This thesis examines the design and implementation of an extensible objectoriented physics engine framework. The design and implementation consolidates concepts from the wide literature in the field and clearly documents the procedures and methods. Two primary dynamic behaviors are explored: rigid body dynamics and articulated dynamics. A generalized collision response model is built for rigid bodies and articulated structures which can be adapted to other types of behaviors. The framework is designed around the use of interfaces for modularity and easy extensibility. It supports both a standalone physics engine and a supplement to a distributed immersive rendering environment. We present our results as a number of scenarios that demonstrate the viability of the framework. These scenarios include rigid bodies and articulated structures in free-fall, collision with dynamic and static bodies, resting contact, and friction. We show that we can effectively combine different dynamics into one cohesive structure. We also explain how we can efficiently extend current behaviors to develop new ones, such as altering rigid bodies to produce different collision responses or flocking behavior. Additionally, we demonstrate these scenarios in both the standalone and the immersive environment.

ABSTRACT A water-soluble rigid-rod polyelectrolyte sPBI-PS(Li+) could be doped with LiI and cast as a freestanding film from aqueous solution showing a room-temperature in-plane DC conductivity (s|| ) of 8.3¢®10-3 S/cm. However, the cast film assumed an anisotropic microstructure due to preferential orientation of the rigid-rod backbone leading to an out-of-the plane DC conductivity (s^) which was three orders smaller than those of the s||, and severely limited its applications as a solid polyelectrolyte for thin-film battery. In addition to synthesizing rigid-rod polyelectrolyte sPBI-PS(Li+) for comparison, this study used 2-sulfo-terephthalic acid and isophthalic acid in ratios of 15¡G1, 25¡G1, or 50¡G1 for copolycondensation reaction making the rigid-rod backbone of sPBI-PS(Li+) become articulated. Further reaction with 1,3-propanesultone pendants, the rigid-rod polyelectrolyte was changed into a new water-soluble articulated rigid-rod polyelectrolyte A-sPBI-PS(Li+). Various analyses were applied to ascertain chemical structure, purities, thermal properties and molecular weight of synthesized monomers and polymers. Freestanding films of sPBI-PS(Li+) and A-sPBI-PS(Li+) were cast from aqueous solutions doped with LiI, LiBF4, or LiCF3SO3 for various concentrations up to 5 wt.%. Thin-film room-temperature s|| of sPBI-PS(Li+) could be 3.15´10-3 S/cm, and of A-sPBI-PS(Li+) could be 2.76´10-3 S/cm. X-ray scattering and electron microscopic results suggested that the sPBI-PS(Li+) cast film was in-plane isotropic but out-of-the plane anisotropic, and the A-sPBI-PS(Li+) cast film was three-dimensionally isotropic.

A water-soluble rigid-rod polyelectrolyte sPBI-PS(Li+) could be doped with LiI and cast as a freestanding film from aqueous solution showing a room-temperature in-plane DC conductivity (

This thesis examines the design and implementation of an extensible objectoriented physics engine framework. The design and implementation consolidates concepts from the wide literature in the field and clearly documents the procedures and methods. Two primary dynamic behaviors are explored: rigid body dynamics and articulated dynamics. A generalized collision response model is built for rigid bodies and articulated structures which can be adapted to other types of behaviors. The framework is designed around the use of interfaces for modularity and easy extensibility. It supports both a standalone physics engine and a supplement to a distributed immersive rendering environment. We present our results as a number of scenarios that demonstrate the viability of the framework. These scenarios include rigid bodies and articulated structures in free-fall, collision with dynamic and static bodies, resting contact, and friction. We show that we can effectively combine different dynamics into one cohesive structure. We also explain how we can efficiently extend current behaviors to develop new ones, such as altering rigid bodies to produce different collision responses or flocking behavior. Additionally, we demonstrate these scenarios in both the standalone and the immersive environment.

Building tall has always been an expression of dreams, power and technical advancement. With the greatly increasing urbanization in recent years building tall has become a more viable option for office and residential housing. The Tubed mega frame concept tries to evolve the stabilizing systems of high-rise buildings with its mega frame around the buildings perimeter, created together with a new elevator system; the Articulated Funiculator. This thesis examines the effectiveness of the Tubed mega frame compared to other structural systems. Information and background has been taken from different types of literature, analysis programs and verbally from supervisors; Fritz King and Peter Severin. Using Finite Element Method (FEM-) programs studies on previously used structural systems along with the Tubed mega frame has been made, trying to draw conclusions about its advantages and drawbacks. The examinations have been done using SAP2000and ETABS, both developed by CSI. The tubed mega frame shows to require a large amount of concrete compared to other systems at lower heights, because of its geometry. As the height increases it does show an increase in effectiveness and by the time it reaches 480 meters it is using less materials and still achieving greater stiffness than other systems. Since the geometry of the Tubed mega frame is so flexible a conclusion is also made that the stiffness can be increased by sacrificing façade area or creating longer outriggers.

Modeling articulated objects made of rigid layered parts used to populate 3D scenes in video games or movie production is a complex and time-consuming task for digital artists. This work proposes a sketch-based approach to efficiently model 3D layered articulated objects, such as animals with rigid shells and armors, in annotating a single 2D photo manually, and eventually fabricate it from automatically computed 2D patterns. In considering symmetrical objects seen under a 3/4 view, and an- notating salient features such as extremities of the rigid articulated parts as a mix of circular and Bézier curve, this approach is able to retrieve depth information, hidden parts, and rotation-articulated structure. The resulting shape consists of a set of quadrangulated polygons that may be flattened in 2D. Details such as ears, tails, and legs were further models using dedicated annotations. The accuracy of the reconstruction has been validated on synthetic cylindrical examples, and its ro- bustness in reconstructing a 3D model of armor, armadillo, and shrimp. The latter was finally fabricated using paper. / Att modellera artikulerade objekt gjorda av styva delar lagda i lager som används till att fylla 3D-scener i datorspel och filmskapande är en komplex och tidsödande uppgift för digitala konstnärer. Den här undersökningen föreslår ett skiss-baserat tillvägagångssätt att effektivt modellera artikulerade 3D-objekt lagda i lager, såsom djur med styva skal och rustning, i att annotera ett 2D-foto manuellt, och eventuellt skapa det från automatiskt beräknade 2D-mönster. Hänsyn är tagen till symmetriska objekt sedda under en 3/4 vy, och annotera framträdande egenskapersåsom extremiteter av de styva artikulerade delarna som en blandning avcirkulära och Bézier-kurvor, kan det här tillvägagångssättet hämta information om djup, gömda delar och rotations-artikulerade strukturer. Den slutliga formen består av ett set av fyrsidiga polygoner som kan bli tillplattade i 2D. Detaljer såsom öron, svansar och ben där framtida modeller använder dedikerade annotationer. Noggrannheten av rekonstruktionen har blivit validerad på syntetiska cylindriska exempeloch dess robusthet i att rekonstruera en 3D-modell av en rustning, ett bältdjur och en räka. Den senare skapades slutligen med hjälp av papper.

Articulated rigid-rod polymers asPBI were synthesized via polycondensation reaction. Using 2-sulfoterephthalic acid and 5-sulfoisophthalic acid in different ratios for copolycondensation reaction making the fully conjugated rigid-rod backbone became articulated. Both rigid-rod and articulated rigid-rod were further derivatized using alkane sulfonated pendants and became water-soluble rigid-rod and articulated rigid-rod polyelectrolytes. Lithium salt doped cast films of the polyelectrolytes showed a root-temperature DC conductivity parallel to film surface (

We describe a state-space tracking approach based on a Conditional Random Field(CRF) model, where the observation potentials are \emph{learned} from data. Wefind functions that embed both state and observation into a space wheresimilarity corresponds to $L_1$ distance, and define an observation potentialbased on distance in this space. This potential is extremely fast to compute and in conjunction with a grid-filtering framework can be used to reduce acontinuous state estimation problem to a discrete one. We show how a statetemporal prior in the grid-filter can be computed in a manner similar to asparse HMM, resulting in real-time system performance. The resulting system isused for human pose tracking in video sequences.

Eye tracking has many comprehensive achievements in the field of human computer interaction. Uses of human eyes as an alternative of hands are an innovative way in the human computer interaction perspective. Many application of autonomous robot control has already been developed, but we developed two different interfaces to control the articulated robot manually. The first of these interfaces is controlled by mouse and the second is controlled by eye tracking. Main focus of our thesis is to facilitate the people with motor disabilities by using their eye as an input instead of a mouse. Eye gaze tracking technique is used to send commands to perform different tasks. Interfaces are divided into different active and inactive regions. Dwell time is a well known technique which is used to execute commands through eye gaze instead of using a mouse. When a user gazes in an active region for a specific dwell time, the command is executed and the robot performs a specific task. When inactive regions are gazed at, there no command execution and no function are performed. The difference between time of performing the task by mouse and Eyetracking is shown to be 40 ms, the mouse being faster. However, a mouse cannot be used for people with motor disabilities, so the Eyetracker in this case has a decisive advantage. Keywords: Eyetracking, Interface, Articulated robot

Mining and construction industry is due to its specialization an environment that provides opportunities for application of innovative approaches and solutions. Thanks to the increase of human needs, this sector meets the increasing demands. This thesis responds to the development of industry and solves the design of specialized field tilting vehicle for soil transport. It also has set an appropriate form to familiarize the public with the problems and demands, which this type of vehicle meet in practice.