatteras. Det råder delade meningar om hur man bör gå till väga och ämnetär på många sätt högaktuellt. Då ingen av sidorna hittat ett tillräckligt bra tillvägagångssätt föratt lösa situationen anser vi att det vore intressant med en fördjupning i detta ämne. Vi harupprättat en litteraturgenomgång, teori samt en kvalitativ studie för att finna samband och eneventuell lösning.Syftet med uppsatsen är att med hjälp av individer på ledande positioner i organisationer få enförståelse kring orsaken till att kvinnor faller bort i sin karriär oftare än män, samt hur dettakan motverkas. Resultatet av vår studie visar de olika läckor som återfinns i teorin “The leakypipeline” och de tillvägagångsätt som kan användas för att motverka dessa. Vi identifierar deredan givna läckorna: exkludering, brist på motivation och stöttning från organisationen, menser även att läckan, brist på erfarenhet, bör finnas i teorin. Den läckan som beskriver bortfalltill följd av barnafödande och familjeliv ser vi blir svagare vilket tyder på att gamla strukturersuddas ut. / This paper seeks to address the topic “gender distribution in corporate management teams”and highlight the leaks in the theory "The leaky pipeline". The theory brings up reasons towhy more men then women reach the higher positions within organizations. Which methodsthat should be used to achieve a better gender balance is an issue that is constantly discussed.There are differing views on how to reach a solution. Since it is such a highly topical subjectthat is still not solved we felt it would be interesting to delve into it. We have chosen toprepare a literature review and theory to try to find a connection with the qualitative study wehave done in the context of the essay.The purpose of this paper is that with the help of individuals in leadership positions inorganizations gain an understanding of why women fall out in their career more often thanmen, and how it can be countered. The results of our study show the various leaks appearingin the theory The leaky pipeline and the procedures that can be used to counter them. Weidentify the already given leaks: exclusion, lack of motivation and jacking from theorganization, but also see that the leak “lack of experience” should be included in the theory.The leak that addresses failures due to childbearing and family life are become weaker,suggesting that old structures are being blurred.This paper is written in Swedish.

Software engineers need to understand the structure of the programs they construct. This task is made difficult by the intangible nature of software, and its complexity, size and changeability. Static analysis tools can help by extracting information from source code and conveying it to software engineers. However, the information provided by typical tools is limited, and some potentially rich veins of information - particularly metrics and visualisations - are under-utilised because developers cannot easily acquire or make use of the data. This thesis documents new tools and techniques for static analysis of software. It addresses the problem of generating parsers directly from standard grammars, thus avoiding the com-mon practice of customising grammars to comply with the limitations of a given parsing al-gorithm, typically LALR(1). This is achieved by a new parser generator that applies a range of bottom-up parsing algorithms to produce a hybrid parsing automaton. Consequently, we can generate more powerful deterministic parsers - up to and including LR(k) - without incurring the combinatorial explosion that makes canonical LR(k) parsers impractical. The range of practical parsers is further extended to include GLR, which was originally developed for natural language parsing but is shown here to also have advantages for static analysis of programming languages. This emphasis on conformance to standard grammars im-proves the rigour of static analysis tools and allows clearer definition and communication of derived information, such as metrics. Beneath the syntactic structure of software (exposed by parsing) lies the deeper semantic structure of declarations, scopes, classes, methods, inheritance, invocations, and so on. In this work, we present a new tool that performs semantic analysis on parse trees to produce a comprehensive semantic model suitable for processing by other static analysis tools. An XML pipeline approach is used to expose the syntactic and semantic models of the software and to derive metrics and visualisations. The approach is demonstrated producing several types of metrics and visualisations for real software, and the value of static analysis for informing software engineering decisions is shown.

TRAPIL est une société Française ayant à charge l'exploitation et l'entretien de pipelines d'hydrocarbures. L'entretien de pipelines enterrés nécessite le passage de racleurs équipés de sondes ultrasons réalisant une cartographie de la structure du pipeline, qui est ensuite analysée à la main afin de détecter et d'identifier les différents défauts pouvant apparaître ou évoluer.L'objectif de ce travail de thèse est d'apporter une solution algorithmique permettant d'accélérer et de compléter le travail des analystes à l'aide des méthodes modernes de traitement d'images et du signal.Notre approche suit le mode opératoire des experts et est découpée en trois partie.Tout d'abord nous réalisons une détection des soudures d'aboutage permettant de séparer le pipelines en les différents tubes qui le composent. Les signaux de sondes représentant la circonférence du tube sont regroupés et compressés dans une détection de rupture par comparaison de moyenne à court et long terme, puis les signaux résultants sont fusionnés à l'aide d'une pondération unique permettant une augmentation majeure du contraste entre bruit et soudure, offrant une détection et une localisation presque sans faille.Les tubes subissent ensuite une première segmentation visant à éliminer le plus grand nombre de pixels sains. Usant de modélisation d'histogramme des valeurs d'épaisseur par un algorithme EM initialisé pour notre problématique, l'algorithme suit un principe récursif comparable aux méthodes de type split and merge pour détecter et isoler les zones dangereuses.Enfin, Les zones dangereuses sont identifiées à l'aide d'une foret aléatoire, apprise sur un grand nombre d'exemples de défauts. Cette troisième partie est centrée sur l'étude de différentes méthodes de reconnaissance de forme appliquées à notre nouvelle problématique.Au travers de ces différentes étapes, les solutions que nous avons apportées permettent à TRAPIL un gain de temps significatif sur les tâches les plus fastidieuses du processus d'analyse (par exemple 30% sur la détection de soudures) et leur offre de nouvelles possibilités commerciales, par exemple la possibilité de fournir un pré-rapport à leur clientèle en quelques jours pendant que l'analyse manuelle est réalisée pouvant prendre plus d'un mois. / TRAPIL is a French society who is in charge of exploitation and maintenance of oil pipelines. Maintenance of buried pipeline implies the use of ultrasonic sensor-equipped devices, providing thickness and structural maps of the pipe, which are analysed by experts in order to detect and identify defects that may appear or evolve.The objective of this work is to provide an algoritmic solution allowing to accelerate and aid the experts's work with modern image and signal processing methods.Our approach follows the experts's operating mode and is divided in three sections.First, a weld detection is realized allowing to split the pipe in tubes. The signals of probes representing the circumference of the pipe are regrouped and compressed through an abrupt change detection, using short and long-term average comparison, then the resulting signals are merged using a unique weightening function allowing a massive increase of the contrast between welds and noise, offering near-perfect detection and localization.The tubes then undergoes a first segmentation aiming at eliminating a large amount of sane pixels. Using histogram modelization through an EM algorithm tuned specially for our purpose, the algorithm follows a recursive approach comparable to split and merge methods to detect and isolate dangerous areas.Finally, those dangerous areas are identified with a Random Forest, which has been learnt on a large amount of defect examples. This third part is greatly focused on the study of different pattern recognition methods applied on our new problematic.Through those different steps, the solution we brought allows TRAPIL to save a lot of time on the most tedious tasks of the analysis process (for example 30% of gain in processing time for the weld detection) and offers new commercial possibilities, like for example the possibility to provide their clients a first report in a matter of days, while the manual analysis is completed, which can take more than a month.

Today, the world faces an energy source transformation that is difficult to grasp. To convert to a green energy society, carbon, oil, and natural gas must faze out as fuels during the upcoming decades. Hydrogen gas has received a lot of attention in recent years regarding the challenges in the energy sector, not only because of its multifunctionality as a fuel but also because it is a great energy carrier. The largest part of the green hydrogen gas produced in the future will be made in locations with great possibilities to produce hydrogen gas from solar energy. This means that a huge amount of this will need to be transported (and stored correctly during transportation) to countries with an increased industrial need for hydrogen but with insufficient production of hydrogen. The report will cover two different ways of transporting hydrogen gas. The first one is intermodal transport of tubes (hydrogen gas) or tanks (cryogenic hydrogen), and the second one is through pipelines. The report will also investigate two different ways of storing hydrogen, as a cryogenic liquid or as a compressed gas. The report will also investigate the production of intermodal commodities for compressed hydrogen gas where a material selection will be made to optimise the possibilities to store and transport hydrogen gas. The material selection analysis showed that a duplex stainless steel was the best material for hydrogen gas tubes. From the result, it is clear that compressed hydrogen gas in tube containers is the cheapest transport method with respect to both Operational Expenses (OpEx) and Capital Investment Expenses (CapEx). / Idag står världen inför en energiomställning med stora hinder. För att ställa om till ett samhälle med grön energi står det klart att kol, olja och naturgas måste fasas ut som bränslen under de kommande decennierna. Vätgas har fått mycket uppmärksamhet under de senaste åren när det gäller utmaningarna inom energisektorn, inte bara på grund av dess multifunktionalitet som bränsle utan också för att det är en utmärkt energibärare. Den största delen av den gröna vätgas som produceras i framtiden kommer att tillverkas på platser med stora möjligheter att producera vätgas från solenergi. Detta innebär att en enorm mängd av detta kommer att behöva transporteras (och lagras korrekt under transporten) till länder med ett ökat industriellt behov av vätgas men med otillräcklig produktion av vätgas. Rapporten kommer att omfatta två olika sätt att transportera vätgas. Det första är intermodal transport av tuber (vätgas) eller tankar (kryogen vätgas), och det andra är genom rörledningar. Rapporten kommer också att undersöka två olika sätt att lagra vätgas, som en kryogen vätska eller som en komprimerad gas. Rapporten kommer också att undersöka produktionen av intermodala råvaror för komprimerad vätgas där ett materialval kommer att göras för att optimera möjligheterna att lagra och transportera vätgas. Materialvalsanalysen visade att duplex rostfritt stål var det bästa materialet för vätgastuber. Av resultatet framgår det tydligt att komprimerad vätgas i rörbehållare är den billigaste transportmetoden med avseende på både Operational Expenses (OpEx) och Capital Investment Expenses (CapEx).

Räumliche Transkriptomik-Sequenzierungstechniken werden bei der Untersuchung von RNA in komplexen Geweben immer populärer. Mit diesen neuartigen Ansätze wird die Häufigkeit von Transkripten unter Beibehaltung ihrer räumlichen Lage gemessen, und ermöglichen so die Untersuchung der Genexpression in einem unvoreingenommen, raumzeitlichen Kontext. Angesichts der Vielfalt der zugrunde liegenden experimentellen Techniken, die Datensätze, die von verschiedenen Transkriptomik-Assays erstellt werden, variieren stark. Diese Datensätze werden von Pipelines verarbeitet und analysiert, die speziell für die jeweilige Methode entwickelt sind. Sie sind weder einfach modifizierbar, noch erweiterbar, dadurch sind sie nicht mit Inputs anderer Technologien kompatibel. Hier wird spacemake vorgestellt, eine bioinformatische Software, die darauf abzielt, die Lücke zwischen den verschiedenen räumlichen transkriptomischen Sequenzierungsansätzen zu schließen, durch sie einheitliches, schnelles, modulares, reproduzierbares und erweiterbares Rahmenwerk für die Verarbeitung und Analyse groß angelegter räumlicher transkriptomischer Daten bietet. Spacemake verarbeitet erfolgreich Daten aus den neuesten räumlichen Transkriptomik-Assays, unabhängig von ihrer Inputs. Spacemake ist parallel und läuft im Vergleich zu anderen vergleichbaren Techniken schneller. Spacemake ist modular entwickelt, und bietet verschiedene Module wie automatisiertes Clustering und Analyse, Quality Control, Saturation Analyse durch Downsampling, Zusammenführung technischer Replikate, Integration von scRNA-seq-Daten und Alignment von Mikroskopiebildern. Um ein Höchstmaß an Flexibilität zu bieten, ermöglicht spacemake benutzerkonfigurierbare Einstellungen\textit{run-mode} Einstellungen, wodurch die Unterstützung einer breiten Palette experimenteller Designs gewährleistet wird. Da spacemake in Python geschrieben ist, lässt es sich gut mit anderen Computational Biologie Methoden integrieren. Insgesamt hat spacemake das Potenzial, ein wichtiger Bestandteil der räumlichen Transkriptomik-Toolbox der Gegenwart und Zukunft zu sein. / Spatial transcriptomics sequencing techniques are increasingly popular when studying RNA in complex tissues. These novel approaches measure the abundance of transcripts while retaining their spatial location information, thus allowing the study of gene expression in an unbiased, spatiotemporal context. Given the variety of the underlying experimental techniques, the datasets which are produced by each spatial transcriptomic assay also vary greatly. These datasets are processed and analyzed by pipelines tailored specifically for each method, and are not easily modifiable nor extendable, thus making them incompatible to work with inputs from other technologies. Here spacemake is introduced, a bioinformatic software that aims to close the gap between the various spatial transcriptomic sequencing approaches, by providing a unified, fast, modular, reproducible, and extendable framework for large-scale spatial transcriptomic data processing and analysis. Spacemake successfully processes data from the latest spatial transcriptomics assays, regardless of their input data structure. Spacemake is parallel and runs faster when compared with other similar methods. It has a modular design and offers several modules such as automated clustering and analysis, quality control, saturation analysis through downsampling, technical replicate merging, scRNA-seq data integration, and microscopy image alignment. To offer maximum flexibility, spacemake allows for user-configurable \textit{run-mode} settings, ensuring support for a wide range of experimental designs. Written in Python, spacemake integrates well with other computational biology solutions. Overall spacemake has the potential to be an important part of the spatial transcriptomics toolbox of the present and future.

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