This thesis explores the use of computer vision to facilitate three different processes of a quarry's operation. The first is the blasting process. This is where operators determine where to drill in order to execute an efficient and safe blast. Having an operator manually determine the drilling angles and positions can lead to inefficient and dangerous blasts. By using two cameras, oriented vertically, and separated by a fixed baseline, Structure from Motion techniques can be used to create a scaled 3D model of a bench. This can then be analyzed to provide operators with borehole locations and drilling angles in relation to fixed reference targets. The second process explored is the crushing process, where the rocks pass through different crushers that reduce the rocks into smaller sizes. The crushed rocks are then dropped onto a moving conveyor belt. The maximum dimension of the rocks exiting the crushers should not exceed size thresholds that are specific to each crusher. This thesis presents a 2D vision system capable of estimating the size distribution of the rocks by attempting to segment the rocks in each image. The size distribution, based on the maximum dimension of each rock, is estimated by finding the maximum dimension in the image in pixels and converting that to inches. The third process of the quarry operations explored is where the final product is piled up to form stockpiles. For inventory purposes, operators often carry out a manual estimation of the size of a the stockpile. This thesis presents a vision system capable of providing a more accurate estimate for the size of the stockpile by using Structure from Motion techniques to create a 3D reconstruction. User interaction helps to find the points that are relevant to the stockpile in the resulting point cloud, which are then used to estimate the volume. / Master of Science

This thesis tackles the challenge of real-time image analysis in resource-constrained embedded systems, focusing specifically on Micro Aerial Vehicle (MAV) applications. The primary objective of this research is to design a software architecture that integrates features like modularity, real-time capabilities, robustness, and adaptability to meet the demands. The study proposes a unique software architecture based on blackboard and microservices architectures, that facilitates the key strengths from both paradigms, while mitigating their individual limitations. Additionally, it leverages shared memory inter-process communication mechanism for implementing centralized knowledge base of the blackboard, and realizing the API of the microservices architecture. The computer vision system tasks are decomposed into smaller pieces, and developed and implemented as loosely coupled individual software components. The thesis contribution lies in an efficient architecture for real-time image analysis on safety-critical and resource-constrained MAV platforms. The architecture provides an efficient and real-time-capable backbone and offers modularity and reusability for diverse applications.:1. Introduction 2. Fundamentals 3. Literature Review 4. Conceptualization of Real-Time Software Architecture 5. Implementation 6. Test and Evaluation 7. Conclusion and Future Scope Appendix

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Les caractéristiques topologiques d'un objet sont fondamentales dans le traitement d'image. Dansplusieurs applications, notamment l'imagerie médicale, il est important de préserver ou de contrôlerla topologie de l'image. Cependant la conception de telles transformations qui préservent à la foi la topologie et les caractéristiques géométriques de l'image est une tache complexe, en particulier dans le cas du traitement parallèle.Le principal objectif du traitement parallèle est d'accélérer le calcul en partagent la charge de travail à réaliser entre plusieurs processeurs. Si on approche cet objectif sous l'angle de la conception algorithmique, les stratégies du calcul parallèle exploite l'ordre partiel des algorithmes, désigné également par le parallélisme naturel qui présent dans l'algorithme et qui fournit deux principales sources de parallélisme : le parallélisme de données et le parallélisme fonctionnelle.De point de vue conception architectural, il est essentiel de lier l'évolution spectaculaire desarchitectures parallèles et le traitement parallèle. En effet, si les stratégies de parallèlisation sont devenues nécessaire, c'est grâce à des améliorations considérables dans les systèmes de multitraitement ainsi que la montée des architectures multi-core. Toutes ces raisons font du calculeparallèle une approche très efficace. Dans le cas des machines à mémoire partagé, il existe un autreavantage à savoir le partage immédiat des données qui offre plus de souplesse, notamment avec l'évolution du système d'interconnexion entre processeurs, dans la conception de ces stratégies etl'exploitation du parallélisme de données et le parallélisme fonctionnel.Dans cette perspective, nous proposons une nouvelle stratégie de parallèlisation, baptisé SD&M(Split, Distribute and Merge) stratégie qui couvrent une large classe d'opérateurs topologiques.SD&M a été développée afin de fournir un traitement parallèle de tout opérateur basée sur latransformation topologique. Basé sur cette stratégie, nous avons proposé une série d'algorithmestopologiques parallèle (nouvelle version ou version adapté). Nos principales contributions sont :(1)Une nouvelle approche pour calculer la ligne de partage des eaux basée sur ‘MSF transform'.L'algorithme proposé est parallèle, préserve la topologie, n'a pas besoin d'extraction préalable deminima et adaptée pour les machines parallèle à mémoire partagée. Il utilise la même approchede calcule de flux proposé par Jean Cousty et il ne nécessite aucune étape de tri, ni l'utilisationd'une file d'attente hiérarchique. Cette contribution a été précédé par une étude intensive desalgorithmes de calcule de la ligne de partage des eaux dans le cas discret.(2)Une étude similaire sur les algorithmes d'amincissement a été menée. Elle concerne seizealgorithmes d'amincissement qui préservent la topologie. En sus des critères de performance,nous somme basé sur deux critères qualitative pour les comparer et les classés. Après cetteclassification, nous avons essayé d'obtenir de meilleurs résultats grâce avec une version adaptéede l'algorithme d'amincissement proposé par Michel Couprie.(3)Une méthode de calcul amélioré pour le lissage topologique grâce à la combinaison du calculparallèle de la distance euclidienne (en utilisant l'algorithme Meijster) et l'amincissement/épaississement parallèle (en utilisant la version adaptée de l'algorithme de Couprie déjàmentionné). / Topological features of an object are fundamental in image processing. In many applications,including medical imaging, it is important to maintain or control the topology of the image. Howeverthe design of such transformations that preserve topology and geometric characteristics of the inputimage is a complex task, especially in the case of parallel processing.Parallel processing is applied to accelerate computation by sharing the workload among multipleprocessors. In terms of algorithm design, parallel computing strategies profits from the naturalparallelism (called also partial order of algorithms) present in the algorithm which provides two main resources of parallelism: data and functional parallelism. Concerning architectural design, it is essential to link the spectacular evolution of parallel architectures and the parallel processing. In effect, if parallelization strategies become necessary, it is thanks to the considerable improvements in multiprocessing systems and the rise of multi-core processors. All these reasons make multiprocessing very practical. In the case of SMP machines, immediate sharing of data provides more flexibility in designing such strategies and exploiting data and functional parallelism, notably with the evolution of interconnection system between processors.In this perspective, we propose a new parallelization strategy, called SD&M (Split Distribute andMerge) strategy that cover a large class of topological operators. SD&M has been developed in orderto provide a parallel processing for many topological transformations.Based on this strategy, we proposed a series of parallel topological algorithm (new or adaptedversion). In the following we present our main contributions:(1)A new approach to compute watershed transform based on MSF transform, that is parallel,preserves the topology, does not need prior minima extraction and suited for SMP machines.Proposed algorithm makes use of Jean Cousty streaming approach and it does not require any sortingstep, or the use of any hierarchical queue. This contribution came after an intensive study of allexisting watershed transform in the discrete case.(2)A similar study on thinning transform was conducted. It concerns sixteen parallel thinningalgorithms that preserve topology. In addition to performance criteria, we introduce two qualitativecriteria, to compare and classify them. New classification criteria are based on the relationshipbetween the medial axis and the obtained homotopic skeleton. After this classification, we tried toget better results through the proposal of a new adapted version of Couprie's filtered thinningalgorithm by applying our strategy.(3)An enhanced computation method for topological smoothing through combining parallelcomputation of Euclidean Distance Transform using Meijster algorithm and parallel Thinning–Thickening processes using the adapted version of Couprie's algorithm already mentioned.

Submitted by Nara Lays Domingues Viana Oliveira (naradv) on 2015-06-16T14:36:37Z No. of bitstreams: 1 000007F4.pdf: 2768727 bytes, checksum: 9fc3a810e196d69669b571b4c67a6252 (MD5) / Made available in DSpace on 2015-06-16T14:36:37Z (GMT). No. of bitstreams: 1 000007F4.pdf: 2768727 bytes, checksum: 9fc3a810e196d69669b571b4c67a6252 (MD5) Previous issue date: 2013-04-12 / Nenhuma / Esta tese tem como finalidade a caracterização do estatuto semiótico da imagemdocumento à luz dos pensamentos de Gilles Deleuze e Charles Sanders Peirce. Ao se retomar a influência peirceana sobre o pensamento cinematográfico de Deleuze – em geral associado ao bergsonismo – empreendeu-se uma revisão crítica das imagens-movimento e das imagenstempo sob o viés semiótico e se descobriu um novo tipo de imagem derivada da experiência cinematográfica contemporânea e que introduz problemáticas bem específicas para o estudo do cinema: a imagem-documento, foco desta tese. A imagem-documento é aqui concebida como imagem-tempo, mais precisamente como a face documental da imagem-cristal, cuja matéria expressiva é constituída pelas figuras da fabulação, da potência do falso, da alteridade do personagem, do agente provocador, do personagem intercessor, do jogo cênico, do transe, do deslocamento e da montagem nuclear. Nesse cinema de imagem-documento, ao invés de se identificarem os índices de uma realidade já vivida (como nos documentários clássicos), elas se comportam como flechas do tempo (em séries) que apontam para o vir a ser do mundo, inseparáveis das ideias de ação, intervenção e invenção, possibilitadas pelas imagens de fabulação. Além da demonstração das relações teóricas entre Peirce e Deleuze – que evidenciam as potencialidades desse encontro –, a imagem-documento foi abordada ensaisticamente. Nos ensaios, procurou-se estabelecer de que forma tal imagem funciona em cenas dos filmes Iracema, uma transa amazônica (1974), Jogo de cena (2007) e Di Glauber (1977), propostos como experiências brasileiras da imagem-documento. Esta tese, assim, procura revelar os modos como os pensamentos de Peirce e Deleuze se agenciam para dar lugar a uma nova imagem de pensamento cuja matéria de expressão são as imagens cinematográficas. Por fim, esta pesquisa também contribui para demonstrar que a prática da escrita deleuzeana concebida pelo viés peirceano pode trazer relevantes contribuições para ambas as teorias. / This thesis aims to characterize the semiotic state of the document-image in the light of Gilles Deleuze and Charles Sanders Peirce’s thoughts. Resuming the influence of Peirce in Deleuze’s cinematic thought – generally associated with Bergson – allowed a critical review about the movement-images and the time-images in the light of semiotics, and discovered a new type of image derived from the contemporary cinematic experience that introduces specific problematic for the study of cinema: the document-image, the core of the thesis. The image-document is thought as a time-image, more precisely, as a documentary face of the image-crystal, whose expressive matter consists in the figures of fabulation, the power of the false, the otherness of the character, the agent provocateur, the Character intercessor, the scenic game, the trance, the displacement and the nuclear assembly. In this cinema of document-image, instead of identifying the index of a reality already experienced (as in the classic documentaries), it behaves like a arrows of time (in series) that point to become of the world, inseparable from ideas of action, intervention and invention, made possible by the images of fabulation. In addition to demonstrate the theoretical relations between Peirce and Deleuze – where highlight the potential of this encounter –, the document-image was approached through essays. In these essays we intended to establish how the image-document works in scenes of the films Iracema, uma transa amazônica (1974), Jogo de cena (2007) and Di Glauber (1977), proposed as Brazilian experiences of image-document. This thesis, therefore, intends to reveal the ways in which thoughts of Peirce and Deleuze can be the way for a new image of thought whose matter of expression are the cinematic images. Finally, this research contributes to demonstrate that the practice of deleuzean writing conceived in the light of Peirce can bring important contributions to both theories.

Made available in DSpace on 2016-04-25T20:21:23Z (GMT). No. of bitstreams: 1 Daniel Tabarani Santos Milanezi.pdf: 1513450 bytes, checksum: 8f5c6a283c49366c7ebbe72654295667 (MD5) Previous issue date: 2015-04-01 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Based on an esthetical-political analysis of the film Solaris, and an investigation on the personal and artistic life of Andrei Tarkovsky, within a historical and political context situated in the Soviet Union from the 1960s through the 1990s, it s proposed in this research to emphasize the shock between this artist and the Soviet State, with the purpose to demonstrate a political presence in Tarkovsky s work. Tarkovsky s own writings, the philosophical and esthetical concepts of Gilles Deleuze, the political notions of political presence of the work and esthetization of politics, written by Professor Miguel Chaia, give support to the foundations of this dissertation, making it possible to create: a discussion about Tarkovsky s conceptions of art and cinema; an analytical cut of the film Solaris, showing the esthetical, political, historical problems involved in this work; an overview of the Soviet cinematographic industry, debating the relationship between the artist Tarkovsky and the authoritarian bureaucracy of the Soviet State, as well as the effects of this as a political act of resistance made by the filmmaker through his filmography / A partir de uma análise estético-política do filme Solaris, e de uma investigação sobre a vida pessoal e artística de Andrei Tarkovsky, dentro de um contexto histórico-político situado na União Soviética dos anos 1960 até a década de 1990, propõe-se, nesta pesquisa, destacar o embate entre esse artista e o Estado soviético, com o objetivo de demonstrar uma presença política da obra de Tarkovsky. Os escritos do próprio Tarkovsky, os conceitos filosóficos e estéticos de Gilles Deleuze, as noções políticas de presença política da obra e estetização da política, trazidas pelo Prof. Miguel Chaia, dão embasamento para a fundamentação deste trabalho, possibilitando: uma discussão sobre as concepções de arte e cinema do artista Tarkovsky; um recorte analítico do filme Solaris, mostrando as questões estéticas, políticas, históricas envolvidas na obra; um panorama da indústria cinematográfica soviética, problematizando a relação entre o artista Tarkovsky e a burocracia autoritária do Estado soviético, assim como os efeitos disso enquanto ato político de resistência por parte do cineasta através de sua filmografia

Made available in DSpace on 2016-04-26T14:55:18Z (GMT). No. of bitstreams: 1 Daniel Tabarani Santos Milanezi.pdf: 1513450 bytes, checksum: 8f5c6a283c49366c7ebbe72654295667 (MD5) Previous issue date: 2015-04-01 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Based on an esthetical-political analysis of the film Solaris, and an investigation on the personal and artistic life of Andrei Tarkovsky, within a historical and political context situated in the Soviet Union from the 1960s through the 1990s, it s proposed in this research to emphasize the shock between this artist and the Soviet State, with the purpose to demonstrate a political presence in Tarkovsky s work. Tarkovsky s own writings, the philosophical and esthetical concepts of Gilles Deleuze, the political notions of political presence of the work and esthetization of politics, written by Professor Miguel Chaia, give support to the foundations of this dissertation, making it possible to create: a discussion about Tarkovsky s conceptions of art and cinema; an analytical cut of the film Solaris, showing the esthetical, political, historical problems involved in this work; an overview of the Soviet cinematographic industry, debating the relationship between the artist Tarkovsky and the authoritarian bureaucracy of the Soviet State, as well as the effects of this as a political act of resistance made by the filmmaker through his filmography / A partir de uma análise estético-política do filme Solaris, e de uma investigação sobre a vida pessoal e artística de Andrei Tarkovsky, dentro de um contexto histórico-político situado na União Soviética dos anos 1960 até a década de 1990, propõe-se, nesta pesquisa, destacar o embate entre esse artista e o Estado soviético, com o objetivo de demonstrar uma presença política da obra de Tarkovsky. Os escritos do próprio Tarkovsky, os conceitos filosóficos e estéticos de Gilles Deleuze, as noções políticas de presença política da obra e estetização da política, trazidas pelo Prof. Miguel Chaia, dão embasamento para a fundamentação deste trabalho, possibilitando: uma discussão sobre as concepções de arte e cinema do artista Tarkovsky; um recorte analítico do filme Solaris, mostrando as questões estéticas, políticas, históricas envolvidas na obra; um panorama da indústria cinematográfica soviética, problematizando a relação entre o artista Tarkovsky e a burocracia autoritária do Estado soviético, assim como os efeitos disso enquanto ato político de resistência por parte do cineasta através de sua filmografia

In manual control, the welding gun’s moving speed can significantly influence the welding results and critical welding operations usually require welders to concentrate consistently in order to react rapidly and accurately. However, human welders always have some habitual action which can have some subtle influence the welding process. It takes countless hours to train an experienced human welder. Using vision and IMU sensor will be able to set up a system and allow the worker got more accurate visual feedback like an experienced worker. The problem is that monitor and measuring of the control process not always easy under a complex working environment like welding. In this thesis, a new method is developed that use two different methods to compensate each other to obtain accurate monitoring results. Vision sensor and IMU sensor both developed to obtain the accurate data from the control process in real-time but don’t influence other. Although both vision and IMU sensor has their own limits, they also have their own advantage which can contribute to the measuring system.

Topological features of an object are fundamental in image processing. In many applications,including medical imaging, it is important to maintain or control the topology of the image. Howeverthe design of such transformations that preserve topology and geometric characteristics of the inputimage is a complex task, especially in the case of parallel processing.Parallel processing is applied to accelerate computation by sharing the workload among multipleprocessors. In terms of algorithm design, parallel computing strategies profits from the naturalparallelism (called also partial order of algorithms) present in the algorithm which provides two main resources of parallelism: data and functional parallelism. Concerning architectural design, it is essential to link the spectacular evolution of parallel architectures and the parallel processing. In effect, if parallelization strategies become necessary, it is thanks to the considerable improvements in multiprocessing systems and the rise of multi-core processors. All these reasons make multiprocessing very practical. In the case of SMP machines, immediate sharing of data provides more flexibility in designing such strategies and exploiting data and functional parallelism, notably with the evolution of interconnection system between processors.In this perspective, we propose a new parallelization strategy, called SD&M (Split Distribute andMerge) strategy that cover a large class of topological operators. SD&M has been developed in orderto provide a parallel processing for many topological transformations.Based on this strategy, we proposed a series of parallel topological algorithm (new or adaptedversion). In the following we present our main contributions:(1)A new approach to compute watershed transform based on MSF transform, that is parallel,preserves the topology, does not need prior minima extraction and suited for SMP machines.Proposed algorithm makes use of Jean Cousty streaming approach and it does not require any sortingstep, or the use of any hierarchical queue. This contribution came after an intensive study of allexisting watershed transform in the discrete case.(2)A similar study on thinning transform was conducted. It concerns sixteen parallel thinningalgorithms that preserve topology. In addition to performance criteria, we introduce two qualitativecriteria, to compare and classify them. New classification criteria are based on the relationshipbetween the medial axis and the obtained homotopic skeleton. After this classification, we tried toget better results through the proposal of a new adapted version of Couprie's filtered thinningalgorithm by applying our strategy.(3)An enhanced computation method for topological smoothing through combining parallelcomputation of Euclidean Distance Transform using Meijster algorithm and parallel Thinning-Thickening processes using the adapted version of Couprie's algorithm already mentioned.

Quad-rotor micro-UAVs have become an important tool in the field of indoor UAV research. Indoor flight poses problems not experienced in outdoor applications. The ability to be location- and movement-aware is paramount because of the close proximity of obstacles (walls, doorways, desks). The Helio-copter, an indoor quad-rotor platform that utilizes a compact FPGA board called Helios has been developed in the Robotic Vision Lab at Brigham Young University. Helios allows researchers to perform on-board vision processing and feature tracking without the aid of a ground station or wireless transmission. Using this on-board feature tracking system a drift stabilization control system has been developed that allows indoor flight of the Helio-copter without tethers. The Helio-copter uses an IMU to maintain level attitude while processing camera images on the FPGA. The FPGA then computes translation, scale, and rotation deviations from camera image feedback. An on-board system has been developed to control yaw, altitude and drift based solely on the vision sensors. Preliminary testing shows the Helio-copter capable of maintaining level, stable flight within a 6 foot by 6 foot area for over 40 seconds without human intervention using basic PID loop structures with minor tuning. The integration of the vision system into the control structures is explained.