One commonly used representation of complex objects in physics-based simulations are triangle meshes. This representation utilizes a collection of triangles to approximate an object. An alternative representation is a Signed Distance Field (SDF). This thesis aims to evaluate the effectiveness of representing a heavy machine bucket as an SDF, specifically in the application of collision detection with a de-formable terrain. Additionally, this thesis describes the implementation of two collision detection routines which uses SDFs to detect collisions with spheres and heightfields. The SDFs are stored using two alternative spatial data structures, a uniform grid and an octree. The implementations are compared against a triangle mesh representation. While there are limitations to the SDF representation, such as the need for high resolutions to capture fine details or that small features may become heavily distorted, the benefits of using SDFs include the ability to perform point to distance queries and provide a robust description of an object’s interior and exterior. The findings of this study showed that the SDF stored in a uniform grid demonstrated better performance in the benchmarks and was able to reproduce comparable data to the triangle mesh in the digging tests. These results indicate that the SDF representation could be a promising alternative to the triangle mesh representation. However, further development and research are required.

This work demonstrates the use of genetic algorithms as a stochastic optimization technique for developing a camera network design and the flight path for photogrammetricapplications using Small Unmanned Aerial Vehicles. This study develops a Virtual Optimizer for Aerial Routes (VOAR) as a new photogrammetric mapping tool for acquisition of images to be used in 3D reconstruction. 3D point cloud models provide detailed information on infrastructure from places where human access may be difficult. This algorithm allows optimized flight paths to monitor infrastructure using GPS coordinates and optimized camera poses ensuring that the set of images captured is improved for 3D point cloud development. Combining optimization techniques, autonomous aircraft and computer vision methods is a new contribution that this work provides.This optimization framework is demonstrated in a real example that includes retrieving the coordinates of the analyzed area and generating autopilot coordinates to operate in fully autonomous mode. These results and their implications are discussed for future work and directions in making optical techniques competitive with aerial or ground based LiDAR systems.

There are many applications for which small unmanned aerial vehicles (SUAVs) are well suited, including surveillance, reconnaissance, search and rescue, convoy support, and short-range low-altitude perimeter patrol missions. As technologies for microcontrollers and small sensors have improved, so have the capabilities of SUAVs. These improvements in SUAV performance increase the possibility for hazardous missions through mountainous and urban terrain in the successful completion of many of these missions. The focus of this research was on remote terrain navigation and the issues faced when dealing with limited onboard processing and limited payload and power capabilities. Additional challenges associated with canyon and urban navigation missions included reactive path following, sensor noise, and flight test design and execution. The main challenge was for an SUAV to successfully navigate through a mountainous canyon by reactively altering its own preplanned path to avoid canyon walls and other stationary obstacles. A robust path following method for SUAVs that uses a vector field approach to track functionally curved paths is presented along with flight test results. In these results, the average tracking error for an SUAV following a variety of curved paths is 3.4~m for amplitudes ranging between 10 and 100~m and spatial periods between 125 and 500~m. Additionally, a reactive path following method is presented that allows a UAV to continually offset or bias its planned path as distance information from the left and right ranging sensors is computed. This allows the UAV to to center itself between potential hazards even with imperfect waypoint path planning. Flight results of an SUAV reactively navigating through mountainous canyons experimentally verify the feasibility of this approach. In a flight test through Goshen Canyon in central Utah, an SUAV biased its planned path by 3 to 10~m to the right as it flew to center itself through the canyon and avoid the possibility of crashing into a canyon wall.

Delaunay refinement is a mesh triangulation method with the goal of generating well-shaped triangles to obtain a valid Delaunay triangulation. In this thesis, an approach of using this method for meshing continuous height field terrains is presented using Perlin noise as the height field. The Delaunay approach is compared to grid-based meshing to verify that the theoretical time complexity O(n log n) holds and how accurately and deterministically the Delaunay approach can represent the height field. However, even though grid-based mesh generation is faster due to an O(n) time complexity, the focus of the report is to find out if Delaunay refinement can be used to generate meshes quick enough for real-time applications. As the available memory for rendering the meshes is limited, a solution for providing a cohesive mesh surface is presented using a hole filling algorithm since the Delaunay approach ends up leaving gaps in the mesh when a chunk division is used to limit the total mesh count present in the application. The methods were implemented in the programming language C++ using the open source library libnoise to generate the Perlin noise and the off-the-shelf solution CGALmesh provided a Delaunay refinement implementation. The video game engine Unity was used to render the output meshes created by the Delaunay and grid approach by interfacing with C++ via a Windows DLL. The time complexity of Delaunay refinement was verified to hold, although it was not possible to draw any conclusions regarding the Delaunay refinement's impact on the mesh's accuracy due to the test parameters used. It was also found that the CGALmesh implementation failed to provide a deterministic generation which is a significant drawback compared to the grid-based approach. Disregarding this, the Delaunay approach was found to be suitable for real-time applications as the generation time took less than 1 second, and is promising for volumetric terrain mesh generation. / Delaunay-raffinemang är en trianguleringsmetod med målet att generera reguljära trianglar för att uppnå en giltig Delaunay-triangulering. I denna avhandling presenteras en metod användandes Delaunay-raffinemang för att skapa polygonytor av kontinuerliga höjdfältsterränger, där Perlin noise används som höjdfält. Delaunay-metoden jämförs med en rutnätsbaserad metod för att verifiera att tidskomplexiteten O(n log n) gäller och hur exakt och deterministiskt som Delaunay-metoden förhåller sig till att representera höjdfältet. Även fast rutnätsmetoden är snabbare på grund av en O(n) tidskomplexitet är rapportens fokus att ta reda på om Delaunay-raffinemang är snabb nog för att användas i realtidsapplikationer för att generera polygonytor. Eftersom det tillgängliga minnet för att rendera polygonytorna är begränsat presenteras en lösning för att få sammanhängande ytor genom en hålutfyllningsalgoritm då Delaunaymetoden lämnar hål i ytan när chunk-uppdelning används för att begränsa det totala antalet polygonytor i applikationen. Metoderna implementerades i programmeringsspråket C++ användades biblioteket libnoise för att generera Perlin noise och den färdiga lösningen CGALmesh användes som implementation av Delaunay-raffinemang. Datorspelsmotorn Unity användes för att rendera polygonytorna som skapades av Delaunay- och rutnätsmetoden genom ett C++-gränssnitt via en Windows DLL. Tidskomplexiteten av Delaunay-raffinemang gällde, men det var inte möjligt att dra några slutsatser gällande hur exakt metoden förhållde sig till höjdfältet på grund av testparametrarna som användes. Ytterligare visade det sig att CGALmesh-implementationen var oförmögen att deterministiskt generera ytorna vilket är en stor nackdel jämfört med rutnätsmetoden. Bortsett från detta så visade sig Delaunay-metoden användbar för realtidsapplikationer då generingstiden tog mindre än 1 sekund, och metoden har dessutom potential för volymetrisk terränggenerering.

While modern digital entertainment has seen a major shift toward photorealism in animation, there is still significant demand for stylized rendering tools. Stylized, or non-photorealistic rendering (NPR), applications generally sacrifice physical accuracy for artistic or functional visual output. Oftentimes, NPR applications focus on extracting specific features from a 3D environment and highlighting them in a unique manner. One application of interest involves recreating 2D hand-drawn art styles in a 3D-modeled environment. This task poses challenges in the form of spatial coherence, feature extraction, and stroke line rendering. Previous research on this topic has also struggled to overcome specific performance bottlenecks, which have limited use of this technology in real-time applications. Specifically, many stylized rendering techniques have difficulty operating on large-scale scenes, such as open-world terrain environments. In this paper, we describe various novel rendering techniques for mimicking hand-drawn art styles in a large-scale 3D environment, including modifications to existing methods for stroke rendering and hatch-line texturing. Our system focuses on providing various complex styles while maintaining real-time performance, to maximize user-interactability. Our results demonstrate improved performance over existing real-time methods, and offer a few unique style options for users, though the system still suffers from some visual inconsistencies.

"The primary purpose of this study was to identify health education strategies which are effective in increasing the use of protective devices which can prevent injury. The specific protective device studied was the helmet worn by off-road vehicle [including All-Terrain Vehicles [ATVs] and snowmachines] riders in rural Alaska"--Leaf 3. / Thesis (Ed. D.)--Boston University, 1996.

While tremendous advances have been made in prosthesis technology, a greater understanding of amputee gait is needed, especially among amputees in developing countries. Field studies as well as prosthesis technology in developing countries are limited due to barriers associated with equipment and resources availability. Furthermore, individuals with lower limb amputation experience increased difficulty walking and a higher fall rate compared to non-amputees, which may be exacerbated by environment, terrain, or prosthesis componentry. Due to the importance of walking on various terrain for increased quality of life as well as the differences between prosthesis technology available in developing and developed countries, a better understanding of amputee gait on underdeveloped outdoor terrain is needed. We began to address these needs with three studies that explored factors that influenced and predicted amputee gait on realistic end-user outdoor terrain. First, we investigated the effects of environment (i.e. indoor laboratory or outdoor natural walking path), terrain, and amputation level on energy expenditure and dynamic stability while walking among lower limb amputees and non-amputees. We found that terrain and amputation level affected amputee energy expenditure and stability while environment and specific uneven terrain type had minimal effects. These results may guide future work investigating the effects of terrain in laboratory-based studies. Second, we investigated the ability to predict quantitative measures of amputee gait on outdoor underdeveloped terrain from laboratory-based measurements. We found individual participant characteristics and easily accessible measures of indoor gait were as or more effective at predicting energy expenditure and dynamic stability than gait measures requiring greater experimental and analytical resources. These results may offer a tool for researchers to assess performance among amputees in various settings without the need for expensive and technical equipment. Third, we examined the effect of a low-cost prosthetic knee joint on amputee gait. Specifically, we investigated the effects of on energy expenditure, gait stability, and perceptions of the low-cost prosthetic knee joint while walking on indoor and outdoor terrains. We found evidence that the low-cost knee increased energy expenditure and increased some characteristics of dynamic stability while decreased others. Furthermore, we also identified key insights among amputees about the performance of the low-cost prosthetic knee joint that could aid in future design modifications of the knee. Together, these studies help to clarify differences in walking performance between laboratory and outdoor terrains among lower limb amputees, help circumvent the challenges of obtaining quantitative gait measures during field studies in developing countries and may help guide the future design and use of low-cost prosthetic knee technology. / Doctor of Philosophy / While tremendous advances have been made in prosthesis technology, a greater understanding of how lower limb amputees walk (i.e. amputee gait) is needed, especially among amputees in developing countries. Studies in the field as well as the devices that amputees where to walk (prosthesis technology) in developing countries are limited due to barriers associated with equipment and resources availability. Furthermore, individuals with lower limb amputation experience increased difficulty walking and a higher fall rates compared to non-amputees, which may be exacerbated by environment, terrain, or components of the prosthesis. Due to the importance of walking on various terrain for increased quality of life as well as the differences between prosthesis technology available in developing and developed countries, a better understanding of how amputees walk on uneven outdoor terrain is needed. We began to address these needs with three studies that explored factors that influenced and predicted how amputees walk on realistic end-user outdoor terrain. First, we investigated the effects of environment (i.e. indoor laboratory or outdoor natural walking path), terrain, and amputation level on energy expenditure and walking stability among lower limb amputees and non-amputees. We found that terrain and amputation level affected amputee energy expenditure and stability while environment and specific uneven terrain type had minimal effects. These results may guide future work investigating the effects of terrain in laboratory-based studies. Second, we investigated whether we could predict amputee walking performance on outdoor underdeveloped terrain from laboratory-based measurements. We found individual participant characteristics and easily accessible performance measures were as or more effective at predicting energy expenditure and stability than performance measures requiring greater experimental and analytical resources. These results may offer a tool for researchers to assess performance among amputees in various settings without the need for expensive and technical equipment. Third, we examined the effect of a low-cost prosthetic knee joint on amputee gait. Specifically, we investigated the effects of on energy expenditure, gait stability, and perceptions of the low-cost prosthetic knee joint while walking on indoor and outdoor terrains. We found evidence that the low-cost knee increased energy expenditure and increased some characteristics of stability while decreased others. Furthermore, we also identified key insights among amputees about the performance of the low-cost prosthetic knee joint that could aid in future design modifications of the knee. Together, these studies help to clarify differences in walking performance between laboratory and outdoor terrains among lower limb amputees, help circumvent the challenges of obtaining quantitative gait measures during field studies in developing countries and may help guide the future design and use of low-cost prosthetic knee technology.

<p>Synthesis of terrains with complex features has been a challenging problem in computer graphics since most of the existing methods are based on the height field representation. Complex features in terrains adds to the overall realism of the terrain. Hence, there is a need to synthesize terrains in real-time with complex features that adhere to user input. The methodology described in this thesis describes a novel way to synthesize terrains with complex features based on user drawn sketches. Layered stack data structure is used to ensure that the resulting terrain has complex features. Since, Neural Networks are used to generate the terrains, the process is real-time.</p>

Scope and contents: An investigation into some arctic soils located on Southwest Devon Island. Some aspects of chemical weathering in the area are considered and detailed studies of patterned ground are undertaken. A terrain map was compiled to locate the major areas of soils and mineral and organic covers and to show this relationship to relief units. / No abstract provided. / Thesis / Master of Science (MSc)

Dans un contexte de développement durable où les impacts sur les infrastructures doivent être fréquemment évalués, des procédures efficaces de contrôle et d’intervention sont requises. Bien que les solutions de réalité augmentée mobiles (RAM) présentent un fort potentiel pour améliorer l'efficacité d'intervention sur site par les professionnels, notamment dans le cas d’infrastructures souterraines, cette technologie n’est pas encore suffisamment mature pour permettre de telles applications. Reposant sur des principes similaires à la RAM, la simulation située propose une représentation virtuelle 3D congruente avec la réalité. L’immersion y est moins importante mais les interactions avec l’environnement 3D plus nombreuses. Le présent travail de recherche porte sur la conception et le développement d’une application de simulation située. Il aborde notamment les défis relatifs à la modélisation 3D d’environnement et à l’intégration de données géospatiales dans des moteurs de jeux vidéo. / In a context of sustainable development in which impacts on infrastructure should be assessed frequently, effective procedures for monitoring and intervention are required. Although mobile augmented reality (MAR) solutions have a great potential to improve the on-site efficiency for professionals, particularly in the case of underground infrastructures, this technology is not yet mature enough to allow such applications. Based on principles similar to MAR, situated simulation offers a virtual 3D representation congruent with reality. In situated simulation, the immersion is less important, but there are more interactions possible with 3D environment. This work focuses on the design and development of a situated simulation application. It tackles the particular challenges related to 3D modeling of the environment and integration of geospatial data in video game engines.