published_or_final_version / Electrical and Electronic Engineering / Doctoral / Doctor of Philosophy

Laser Measurement Systems (LMS) are used in autonomous agricultural vehicles for guidance and obstacle detection purposes. In the particular case of agricultural vehicles, the efficiency of LMS measurements is affected by mechanical vibrations induced by the operation of these machines on uneven terrains. The objective of this study was to evaluate the effectiveness of a mounting system capable of reducing the transmission of mechanical vibrations to an LMS sensor installed on an agricultural tractor for the purpose of improving the detection accuracy of obstacles during field operation. A stabilization system (SS) was designed for a SICK LMS 291-S14 scanner. The LMS sensor and the SS were installed on an agricultural tractor to scan four objects positioned at known locations in the field. An experimental analysis was carried out to evaluate the detection accuracy of the LMS sensor under different operating conditions: with and without SS; with and without support bars (S); and for different types of terrains (in terms of roughness) and field operating speed. The detection accuracy of the LMS sensor was assessed by determining the difference between the known location of the four objects and their corresponding estimated location from the LMS measurements. The increase of tractor speed had a negative effect on the accuracy of the LMS sensor with an increase in the positioning error of up to 75%. However, it was not possible to establish a clear relationship between terrain roughness and the accuracy of the LMS sensor. The addition of the S systems positively affected the accuracy of the LMS sensor and resulted in a 41% decrease of the average positioning error from 0.340 to 0.201 m. Finally, the used of the SS mounting system decreased the average positioning error by 57% from 0.382 to 0.161 m. These experimental results confirmed the effectiveness of the joint use of the SS and S mounting systems in improving the accuracy of the LMS sensor mounted on an agricultural tractor through a reduction in transmitted vibrations.

Thesis (Ph.D.)--McMaster University, 2004. / Supervisor: Allan D. Spence. Includes bibliographical references (leaves 185-195).

Thesis (M.S.)--Rochester Institute of Technology, 1990. / Includes bibliographical references (leaves 68-69).

Thesis (MSc)--University of Stellenbosch, 2005. / Bibliography. Also available via the Internet.

Laser Measurement Systems (LMS) are used in autonomous agricultural vehicles for guidance and obstacle detection purposes. In the particular case of agricultural vehicles, the efficiency of LMS measurements is affected by mechanical vibrations induced by the operation of these machines on uneven terrains. The objective of this study was to evaluate the effectiveness of a mounting system capable of reducing the transmission of mechanical vibrations to an LMS sensor installed on an agricultural tractor for the purpose of improving the detection accuracy of obstacles during field operation. A stabilization system (SS) was designed for a SICK LMS 291-S14 scanner. The LMS sensor and the SS were installed on an agricultural tractor to scan four objects positioned at known locations in the field. An experimental analysis was carried out to evaluate the detection accuracy of the LMS sensor under different operating conditions: with and without SS; with and without support bars (S); and for different types of terrains (in terms of roughness) and field operating speed. The detection accuracy of the LMS sensor was assessed by determining the difference between the known location of the four objects and their corresponding estimated location from the LMS measurements. The increase of tractor speed had a negative effect on the accuracy of the LMS sensor with an increase in the positioning error of up to 75%. However, it was not possible to establish a clear relationship between terrain roughness and the accuracy of the LMS sensor. The addition of the S systems positively affected the accuracy of the LMS sensor and resulted in a 41% decrease of the average positioning error from 0.340 to 0.201 m. Finally, the used of the SS mounting system decreased the average positioning error by 57% from 0.382 to 0.161 m. These experimental results confirmed the effectiveness of the joint use of the SS and S mounting systems in improving the accuracy of the LMS sensor mounted on an agricultural tractor through a reduction in transmitted vibrations.

A research report submitted to the School of Oral Health Sciences, Faculty of Health Sciences, University of the Witwatersrand, in partial fulfillment of the requirements for the degree of Master of Dentistry in the branch of Prosthodontics Johannesburg, 2017 / Purpose: To perform a comparative analysis of the accuracy of intra-oral and extra-oral digital scanners when used for the milling of a long-span implant supported superstructure framework. Method: Three intra-oral and three extra-oral scanners were used to measure a master model containing five implant analogues. The three-dimension positions of the implant analogues were measured with a coordinate measuring machine. The digital data from the scanners were used to mill the implant positions in aluminium blanks from a single milling device. These implant positions were measured at the same points as the master model. The three-dimensional differences were calculated to provide a measure of the most accurate frameworks. Results: For the intra-oral scanners, the further the measurement between points, the greater the standard deviation (the poorer the precision) and the poorer the mean accuracy. However, these were clinically acceptable over short distances. For the extra-oral scanners, there was no correlation between the length of the measured distances and the accuracy of the produced framework. All the extra-oral scanners were clinically acceptable for complete-arch prostheses. Conclusions: Noting the limitations of this study and the use of a milling centre to mill the frameworks, for the intra-oral scanners, the 3Shape Trios® (3Shape, Copenhagen, Denmark) can be used for measurements up to 21,5mm and the Sirona CEREC OmniCam (Sirona Dental Systems, Inc., Bensheim, Germany) can be used for measurements up to 34mm. The extra-oral scanners used in this study can be used for complete-arch implant prosthetics. The accuracy of these is relative to the model or impression created. Steps should therefore be made to ensure the accuracy of the model such as the use of a verification jig / MT2017

O presente projeto de pesquisa trata de uma comparação no processamento de imagens mamográficas adquiridas no scanner a laser (Lumiscan50) e no scanner óptico convencional com adaptador para digitalização de filme (Umax mod. PowerLook 1120). Por meio de uma análise estatística, verificou-se que o scanner óptico produz um aumento acentuado na intensidade (nível de cinza) na imagem digitalizada em relação ao mamograma original. Em função dessas respostas, foi desenvolvido um procedimento para compensar o deslocamento da curva de cada digitalizador em relação à curva característica do filme. Em seguida, imagens selecionadas de exposições de phantom e de mamografias reais foram digitalizadas em ambos os scanners e processadas por uma técnica de segmentação para detecção de microcalcificações, desenvolvida previamente no nosso grupo de pesquisas, a fim de estabelecer uma comparação da sensibilidade de detecção do esquema para imagens digitalizadas pelos dois tipos de equipamentos. Baseada nestas comparações, a análise do comportamento de um esquema CAD em mamografia, considerando a utilização de imagens digitalizadas em ambos os tipos de scanners, mostrou equivalência na sensibilidade e na especificidade, mas somente quando foi aplicada a técnica de transformação com base na análise das respectivas curvas características. Embora a performance do esquema tenha sido cerca de 10% mais eficiente com as imagens digitalizadas pelo sistema laser, a redução no nível de intensidade das imagens do digitalizador óptico – que, na prática, significou aproximar a sua curva característica em relação a curva característica do laser – proporcionou resultados equivalentes da segmentação. Ao considerar também que a tecnologia a laser é bastante cara e a tecnologia CCD tem um custo absurdamente menor, verifica-se a possibilidade da utilização dessa última sem prejudicar a eficácia no processamento, desde que aplicado o software de correção apropriado baseado na análise das curvas características. / This work is intended in comparing the results from a mammographic images processing scheme considering images sets digitized by a laser and by an optical scanners (Lumiscan50 and Umax Powerlook 1120 units, respectively). By means of a statistical analysis, we could verify that the optical scanner yields a remarkable increase in the digitized image intensity (gray scale) relative to the original mammogram. A procedure was developed to compensate the shift each digitizers characteristic curves relative to the film one, as a function of such responses. Then, selected images from phantom exposures as well as from actual mammographic exams were digitized by both scanners and processed by a previously developed segmentation technique for detection of clustered microcalcifications in order to establish the comparisons. The results have shown that, considering the use of images digitized by both types of scanners, there was an equivalence between the two images sets as for sensibility as well as for specificity, but only when applied the transformation technique based on the analysis of the digitizers respective characteristic curves. Although the scheme performance was about 10% more efficient with the images set from the laser scanner, when an intensity level decrease procedure was introduced to the images from the optical digitizer – which means to approach its characteristic curve to the laser digitizer one – the segmentation results were equivalent. Therefore, taking into account that the laser technology is very expensive while the CCD one is notably smaller, the results show that extending the CCD technology use to CAD schemes in mammography is a real possibility, without prejudice the processing efficacy. But this is possible only when applied the appropriate correction by means of the characteristic curves study.

O presente projeto de pesquisa trata de uma comparação no processamento de imagens mamográficas adquiridas no scanner a laser (Lumiscan50) e no scanner óptico convencional com adaptador para digitalização de filme (Umax mod. PowerLook 1120). Por meio de uma análise estatística, verificou-se que o scanner óptico produz um aumento acentuado na intensidade (nível de cinza) na imagem digitalizada em relação ao mamograma original. Em função dessas respostas, foi desenvolvido um procedimento para compensar o deslocamento da curva de cada digitalizador em relação à curva característica do filme. Em seguida, imagens selecionadas de exposições de phantom e de mamografias reais foram digitalizadas em ambos os scanners e processadas por uma técnica de segmentação para detecção de microcalcificações, desenvolvida previamente no nosso grupo de pesquisas, a fim de estabelecer uma comparação da sensibilidade de detecção do esquema para imagens digitalizadas pelos dois tipos de equipamentos. Baseada nestas comparações, a análise do comportamento de um esquema CAD em mamografia, considerando a utilização de imagens digitalizadas em ambos os tipos de scanners, mostrou equivalência na sensibilidade e na especificidade, mas somente quando foi aplicada a técnica de transformação com base na análise das respectivas curvas características. Embora a performance do esquema tenha sido cerca de 10% mais eficiente com as imagens digitalizadas pelo sistema laser, a redução no nível de intensidade das imagens do digitalizador óptico – que, na prática, significou aproximar a sua curva característica em relação a curva característica do laser – proporcionou resultados equivalentes da segmentação. Ao considerar também que a tecnologia a laser é bastante cara e a tecnologia CCD tem um custo absurdamente menor, verifica-se a possibilidade da utilização dessa última sem prejudicar a eficácia no processamento, desde que aplicado o software de correção apropriado baseado na análise das curvas características. / This work is intended in comparing the results from a mammographic images processing scheme considering images sets digitized by a laser and by an optical scanners (Lumiscan50 and Umax Powerlook 1120 units, respectively). By means of a statistical analysis, we could verify that the optical scanner yields a remarkable increase in the digitized image intensity (gray scale) relative to the original mammogram. A procedure was developed to compensate the shift each digitizers characteristic curves relative to the film one, as a function of such responses. Then, selected images from phantom exposures as well as from actual mammographic exams were digitized by both scanners and processed by a previously developed segmentation technique for detection of clustered microcalcifications in order to establish the comparisons. The results have shown that, considering the use of images digitized by both types of scanners, there was an equivalence between the two images sets as for sensibility as well as for specificity, but only when applied the transformation technique based on the analysis of the digitizers respective characteristic curves. Although the scheme performance was about 10% more efficient with the images set from the laser scanner, when an intensity level decrease procedure was introduced to the images from the optical digitizer – which means to approach its characteristic curve to the laser digitizer one – the segmentation results were equivalent. Therefore, taking into account that the laser technology is very expensive while the CCD one is notably smaller, the results show that extending the CCD technology use to CAD schemes in mammography is a real possibility, without prejudice the processing efficacy. But this is possible only when applied the appropriate correction by means of the characteristic curves study.

"Based on research results of Sandra Schweizer and Gerhard Lammel during their PhD thesis' at the Swiss Federal Institute of Technology Lausanne in the group of Prof. Philippe Renaud"--Pref. / Includes bibliographical references and index.