<p dir="ltr">Origami has emerged as a design paradigm to realize morphing structures with rich kinematic and mechanical properties. Biological examples augment the potential folding design space by suggesting intriguing routes for achieving and expanding crease patterns which traditional origami laws are unable to capture. Specifically, spring origami theory exploits the material system architecture and energy storage mechanism of the earwig wing featuring one of the highest folding ratios in the animal kingdom (1:18), minimal energy required for deployment and collapse of the wing, and bistability locking the wing in closed, and open configurations for crawling through tunnels, and flight, respectively. The central mechanism responsible for bistability in the wing features a non-developable crease pattern with a non-zero Gaussian curvature. Reconfiguring, or even flattening a structure with such an intrinsic property requires stretching or tearing; soft, rubbery material found in the creases of the central mechanism allows for stretching enabling shape transformations between open and closed states without tearing. In the first part of this thesis, such characteristics are transferred to a synthetic bistable soft robotic gripper leveraging the shape adaptability and conformability exhibited by the biological organism to minimize actuation energy. This is achieved by integrating soft, flexible material in the bioinspired gripper that allows kinematically driven geometries to grasp and manipulate objects without continuous actuation. Secondly, the stiffening effect from spring origami is utilized in a bioinspired wing for an aerial--aquatic robot. Transitions between air and sea in multimodal robots is challenging, however, a structurally efficient and multifunctional membrane is developed to increase locomotive capabilities and longer flights. This is motivated by the flying fish's locomotive modules and origami design principles for deployment and folding. Additionally, to keep the wing in a stiff state while gliding, spring origami bistable units are integrated into the membrane inducing self-stiffening and a global curvature reducing energy expenditure while generating lift. While the previous examples present solutions to adaptive manipulation and membrane multifunctionality, once programmed, their shapes are fixed. In the third application, a class of multistable self-folding origami architectures that are reprogrammable post fabrication are presented. This is achieved by encoding prestrain in bilayer creases with anisotropic shrinkage that change shape and induce a local curvature in the creases in response to external stimuli. The topology of the energy landscapes can thus be tuned as a function of the stimulation time and adaptable post fabrication. The proposed method and model allows for converting flat sheets with arranged facets and prestrained mountain-valley creases into self-folding multistable structures. Lasty, encoding crease prestrain is leveraged to manufacture a biomimetic earwig wing featuring the complex crease pattern, structural stability, and rapid closure of the biological counterpart. The presented method provides a route for encoding prestrain in self-folding origami, the multistability of which is adaptable after fabrication.</p>

Noise pollution is a big health hazard for people living in urban areas, and its effects on humans is a growing field of research. One of the major contributors to urban noise pollution is the noise generated by traffic. Noise simulations can be made in order to build noise maps used for noise management action plans, but in order to test their accuracy real measurements needs to be done, in this case in the form of noise measurements taken adjacent to a road. The aim of this project is to test machine learning based methods in order to develop a robust way of detecting and classifying vehicle noise in sparse traffic conditions. The primary focus is to detect traffic noise events, and the secondary focus is to classify what kind of vehicle is producing the noise. The data used in this project comes from sensors installed on a testbed at a street in southern Stockholm. The sensors include a microphone that is continuously measuring the local noise environment, a radar that detects each time a vehicle is passing by, and a camera that also detects a vehicle by capturing its license plate. Only sparse traffic noises are considered for this thesis, as such the audio recordings used are those where the radar has only detected one vehicle in a 40 second window. This makes the data gathered weakly labeled. The resulting detection method is a two-step process: First, the unsupervised learning method k-means is implemented for the generation of strong labels. Second, the supervised learning method random forest or support vector machine uses the strong labels in order to classify audio features. The detection system of sparse traffic noise achieved satisfactory results. However, the unsupervised vehicle classification method produced inadequate results and the clustering could not differentiate different vehicle classes based on the noise data. / Buller är en stor hälsorisk för människor som bor i stadsområden, och dess effekter på människor är ett växande forskningsfält. En av de största bidragen till stadsbuller är oljud som genereras av trafiken. Man kan utföra simuleringar i syfte att skapa bullerkartor som kan användas till planer för att minska dessa ljud. För att testa deras noggrannhet måste verkliga mätningar tas, i detta fall i formen av ljudmätningar tagna intill en väg. Syftet med detta projekt är att testa maskininlärningsmetoder för att utveckla ett robust sätt att detektera och klassificera fordonsljud i glesa trafikförhållanden. Primärt fokus ligger på att detektera bullerhändelser från trafiken, och sekundärt fokus är att försöka klassificera vilken typ av fordon som producerade ljudet. Datan som används i detta projekt kommer från sensorer installerade på en testbädd på en gata i södra Stockholm. Sensorerna inkluderar en mikrofon som kontinuerligt mäter den lokala ljudmiljön, en radar som detekterar varje gång ett fordon passerar, och en kamera som också detekterar ett fordon genom att ta bild på dess registreringsskylt. Endast ljud från gles trafik kommer att beaktas och användas i detta arbete, och därför används bara de ljudinspelningar där radarn har upptäckt ett enskilt fordon under ett 40 sekunders intervall. Detta gör att den insamlade datan har svaga etiketter. Den resulterande detekteringsmetoden är en tvåstegsprocess: För det första används den oövervakade inlärningsmetoden k-means för att generera starka etiketter. För det andra används de starka etiketterna av den övervakade inlärningsmetoden slumpmässig beslutsskog eller stödvektormaskin i syfte att klassificera ljudegenskaper. Detekteringssystemet av glest trafikljud uppnådde tillfredsställande resultat. Däremot producerade den oövervakade klassificeringsmetoden för fordonsljud otillräckliga resultat, och klustringen kunde inte urskilja mellan olika fordonsklasser baserat på ljuddatan.

<p></p><p>This doctoral dissertation takes the reader through a journey where applied shear rheology and flow-velocimetry are used to understand the mesoscopic factors that control the flow behavior of three microstructured fluids. Three individual protocols that measure relative physical and mechanical properties of the flow are developed. Each protocol aims to advance the particular transformation of novel soft materials into a commercial product converging in the demonstration of the real the chemical, physical and thermodynamical factors that could potentially drive their successful transformation. </p> <p> </p> <p>First, this dissertation introduces the use of rotational and oscillatory shear rheometry to quantify the solvent evaporation effect on the flow behavior of polymer solutions used to fabricate isoporous asymmetric membranes. Three different A-B-C triblock copolymer were evaluated: polyisoprene-<i>b</i>-polystyrene-<i>b</i>-poly(4-vinylpyridine) (ISV); polyisoprene-<i>b</i>-polystyrene-<i>b</i>-poly(<i>N</i>,<i>N</i>-dimethylacrylamide) (ISD); and polyisoprene-<i>b</i>-polystyrene-<i>b</i>-poly(<i>tert</i>-butyl methacrylate) (ISB). The resulting evaporation-induced microstructure showed a solution viscosity and film viscoelasticity strongly dependent on the chemical structure of the triblock copolymer molecules. </p> <p> </p> <p>Furthermore, basic shear rheometry, flow birefringence, and advanced flow-velocimetry are used to deconvolute the flow-microstructure relationships of concentrated surfactant solutions. Sodium laureth sulfate in water (SLE₁S) was used to replicate spherical, worm-like, and hexagonally packed micelles and lamellar structures. Interesting findings demonstrated that regular features of flow curves, such as power-law shear thinning behavior, resulted from a wide variety of experimental artifacts that appeared when measuring microstructured fluids with shear rheometry.</p> <p> </p> <p>Finally, the successful integration of shear rheometry to calculate essential parameters to be used in a cost-effective visualization technique (still in development) used to calculate the dissolution time of polymers is addressed. The use of oscillatory rheometry successfully quantify the viscoelastic response of polyvinyl alcohol (PVA) solutions and identify formulations changes such as additive addition. The flow behavior of PVA solutions was correlated to dissolution behavior proving that the developed protocol has a high potential as a first screening tool.</p><br><p></p>

Η Ηλεκτροεγκεφαλογραφία (ΗΕΓ) και η Μαγνητοεγκεφαλογραφία (ΜΕΓ) αποτελούν δύο από τις πλέον ευρέως χρησιμοποιούμενες μη επεμβατικές μεθόδους μελέτης της λειτουργίας του ανθρώπινου εγκεφάλου, κατά τις οποίες καταγράφονται εξωτερικά του κρανίου, το ηλεκτρικό και το μαγνητικό πεδίο, που οφείλονται στη διέργεση εγκεφαλικών νευρώνων. Oι κύριες βιοηλεκτρικές πηγές των πεδίων που καταγράφονται σ’ αυτά, είναι ομάδες νευρώνων, που προτυποποιούνται με ένα ηλεκτρικό δίπολο. Αρχικά επιλέγεται το πλέον ρεαλιστικό πρότυπο των τριών φλοιών. Δηλαδή ως αγωγός θεωρείται ολόκληρο το κρανίο, συμπεριλαμβανομένου του δέρματος, των κρανιακών οστών, του εγκεφαλονωτιαίου υγρού και του εγκεφαλικού ιστού – περιοχές διαφορετικής ηλεκτρικής αγωγιμότητας – και υπολογίζεται το ηλεκτρικό δυναμικό και το μαγνητικό πεδίο, επιλύεται δηλαδή τόσο το ευθύ πρόβλημα ΗΕΓ, όσο και το αντίστοιχο ΜΕΓ, στη σφαιρική και στην ελλειψοειδή γεωμετρία. Το δεύτερο πρότυπο αφορά στην επίλυση του ευθέος προβλήματος ΗΕΓ για την περίπτωση όπου ο εγκεφαλικός ιστός θεωρηθεί ως ένα σφαιρικός αγωγός, στο εσωτερικό του οποίου βρίσκεται είτε ομόκεντρα μια σφαιρική περιοχή υγρού, οπότε χρησιμοποιείται για την επίλυση το σφαιρικό σύστημα συντεταγμένων, είτε έκκεντρα, οπότε χρησιμοποιείται αντίστοιχα το δισφαιρικό. Τέλος, ως αγωγός θεωρείται μια ομογενής σφαίρα, περίπτωση όπου η ακριβής και πλήρης αναλυτική λύση για το πρόβλημα του Βιομαγνητισμού είναι γνωστή. Η συνεισφορά όμως της διατριβής για το πρότυπο αυτό είναι στη δημιουργία χρήσιμων εργαλείων για την μετατροπή των αναπτυγμάτων των λύσεων σε σειρές, στις αντίστοιχες κλειστές μορφές μέσω της άθροισης των σειρών, καθώς και στην εξαγωγή συμπερασμάτων σχετικά με το αντίστροφο πρόβλημα ΗΕΓ, τα οποία προκύπτουν από τη γραφική επεξεργασία της κλειστής λύσης του ηλεκτρικού δυναμικού, όπως αυτή προέκυψε από τη μέθοδο των ειδώλων. / Electroenchephalography (EEG) and Magnetoenchephalophy (MEG) are common non invansive methods for studying the function of the human brain. Considering that the data of the generated electric potential (Electroencephalogram) and the magnetic field (Magnetoenchephalogram), takes place on or in the surrounding the head, the entire head, including the skin, the bones, the cerebrospinal fluid and the cerebral, regions which are characterizing by different electric conductivity are including. For this model, the direct Bioelectromagnetism problem is solved in both spherical and ellipsoidal geometry. Specifically, the leading terms of the electric potential in the exterior of the conductor and everywhere in the interior, as well as the leading quadrupolic term of the multipole expansion of the exterior magnetic induction field in the ellipsoidal geometry, are obtained. The reduction of the the ellipsoidal results to the corresponding spherical case, which has brought up useful conclusions concerning these two geometrical models, is also presented. The direct EEG problem is described, for the case where the entire cerebral is considered as a spherical conductor, which surrounds a fluid spherical region of different conductivity. When the two spherical regions are concentric, the problem is solved with the spherical geometry, but when these are eccentric the problem is solved with the bispherical geometry. Finally, the exact and complete analytic solution for the forward EEG problem is produced by the Image Theory for the homogeneous spherical conductor and is elaborated graphically. In particular, some electric potential distributions are produced on the surface of the spherical brain, where the equipotential curves are represented by circles. Considering these distributions, a parametric analysis of the position and the orientation o the moment dipole is accomplished for the current dipole that has considered in this thesis. Consequently, when the source is near the surface, the orientation of the moment is directed vertically to the zero equipotential circle to the increase potential, since the position vector of the source tends to become vertical to the maximum equipotential curves. The existence of special position and orientation of the source, for which the contribution in the external magnetic field is zero - and for the spherical case, where the position and the orientation of the sources are parallel - corresponds to parallel equipotential curves.

科学研究費補助金 研究種目:一般研究(B) 課題番号:04452103 研究代表者:日比野 倫夫 研究期間:1992-1993年度

No description available.

This thesis focuses on the effect of microstructural variation on the mechanical properties and deformation behavior of ductile iron. To research and determine these effects, two grades of ductile iron, (i) GJS-500-7 and (ii) high silicon GJS-500-14, were cast in a geometry containing several plates with different section thicknesses in order to produce microstructural variation. Microstructural investigations as well as tensile and hardness tests were performed on the casting plates. The results revealed higher ferrite fraction, graphite particle count, and yield strength in the high silicon GJS-500-14 grade compared to the GJS-500-7 grade. To study the relationship between the microstructural variation and tensile behavior on macroscale, tensile stress-strain response was characterized using the Ludwigson equation. The obtained tensile properties were modeled, based on the microstructural characteristics, using multiple linear regression and analysis of variance (ANOVA). The models showed that silicon content, graphite particle count, ferrite fraction, and fraction of porosity are the major contributing factors that influence tensile behavior. The models were entered into a casting process simulation software, and the simulated microstructure and tensile properties were validated using the experimental data. This enabled the opportunity to predict tensile properties of cast components with similar microstructural characteristics. To investigate deformation behavior on micro-scale, a method was developed to quantitatively measure strain in the microstructure, utilizing the digital image correlation (DIC) technique together with in-situ tensile testing. In this method, a pit-etching procedure was developed to generate a random speckle pattern, enabling DIC strain measurement to be conducted in the matrix and the area between the graphite particles. The method was validated by benchmarking the measured yield strength with the material’s standard yield strength. The microstructural deformation behavior under tensile loading was characterized. During elastic deformation, strain mapping revealed a heterogeneous strain distribution in the microstructure, as well as shear bands that formed between graphite particles. The crack was initiated at the stress ranges in which a kink occurred in the tensile curve, indicating the dissipation of energy during both plastic deformation and crack initiation. A large amount of strain localization was measured at the onset of the micro-cracks on the strain maps. The micro-cracks were initiated at local strain levels higher than 2%, suggesting a threshold level of strain required for micro-crack initiation. A continuum Finite Element (FE) model containing a physical length scale was developed to predict strain on the microstructure of ductile iron. The material parameters for this model were calculated by optimization, utilizing the Ramberg-Osgood equation. The predicted strain maps were compared to the strain maps measured by DIC, both qualitatively and quantitatively. To a large extent, the strain maps were in agreement, resulting in the validation of the model on micro-scale. In order to perform a micro-scale characterization of dynamic deformation behavior, local strain distribution on the microstructure was studied by performing in-situ cyclic tests using a scanning electron microscope (SEM). A novel method, based on the focused ion beam (FIB) milling, was developed to generate a speckle pattern on the microstructure of the ferritic ductile iron (GJS-500-14 grade) to enable quantitative DIC strain measurement to be performed. The results showed that the maximum strain concentration occurred in the vicinity of the micro-cracks, particularly ahead of the micro-crack tip. / Denna avhandling fokuserar på effekten av variationer i mikrostrukturen på mekaniska egenskaper och deformationsbeteende hos segjärn. För att undersöka dessa effekter, två olika sorter av segjärn, (i) GJS-500-7 och (ii) högkisellegerad GJS-500-14, gjutits till plattor av olika tjocklekar för att generera mikrostrukturvariationen. Mikrostrukturundersökning, samt drag- och hårdhetsprov gjordes på de gjutna plattorna. Resultaten visade att en högre ferritfraktion, grafitpartikelantal och sträckgräns i den högkisellegerade GJS-500-14-sorten jämfört med GJS-500-7. För att studera förhållandet mellan mikrostrukturell variation och spännings-töjningsbeteendet på makroskala, modellerades detta med hjälp av Ludwigson-ekvationen. De erhållna spännings-töjningsegenskaperna modellerades baserat på mikrostrukturell karaktäristika genom multipel linjärregression och variansanalys (ANOVA). Modellerna visade att kiselhalt, grafitpartikelantal, ferritfraktion och porfraktion var de viktigaste bidragande faktorerna. Modellerna implementerades i ett simuleringsprogram för gjutningsprocessen. Resultatet från simuleringen validerades med hjälp av experimentella data som inte ingick i underlaget för regressionsanalysen. Detta möjliggjorde att prediktera spännings-töjningsbeteendet och dess variation hos gjutna segjärns komponenter med liknande sammansättning och gjutna tjocklekar som användes i denna studie. För att kunna undersöka deformationsbeteendet på mikroskala utvecklades en metod för kvantitativ mätning av töjning i mikrostrukturen, genom DIC-tekniken (digital image correlation) tillsammans med in-situ dragprovning. I denna metod utvecklades en grop-etsningsprocess för att generera ett slumpvis prickmönster, vilket möjliggjorde DIC-töjningsmätning i matrisen och i området mellan grafitpartiklarna med tillräcklig upplösning. Metoden validerades genom benchmarking av den uppmätta sträckgränsen mot materialets makroskopiska sträckgräns mätt med konventionell dragprovning. Det mikrostrukturella deformationsbeteendet under dragbelastning karakteriserades. Under elastisk deformation avslöjade töjningsmönstret en heterogen töjningsfördelning i mikrostrukturen, och bildandet av skjuvband mellan grafitpartiklar. Sprickbildning initierades vid låg spänning och redan vid de spänningsnivåer som ligger vis ”knät” på dragprovningskurvan, vilket indikerar energidissipering genom både begynnande plastisk deformation och sprickbildning. Den lokala töjningen vis sprickinitiering skedde då den lokala töjningen översteg 2%, vilket indikerar att detta skulle kunna vara en tröskelnivå för den töjning som erfordras för initiering av mikro-sprickor. En kontinuum Finita Element (FE) modell utvecklades för att prediktera töjningen hos ett segjärn och dess fördelning i segjärns mikrostruktur. Materialparametrarna för denna modell optimerades genom att anpassa parametrarna i Ramberg-Osgood ekvationen. De predikterade töjningsfördelningarna jämfördes med de experimentell uppmätta töjningsmönstren uppmätta med DIC, både kvalitativt och kvantitativt. Töjningsmönstren överensstämde i stor utsträckning, vilket resulterade i att modellerna kunde anses vara validerade på mikronivå. För att kunna mäta töjningsmönster under dynamiska förlopp på mikronivå utvecklades en metod för att skapa prickmönster och att utföra in-situ CT provning i ett svepeletronmikroskop (SEM). Prickmönstret skapades genom avverkning med en fokuserad jonstråle (FIB), och provades på det ferritiska segjärnet (GJS-500-14 grad). Resultaten visade att maximal töjningskoncentration fanns i närheten av mikrosprickorna, framförallt framför sprickspetsen.

The Professorship of Digital Signal Processing and Circuit Technology of Chemnitz University of Technology conducts research in the field of three-dimensional space measurement with optical sensors. In recent years this field has made major progress. For example innovative, active techniques such as the “structured light“-principle are able to measure even homogeneous surfaces and find its way into the consumer electronic market in terms of Microsoft’s Kinect® at the present time. Furthermore, high-resolution optical sensors establish powerful, passive stereo vision systems in the field of indoor surveillance. Thereby they induce new application domains such as security and assistance systems for domestic environments. However, the constraint field of view can be still considered as an essential characteristic of all these technologies. For instance, in order to measure a volume in size of a living space, two to three deployed 3D sensors have to be applied nowadays. This is due to the fact that the commonly utilized perspective projection principle constrains the visible area to a field of view of approximately 120°. On the contrary, novel fish-eye lenses allow the realization of omnidirectional projection models. Therewith, the visible field of view can be enlarged up to more than 180°. In combination with a 3D measurement approach, thus, the number of required sensors for entire room coverage can be reduced considerably. Motivated by the requirements of the field of indoor surveillance, the present work focuses on the combination of the established stereo vision principle and omnidirectional projection methods. The entire 3D measurement of a living space by means of one single sensor can be considered as major objective. As a starting point for this thesis chapter 1 discusses the underlying requirement, referring to various relevant fields of application. Based on this, the distinct purpose for the present work is stated. The necessary mathematical foundations of computer vision are reflected in Chapter 2 subsequently. Based on the geometry of the optical imaging process, the projection characteristics of relevant principles are discussed and a generic method for modeling fish-eye cameras is selected. Chapter 3 deals with the extraction of depth information using classical (perceptively imaging) binocular stereo vision configurations. In addition to a complete recap of the processing chain, especially occurring measurement uncertainties are investigated. In the following, Chapter 4 addresses special methods to convert different projection models. The example of mapping an omnidirectional to a perspective projection is employed, in order to develop a method for accelerating this process and, hereby, for reducing the computational load associated therewith. Any errors that occur, as well as the necessary adjustment of image resolution, are an integral part of the investigation. As a practical example, an application for person tracking is utilized in order to demonstrate to which extend the usage of “virtual views“ can increase the recognition rate for people detectors in the context of omnidirectional monitoring. Subsequently, an extensive search with respect to omnidirectional imaging stereo vision techniques is conducted in chapter 5. It turns out that the complete 3D capture of a room is achievable by the generation of a hemispherical depth map. Therefore, three cameras have to be combined in order to form a trinocular stereo vision system. As a basis for further research, a known trinocular stereo vision method is selected. Furthermore, it is hypothesized that, applying a modified geometric constellation of cameras, more precisely in the form of an equilateral triangle, and using an alternative method to determine the depth map, the performance can be increased considerably. A novel method is presented, which shall require fewer operations to calculate the distance information and which is to avoid a computational costly step for depth map fusion as necessary in the comparative method. In order to evaluate the presented approach as well as the hypotheses, a hemispherical depth map is generated in Chapter 6 by means of the new method. Simulation results, based on artificially generated 3D space information and realistic system parameters, are presented and subjected to a subsequent error estimate. A demonstrator for generating real measurement information is introduced in Chapter 7. In addition, the methods that are applied for calibrating the system intrinsically as well as extrinsically are explained. It turns out that the calibration procedure utilized cannot estimate the extrinsic parameters sufficiently. Initial measurements present a hemispherical depth map and thus con.rm the operativeness of the concept, but also identify the drawbacks of the calibration used. The current implementation of the algorithm shows almost real-time behaviour. Finally, Chapter 8 summarizes the results obtained along the studies and discusses them in the context of comparable binocular and trinocular stereo vision approaches. For example the results of the simulations carried out produced a saving of up to 30% in terms of stereo correspondence operations in comparison with a referred trinocular method. Furthermore, the concept introduced allows the avoidance of a weighted averaging step for depth map fusion based on precision values that have to be calculated costly. The achievable accuracy is still comparable for both trinocular approaches. In summary, it can be stated that, in the context of the present thesis, a measurement system has been developed, which has great potential for future application fields in industry, security in public spaces as well as home environments.:Abstract 7 Zusammenfassung 11 Acronyms 27 Symbols 29 Acknowledgement 33 1 Introduction 35 1.1 Visual Surveillance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 1.2 Challenges in Visual Surveillance . . . . . . . . . . . . . . . . . . . . . . . 38 1.3 Outline of the Thesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 2 Fundamentals of Computer Vision Geometry 43 2.1 Projective Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 2.1.1 Euclidean Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 2.1.2 Projective Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 2.2 Camera Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 2.2.1 Geometrical Imaging Process . . . . . . . . . . . . . . . . . . . . . 45 2.2.1.1 Projection Models . . . . . . . . . . . . . . . . . . . . . . 46 2.2.1.2 Intrinsic Model . . . . . . . . . . . . . . . . . . . . . . . . 47 2.2.1.3 Extrinsic Model . . . . . . . . . . . . . . . . . . . . . . . 50 2.2.1.4 Distortion Models . . . . . . . . . . . . . . . . . . . . . . 51 2.2.2 Pinhole Camera Model . . . . . . . . . . . . . . . . . . . . . . . . . 51 2.2.2.1 Complete Forward Model . . . . . . . . . . . . . . . . . . 52 2.2.2.2 Back Projection . . . . . . . . . . . . . . . . . . . . . . . 53 2.2.3 Equiangular Camera Model . . . . . . . . . . . . . . . . . . . . . . 54 2.2.4 Generic Camera Models . . . . . . . . . . . . . . . . . . . . . . . . 55 2.2.4.1 Complete Forward Model . . . . . . . . . . . . . . . . . . 56 2.2.4.2 Back Projection . . . . . . . . . . . . . . . . . . . . . . . 58 2.3 Camera Calibration Methods . . . . . . . . . . . . . . . . . . . . . . . . . 58 2.3.1 Perspective Camera Calibration . . . . . . . . . . . . . . . . . . . . 59 2.3.2 Omnidirectional Camera Calibration . . . . . . . . . . . . . . . . . 59 2.4 Two-View Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 2.4.1 Epipolar Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 2.4.2 The Fundamental Matrix . . . . . . . . . . . . . . . . . . . . . . . 63 2.4.3 Epipolar Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 3 Fundamentals of Stereo Vision 67 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 3.1.1 The Concept Stereo Vision . . . . . . . . . . . . . . . . . . . . . . 67 3.1.2 Overview of a Stereo Vision Processing Chain . . . . . . . . . . . . 68 3.2 Stereo Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 3.2.1 Extrinsic Stereo Calibration With Respect to the Projective Error 70 3.3 Stereo Rectification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 3.3.1 A Compact Algorithm for Rectification of Stereo Pairs . . . . . . . 73 3.4 Stereo Correspondence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 3.4.1 Disparity Computation . . . . . . . . . . . . . . . . . . . . . . . . 76 3.4.2 The Correspondence Problem . . . . . . . . . . . . . . . . . . . . . 77 3.5 Triangulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 3.5.1 Depth Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . 79 3.5.2 Range Field of Measurement . . . . . . . . . . . . . . . . . . . . . 80 3.5.3 Measurement Accuracy . . . . . . . . . . . . . . . . . . . . . . . . 80 3.5.4 Measurement Errors . . . . . . . . . . . . . . . . . . . . . . . . . . 81 3.5.4.1 Quantization Error . . . . . . . . . . . . . . . . . . . . . 82 3.5.4.2 Statistical Distribution of Quantization Errors . . . . . . 83 4 Virtual Cameras 87 4.1 Introduction and Related Works . . . . . . . . . . . . . . . . . . . . . . . 88 4.2 Omni to Perspective Vision . . . . . . . . . . . . . . . . . . . . . . . . . . 90 4.2.1 Forward Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 4.2.2 Backward Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 4.2.3 Fast Backward Mapping . . . . . . . . . . . . . . . . . . . . . . . . 96 4.3 Error Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 4.4 Accuracy Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 4.4.1 Intrinsics of the Source Camera . . . . . . . . . . . . . . . . . . . . 102 4.4.2 Intrinsics of the Target Camera . . . . . . . . . . . . . . . . . . . . 102 4.4.3 Marginal Virtual Pixel Size . . . . . . . . . . . . . . . . . . . . . . 104 4.5 Performance Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . 109 4.6 Virtual Perspective Views for Real-Time People Detection . . . . . . . . . 110 5 Omnidirectional Stereo Vision 113 5.1 Introduction and Related Works . . . . . . . . . . . . . . . . . . . . . . . 113 5.1.1 Geometrical Configuration . . . . . . . . . . . . . . . . . . . . . . . 116 5.1.1.1 H-Binocular Omni-Stereo with Panoramic Views . . . . . 117 5.1.1.2 V-Binocular Omnistereo with Panoramic Views . . . . . 119 5.1.1.3 Binocular Omnistereo with Hemispherical Views . . . . . 120 5.1.1.4 Trinocular Omnistereo . . . . . . . . . . . . . . . . . . . 122 5.1.1.5 Miscellaneous Configurations . . . . . . . . . . . . . . . . 125 5.2 Epipolar Rectification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 5.2.1 Cylindrical Rectification . . . . . . . . . . . . . . . . . . . . . . . . 127 5.2.2 Epipolar Equi-Distance Rectification . . . . . . . . . . . . . . . . . 128 5.2.3 Epipolar Stereographic Rectification . . . . . . . . . . . . . . . . . 128 5.2.4 Comparison of Rectification Methods . . . . . . . . . . . . . . . . 129 5.3 A Novel Spherical Stereo Vision Setup . . . . . . . . . . . . . . . . . . . . 129 5.3.1 Physical Omnidirectional Camera Configuration . . . . . . . . . . 131 5.3.2 Virtual Rectified Cameras . . . . . . . . . . . . . . . . . . . . . . . 131 6 A Novel Spherical Stereo Vision Algorithm 135 6.1 Matlab Simulation Environment . . . . . . . . . . . . . . . . . . . . . . . 135 6.2 Extrinsic Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 6.3 Physical Camera Configuration . . . . . . . . . . . . . . . . . . . . . . . . 137 6.4 Virtual Camera Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 137 6.4.1 The Focal Length . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 6.4.2 Prediscussion of the Field of View . . . . . . . . . . . . . . . . . . 138 6.4.3 Marginal Virtual Pixel Sizes . . . . . . . . . . . . . . . . . . . . . . 139 6.4.4 Calculation of the Field of View . . . . . . . . . . . . . . . . . . . 142 6.4.5 Calculation of the Virtual Pixel Size Ratios . . . . . . . . . . . . . 143 6.4.6 Results of the Virtual Camera Parameters . . . . . . . . . . . . . . 144 6.5 Spherical Depth Map Generation . . . . . . . . . . . . . . . . . . . . . . . 147 6.5.1 Omnidirectional Imaging Process . . . . . . . . . . . . . . . . . . . 148 6.5.2 Rectification Process . . . . . . . . . . . . . . . . . . . . . . . . . . 148 6.5.3 Rectified Depth Map Generation . . . . . . . . . . . . . . . . . . . 150 6.5.4 Spherical Depth Map Generation . . . . . . . . . . . . . . . . . . . 151 6.5.5 3D Reprojection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 6.6 Error Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 7 Stereo Vision Demonstrator 163 7.1 Physical System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 7.2 System Calibration Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . 165 7.2.1 Intrinsic Calibration of the Physical Cameras . . . . . . . . . . . . 165 7.2.2 Extrinsic Calibration of the Physical and the Virtual Cameras . . 166 7.2.2.1 Extrinsic Initialization of the Physical Cameras . . . . . 167 7.2.2.2 Extrinsic Initialization of the Virtual Cameras . . . . . . 167 7.2.2.3 Two-View Stereo Calibration and Rectification . . . . . . 167 7.2.2.4 Three-View Stereo Rectification . . . . . . . . . . . . . . 168 7.2.2.5 Extrinsic Calibration Results . . . . . . . . . . . . . . . . 169 7.3 Virtual Camera Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 7.4 Software Realization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 7.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 7.5.1 Qualitative Assessment . . . . . . . . . . . . . . . . . . . . . . . . 172 7.5.2 Performance Measurements . . . . . . . . . . . . . . . . . . . . . . 174 8 Discussion and Outlook 177 8.1 Discussion of the Current Results and Further Need for Research . . . . . 177 8.1.1 Assessment of the Geometrical Camera Configuration . . . . . . . 178 8.1.2 Assessment of the Depth Map Computation . . . . . . . . . . . . . 179 8.1.3 Assessment of the Depth Measurement Error . . . . . . . . . . . . 182 8.1.4 Assessment of the Spherical Stereo Vision Demonstrator . . . . . . 183 8.2 Review of the Different Approaches for Hemispherical Depth Map Generation184 8.2.1 Comparison of the Equilateral and the Right-Angled Three-View Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 8.2.2 Review of the Three-View Approach in Comparison with the Two- View Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 8.3 A Sample Algorithm for Human Behaviour Analysis . . . . . . . . . . . . 187 8.4 Closing Remarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 A Relevant Mathematics 191 A.1 Cross Product by Skew Symmetric Matrix . . . . . . . . . . . . . . . . . . 191 A.2 Derivation of the Quantization Error . . . . . . . . . . . . . . . . . . . . . 191 A.3 Derivation of the Statistical Distribution of Quantization Errors . . . . . . 192 A.4 Approximation of the Quantization Error for Equiangular Geometry . . . 194 B Further Relevant Publications 197 B.1 H-Binocular Omnidirectional Stereo Vision with Panoramic Views . . . . 197 B.2 V-Binocular Omnidirectional Stereo Vision with Panoramic Views . . . . 198 B.3 Binocular Omnidirectional Stereo Vision with Hemispherical Views . . . . 200 B.4 Trinocular Omnidirectional Stereo Vision . . . . . . . . . . . . . . . . . . 201 B.5 Miscellaneous Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 202 Bibliography 209 List of Figures 223 List of Tables 229 Affidavit 231 Theses 233 Thesen 235 Curriculum Vitae 237

Thin films of a ternary alloys between aluminum, manganese and copper (AlMnCu), prepared at low temperature, are reported in the present work. It is a study along two binary edges (Al100−xMnx and Al100−xCux (from literature)), the first almost along the entire range of concentrations, and two different cuts through the ternary system. The first cut begins at amorphous Al50Mn50 and adds Cu step by step (from literature). The second cut begins at amorphous Al60Cu40 and varies Al and Mn such that the Cu-content stays constant. There is a wide amorphous range, purely amorphous or with additional quasi-crystalline local features, and there are ranges where mixtures between amorphous and nano- or partially crystalline phases with a high content of lattice defects exist. The work exclusively deals with the development of the static structure and its thermal stability, as well as the development of its electronic transport properties. The ternary AlMnCu is a model for a deeper understanding of different scenarios of structure stabilization and their interaction, with consequences on the emergence of physical properties. The analysis focuses on self-organizing spherical-periodic, global resonance effects between two global subsystems of the alloy under consideration, the Fermi gas as one and the forming static structure of ions as the other. The global resonances are self organizing by i.e. an exchange of characteristic momenta and energy between the subsystems and trigger, besides a particular structure, particle-density anomalies and/or hybridization effects. The work shows strong evidence of a combined action of the particle-density anomalies with the effective valence of the atoms involved, in order to maintain the resonance condition under all circumstances. Whereas at high Al-content, additionally, local features of quasi-crystallinity arise, closer to pure Mn phase separations arise, causing mixtures of amorphous with nano-crystalline phases or crystals with a high content of lattice distortions. Reports on density anomalies, hybridization effects, and angular correlations, have been published quite often. In the present work, besides similar effects in a ternary system, first indications for phase separations and lattice defects as additional scenarios of stabilizing condensed matter are reported. The resonance, seen as spherical-periodic-order at short- and medium-range distances in real space, causes in reciprocal space a resonance maximum (analogous to a Bragg peak in crystals). Its location on the axis of the scattering vector is defined by the electron system and a pseudo-gap in the electronic density of states arise at the Fermi energy. The origin of the structural order and its thermal stability, the pseudo-gap at the Fermi energy, as well as the transport properties with its anomalies, all are attributed to the resonance. The spherically-periodic atomic order in an amorphous phase is analogous to the planar order in a crystal. The interatomic distances between the nearest neighboring shells at short- and medium range distances coincide with half the Fermi wavelength, also called Friedel-wavelength. / In der vorliegenden Arbeit wird über bei niedriger Temperatur hergestellte dünne Schichten aus einem ternären Legierungssystem zwischen Aluminium, Mangan und Kupfer (AlMnCu) berichtet, über zwei binäre Randlegierungen (Al100−xMnx und Al100−xCux (aus der Literatur)) und über zwei verschiedene Schnitte durch den ternären Bereich. Ein Schnitt durch den ternären Bereich beginnt bei amorphem Al50Mn50 und fügt schrittweise Cu zur Legierung (aus der Literatur). Der zweite Schnitt beginnt bei amorphem Al60Cu40 und fügt schrittweise Al und Mn so zu, dass der Cu-Gehalt konstant bleibt. Es gibt amorphe Bereiche, teilweise mit weiteren lokal quasi-kristallinen zusätzlichen Merkmalen, sowie Bereiche, in denen Mischungen aus amorphen mit nano oder teilkristallinen Phasen auftreten. Die Arbeit behandelt die Entwicklung der statischen Struktur und deren thermische Stabilität, sowie die Entwicklung elektronischer Transporteigenschaften. Das ternäre AlMnCu ist ein Modellsystem für ein tieferes Verständnis der verschiedenen Szenarien struktureller Stabilisierung und deren Interaktion, mit Auswirkungen auf ein tieferes Verständnis der mit der Struktur sich entwicklenden physikalischen Eigenschaften. Die Analyse konzentriert sich auf sich selbstorganisierende sphärisch-periodische, globale Resonanzeffekte zwischen zwei globalen Untersystemen des gewählten Materialsystems, der Fermi-Kugel als einem und der sich bildenden statischen Struktur der Ionen als dem anderen. Die globalen Resonanzen bilden sich u.a. durch einen Austausch von charakteristischen Impulsen und Energie zwischen den Untersystemen, die neben einer bestimmten Struktur zunächst auch Teilchendichteanomalien und/oder Hybridisierungseffekte erzeugen. Die vorliegende Arbeit zeigt dabei starke Anzeichen für eine kombinierte Wirkung dieser Effekte um die Resonanzbedingung unter allen Umständen beizubehalten. Bei hohen Al-Anteilen treten zusätzlich lokale Merkmale von quasi-Kristallinität, mit 5-facher Winkelkorrelation auf, um auch diesen Bereich strukturell zu stabilisieren. Bei hohen Mn-Anteilen sind es lokale Phasentrennung in amorphe und nano-kristalline Phasen oder hohe Anteile von Gitterdeffekten, die zusätzlich auftreten. Über Dichteanomalien, Hybridisierungseffekte und Winkelkorrelationen wurde in der Vergangenheit bereits mehrfach berichtet. In der vorliegenden Arbeit sind es, neben der modellhaften Behandlung dieser im ternären System, die Hinweise zu Phasentrennung und Gitterdeffekten als zusätzliche Szenarien zur Stabilisierung kondensierter Materie, über die erstmalig berichtet wird. Die auf dem Austausch von Impuls beruhende Resonanz, als sphärisch-periodische-Ordnung im nahen und mittleren Abstandsbereich des Ortsraumes zu sehen, verursacht im reziproken Raum ein Resonanzmaximum (analog zu einem Bragg-peak in kristallinen Systemen), dessen Lage auf der Achse der Streuvektoren vom Elektronensystem definiert wird, und eine Pseudolücke in der elektronischen Zustandsdichte der Elektronen an der Fermi-Energie. Letztendlich werden die Entstehung der strukturellen Ordnung selbst, ihre thermische Stabilität, als auch die Transporteigenschaften mit ihren Anomalien auf diese Pseudolücke und demzufolge auf die Resonanz zurückgeführt. Die sphärisch-periodische Ordnung der Atome in einer amorphen Phase ist analog zur planaren Ordnung in einem Kristall. Die Atomabstände zwischen den Nächstnachbarschalen im mittleren, aber auch nahen Abstandsbereich, stimmen über große Distanzen mit der halben Fermi-Wellenlänge überein, die man auch als Friedel-Wellenlänge bezeichnet.

La présente étude porte sur le comportement mécanique de deux types de supports de catalyseurs utilisés industriellement en hydrotraitement des résidus. Ces supports extrudés, fabriqués par IFPEN, sont constitués d’alumine de transition γ avec un taux de porosité proche de 70%. La porosité du premier matériau est uniquement constituée de mésopores (< 50 nm). La porosité du second matériau est constituée de mésopores et de macropores (jusqu’à 20 µm). Les niveaux de sollicitation en service étant très peu connus, cette étude s’attache à décrire de manière précise et exhaustive le comportement mécanique de ces supports sous une large gamme de sollicitations, et à identifier les différents mécanismes de ruine possibles. L’objectif final est de mieux comprendre les relations entre les paramètres microstructuraux et les propriétés mécaniques afin d’identifier des leviers d’amélioration de la tenue mécanique des supports. Dans un premier temps, une méthodologie adaptée de caractérisation mécanique est établie. Le comportement des supports est étudié d’une part en traction, à l’aide d’essais de flexion trois points et d’écrasement diamétral, et d’autre part, en compression sous différents taux de triaxialité, à l’aide d’essais de compression uniaxiale et hydrostatique et d’essais de micro-indentation sphérique. Les différents mécanismes responsables de la ruine des supports sont identifiés au moyen de techniques d’imagerie telles que la microscopie électronique à balayage et la micro-tomographie à rayons X. En traction, le comportement est fragile avec l’amorçage de la rupture sur un défaut critique. En compression, une transition fragile / quasi-plastique du comportement est observée avec l’augmentation du taux de confinement. Cette quasi-plasticité s’exprime en particulier à travers un phénomène de densification de la macroporosité. Dans un deuxième temps, un critère de rupture est identifié pour chaque type de matériau en vue de représenter sur une même surface de charge les différents types de comportement et phénomènes physiques observés. Cette identification est réalisée en couplant les essais d’indentation sphérique à une analyse numérique. Des critères faisant intervenir la pression hydrostatique permettent de rendre compte de la forte dissymétrie du comportement des matériaux en traction et en compression. Enfin, dans un souci de se rapprocher des sollicitations subies par les supports de catalyseurs dans un réacteur en service, le comportement d’un empilement de supports est étudié en compression œdométrique. L’analyse de cet essai par tomographie à rayons X permet de déterminer les différents mécanismes de ruine intervenant au sein d’un empilement, en particulier ceux responsables de la génération de fines. Les résultats illustrent la pertinence de la caractérisation en flexion et en indentation des supports de catalyseurs seuls pour prévoir leur comportement au sein d’un empilement en compression. / In this work, we study the mechanical behaviour of two types of catalysts supports produced by IFPEN and industrially used in residues hydrotreating. Those extruded supports are made of transition γ-alumina with about 70% of porous volume. The first material’s porosity is exclusively composed of mesopores (< 50 nm). The porosity of the second material is composed of both mesopores and macropores (up to 20 µm). Because of the limited knowledge of the stress fields in embedded catalysts supports in use in a reactor, this study aims at precisely and exhaustively describing the mechanical behaviour of those supports under a wide range of stresses, and identifying the possible damage mechanisms. The final objective is to better understand the influence of microstructural parameters on the mechanical properties of the supports in order to propose some leads about how to improve their mechanical strength. First, an adequate mechanical characterization methodology is set. On one hand, the tensile mechanical behaviour of the supports is studied with three-point bending and diametrical crushing tests. On the other hand, their compressive behaviour under various triaxiality rates is characterized in uniaxial and hydrostatic compression, and by spherical micro-indentation. The different damaging mechanisms are identified by imaging techniques such as scanning electronic microscopy and X-ray micro-tomography. Under tensile stresses, the supports exhibit a brittle behaviour and fracture initiates at a critical flaw. Under compressive stresses, a brittle/quasi-plastic transition is observed with increasing the triaxiality rate. The quasi-plasticity is mainly due to the densification of the macroporosity. The second part of the study consists in identifying, for each material, a fracture criterion able to represent every types of behaviour and physical phenomena observed on the same yield surface. This identification is achieved by coupling the spherical indentation tests to a numerical analysis. Fracture criteria involving hydrostatic pressure are well suited to describe the highly dissymmetric mechanical behaviour of the materials in tension and in compression. The last part of this work aims at studying the mechanical behaviour of a stack of supports under œdometric compression in order to produce stress fields more representative of those existing within the supports stacked in a reactor. This test is analysed by X-ray tomography, which allows us to determine/acknowledge the different damaging mechanisms involved in fragments and fines generation. The results illustrate the suitability of the bending and indentation tests to characterize the mechanical properties of a single support and relate them to its mechanical behaviour in a stack of supports under compression.