O trabalho apresenta uma análise do desempenho de vários métodos de extração de fatores de intensidade de tensão a partir de soluções numéricas obtidas com o método dos elementos finitos generalizados (MEFG). A convergência dos fatores de intensidade de tensão é comparada com a da energia de deformação a fim de investigar a superconvergência dos métodos. Para extração dos fatores de intensidade de tensão e o cálculo da taxa de energia disponibilizada para propagação da fissura, implementam-se os métodos da integral de contorno (MIC), da função cutoff (MFC) e da integral-J no contexto do MEFG. Desenvolve-se a formulação dos métodos de extração de forma a obter uma implementação independente da malha utilizada na modelagem do problema. Aplica-se a extração dos fatores de intensidade de tensão, para modos puros e mistos, em problemas clássicos da mecânica da fratura. Verifica-se a convergência dos fatores de intensidade de tensão e da taxa de energia disponibilizada para a propagação da fissura, obtidos com cada método de extração, com o enriquecimento da ordem polinomial da solução do MEFG. Investiga-se a robustez dos métodos com relação ao tamanho dos domínios de extração / The performance of several techniques to extract stress intensity factors (SIF) from numerical solutions computed with the generalized finite element method (GFEM) is investigated. The convergence of the stress intensity factors is compared with the convergence of strain energy with the aim of investigate the superconvergence of the methods. The contour integral (CIM), the cutoff function (CFM) and the J-integral methods are considered to compute stress intensity factors and energy release rate. The proposed implementation of the extraction techniques is completely independent of the discretization used. Several numerical examples demonstrating the convergence of the computed stress intensity factors and the energy release rate, with the increasing of p order of the GFEM solution, are presented

Submitted by Fabio Sobreira Campos da Costa (fabio.sobreira@ufpe.br) on 2017-04-24T14:27:21Z No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) TESE__DIOGO_CAVALCANTI_COSTA.pdf: 8696014 bytes, checksum: 6ecb7de16968f61db789940caeae149e (MD5) / Made available in DSpace on 2017-04-24T14:27:21Z (GMT). No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) TESE__DIOGO_CAVALCANTI_COSTA.pdf: 8696014 bytes, checksum: 6ecb7de16968f61db789940caeae149e (MD5) Previous issue date: 2015-03-02 / CNPQ / Desde os anos 1960, foram criadas inúmeras técnicas para segmentação de imagens, contudo poucas se aproximam do nível de desempenho humano, sendo essas computacionalmente custosas e inadequadas para aplicação em tempo real. Portanto, nesta tese é apresentada uma técnica de segmentação de baixo custo computacional, baseada em descontinuidades e em multirresolução, voltada à detecção de contornos de objetos em imagens naturais – fotografias do mundo real. A estrutura da técnica proposta é dividida em cinco etapas. Na primeira, atributos de cor e foco são realçados na imagem de entrada. O mapeamento de cor realça as diferenças de cor entre os canais RGB e propicia a detecção de bordas entre os canais de cor por operadores de gradiente. Dois modelos de cor de diferença cromática, RhGhBh e LgC, são propostos para esse fim. Também é proposta a transformada de decomposição de cor que segmenta a escala de cor RGB em canais independentes, isolando as cores aditivas e subtrativas, e os tons de cinza. Assim, é possível mensurar a variação local de cada cor para criar um mapeamento das regiões em foco. Na segunda etapa, uma filtragem morfológica para supressão de texturas suaviza as mudanças abruptas de cor no interior das mesmas, possibilitando a identificação de seus contornos e diminuindo a falsa identificação de bordas internas. Na terceira etapa, oito máscaras orientadas, batizadas de máscaras de detecção de contornos, são usadas para calcular o gradiente local, realçando os contornos dos objetos em detrimento de suas bordas internas. Na quarta etapa, um afinamento em tons de cinza é realizado por meio de um empilhamento topológico das bordas erodidas e suavizadas, no qual os pixels de bordas maximamente centralizados são isolados e afinados morfologicamente. Por fim, na quinta etapa, a intensidade das bordas é corrigida função do gradiente local e da densidade local das bordas, realçando os contornos dos objetos. Comparações com técnicas de segmentação recentes e clássicas são conduzidas com auxílio do Berkeley Segmentation Dataset and Benchmark. Os resultados obtidos posicionam a técnica proposta em quinto lugar no Benchmark, com tempo de processamento inferior a 0,5% do tempo das técnicas melhor classificadas, sendo adequada para uso em tempo real. / Since the 1960’s, numerous image segmentation techniques were developed, however only a few approach human level segmentation, being computationally costly and inadequate to real time applications. Therefore, this Thesis presents a low computational cost multi-resolution and edge-based image segmentation technique for objects’ contour detection in natural images – real world scenes photographs. The proposed technique’s framework is divided into five steps. First, color and focus features are mapped from the input image. The color mapping enhances the color differences between RGB channels, allowing the inter-channel colors edge detection by gradient operators. Two chromatic difference color models are proposed, RhGhBh and LgC. The color decomposition transform is also proposed, which is able to segment the RGB color scale in independent channels, isolating the additive and subtractive colors, and the shades of gray. The transform allows the measurement of the local variation within each color, thus, producing the image´s focus map. In the second step, a morphological texture suppression filtering smoothes abrupt color changes inside textures, allowing textures’ outer edges detection and decreasing the false identification of texture inner edges as objects’ contours. In the third step, eight oriented masks, called contour detection masks, are used to calculate the local gradient, enhancing the objects’ contours over their inner edges. In the fourth step, a grayscale thinning is performed through a topological stacking of eroded and smoothed edges, where the maximally centered edge pixels are isolated and morphologically thinned. Finally, in the fifth step, the edges’ intensities are corrected to reflect the local gradient and the local edges’ density, allowing better identification of objects’ contours. Comparisons with recent and classic segmentation techniques are conducted by the Berkeley Segmentation Dataset and Benchmark. The results rank the proposed segmentation in fith position in the Benchmark, with a processing time below 0.5% of the better ranked techniques, being suitable for real-time applications.

Made available in DSpace on 2016-03-15T19:38:07Z (GMT). No. of bitstreams: 1 Ivan Gonzalez.pdf: 604401 bytes, checksum: 1652d5996de760edf38fd1a3bb2e64e4 (MD5) Previous issue date: 2006-09-18 / A variant of Kuramoto's model for phase oscillators with dynamic coupling is studied. The coupling weight is adjusted by the phase difference resulting in a connection which is strengthened for synchronized oscillators and weakened for non-synchronized oscillators. Equilibrium solutions and their stabilities are presents and it is shown the occurrence of saddle-node and Hopf bifurcations. It is shown that networks formed by such oscillators can be used for detecting image border. / Uma variante do modelo de Kuramoto para osciladores de fase com acoplamento dinâmico é estudada. A intensidade do acoplamento é ajustada pela diferença de fases dos osciladores, de forma que a conexão é reforçada para osciladores sincronizados e enfraquecida para osciladores não sincronizados. As soluções de equilíbrio e suas estabilidades são apresentadas, e mostra-se que o sistema apresenta bifurcações sela-nó e de Hopf. Mostra-se que redes formadas com esses osciladores podem ser usadas para extrair o contorno de figuras.

O meandramento da Corrente do Brasil (CB) ao sul da Bifurcação de Santos é investigada por meio de imagens satelitárias, dados quase-sinóticos, análise de funções ortogonais empíricas (EOF) de correntômetros de fundeios e um modelo analítico semi-teórico. A análise das imagens satelitárias revelam que em média 1,2 meandros ciclônicos de grande amplitude são formados anualmente nas vizinhanças do Cabo de Santa Marta (∼28,5°S). Os meandros parecem ser geostroficamente instáveis e a taxa de crescimento típica estimada é de 0,05 m s-1 . Eles ainda se propagam para sul com velocidade de fase de 0,07 m s-1 . A seção de velocidade, como a inferida por perfis de L-ADCP obtidos durante cruzeiros hidrográficos, revelam que os meandros do Cabo de Santa Marta possuem estrutura de velocidade distinta daquelas observadas em Cabo Frio (23°S) e Cabo de São Tomé (22°S). Os meandros alcançam profundidades maiores que 1400 m e recirculam Água Tropical, Água Central do Atlântico Sul, Água Intermediária Antártica e Água Circumpolar Superior. Ocasionalmente, a estrutura do vórtice se funde com a camada subjacente da Corrente de Contorno Oeste Profunda. O padrão geostrófico horizontal dos meandros foram mapeados usando dados de temperatura e salinidade de cruzeiros históricos e foi obtido que a estrutura ciclônica do meandro possui número de Rossby (∼0,07) e número de Burger (∼0,06) pequenos. Portanto, vorticidade de estiramento parece ter papel importante na dinâmica de meandramento e, consequentemente, instabilidade baroclínica é o fenômeno primariamente responsável pelo crescimento do ciclone. O número de Burger pequeno também sugere que a dinâmica do meandro é influênciada pela topografia. A análise de EOFs bidimensionais conduzida no transecto WOCE 28°S de fundeios históricos dos anos 90 mostram que o primeiro modo seccional explica cerca de 54% da variância das séries e está relacionado ao meandramento da CB. A amplitude do meandro ciclônico é aproximadamente 200 km uma vez que cruza o transecto e a onda de vorticidade baroclínica associada tem tipicamente 26 dias. Finalmente, um modelo de Dinâmica de Contornos idealizado de 2 camadas é construído para isolar o mecanismo de instabilidade baroclínica e para investigar as razões do crescimento e velocidade de fase para sul. A estrutura do fluxo básico do modelo é construído baseado no ajuste por mínimos quadrados das funções teóricas à média das observações nas espessuras das camadas. A simulação mostrou que o meandro evolui e se desenvolve devido ao fechamento de fase da camada inferior mais lenta relativo à camada superior mais rápida. Além disso, a propagação de fase para sul ocorre como uma consequência direta da componente barotrópica robusta, adquirida pela CB devido o ramo sul da Bifurcação de Santos. / The Brazil Current (BC) meandering south of the so-called Antarctic Intemediate Water\'s Santos Bifurcation is investigated by means of satellite imagery, quasi-synoptic data, empirical orthogonal function (EOF) analysis of currentmeter moorings and a semi-theoretical dynamical model. The analysis of the infrared imagery revealed that on average 1.2 large amplitude cyclonic meanders are formed annualy in the vicinities of Cape Santa Marta (∼28.5°S). The meanders seem to be geophysically unstable and the estimated typical growth rate is of 0.05 days-1 . They also propagate southward with phase speed of 0.07 m s-1 . The sectional velocity distributions, as inferred from L-ADCP profiles obtained during hydrographic cruises, revealed that the Cape Santa Marta meanders have a very distinct vertical structure from those observed off Cape Frio (23°S) and Cape São Tomé (22°S). The meanders reach much depths of 1400 m and recirculated Tropical Water, South Atlantic Central Water, Antarctic Intemediate Water and Upper Circumpolar Waters. Occasionally, the eddy structure melds with the underlying Deep Western Boundary Current. Geostrophic horizontal patterns of the meanders were mapped using T-S information from historical cruises and it is obtained that the meander is a low-Rossby number (∼0.07) and low-Burger(∼0.06) number cyclone feature. Therefore, stretching vorticity seems to play a major role on the meandering dynamics and, consequently, baroclinic instability is the phenomenon primairily responsible for the cyclone growth. The low-Burger number also suggests that the meander dynamics is influenced by the topography. The two-dimensional EOF analysis conducted on the historical 28°S WOCE mooring transect from the 90s shows that the first sectional mode explains about 54% of the series variance and is related to the BC meandering. The amplitude of the cyclonic meander is roughly 200 km as it crosses the transect and the associated baroclinic vorticity wave period is typically 26 days. Finally, an idealized 2-layer Contour Dynamics model is constructed to isolate the baroclinic instability mechanism and to investigate the reasons for the growth and the southward phase speeds. The model\'s basic flow structure is built based on least-square fits of the observations averaged within the two layer\'s vertical extensions. The simulation showed that the meander evolve and grow due to the phase-locking of the slower lower layer relative to the faster upper layer. Also, the southward phase speed occurs as a direct consequence of the robust barotropic component acquired by the BC due to the southern branch of the Santos Bifurcation of the Antarctic Intemediate Water.

Today, tool center point calibration is mostly done by a manual procedure. The method is very time consuming and the result may vary due to how skilled the operators are. This thesis proposes a new automated iterative method for tool center point calibration of industrial robots, by making use of computer vision and image processing techniques. The new method has several advantages over the manual calibration method. Experimental verifications have shown that the proposed method is much faster, still delivering a comparable or even better accuracy. The setup of the proposed method is very easy, only one USB camera connected to a laptop computer is needed and no contact with the robot tool is necessary during the calibration procedure. The method can be split into three different parts. Initially, the transformation between the robot wrist and the tool is determined by solving a closed loop of homogeneous transformations. Second an image segmentation procedure is described for finding point correspondences on a rotation symmetric robot tool. The image segmentation part is necessary for performing a measurement with six degrees of freedom of the camera to tool transformation. The last part of the proposed method is an iterative procedure which automates an ordinary four point tool center point calibration algorithm. The iterative procedure ensures that the accuracy of the tool center point calibration only depends on the accuracy of the camera when registering a movement between two positions.

L’analyse isogéométrique pour la résolution de problèmes de la mécanique du solide suscite de vifs intérêts depuis une dizaine d’année. En effet, cette méthode de discrétisation autorise la description exacte des géométries étudiées permettant ainsi de supprimer les erreurs dues à une mauvaise description du domaine spatial étudié. Cependant elle pose un problème théorique de propagation de raffinement lors de la localisation de maillage. Des méthodes pour contourner ce problème ont été proposée dans la littérature mais complexifient grandement la mise en œuvre de cette stratégie de résolution. Cette thèse propose une stratégie de raffinement localisé adaptatif en espace pour les problèmes de statique et en espace temps pour les problèmes de dynamique transitoire dans le cadre de l’analyse isogéométrique. Pour cela une méthode de localisation pour l’analyse isogéométrique en statique basée sur une résolution multigrille est tout d’abord développée pour des problèmes en deux dimensions. Elle présente l’avantage de contourner la problématique de propagation de raffinement de maillage due à l’analyse isogéométrique tout en étant plus simple à mettre en œuvre que les méthodes déjà existantes. De plus, l’utilisation de l’analyse isogéométrique permet de simplifier les procédures de raffinement lors de l’adaptation de maillage qui peuvent être complexes lors de l’utilisationd’éléments finis classiques. Une méthode de raffinement adaptatif espace temps basée sur une résolution multigrille est ensuite développée pour des problèmes en une dimension. Une étude sur la structure des opérateurs est proposée afin de choisir un intégrateur temporel adapté. Les performances de cette stratégies sont mises en évidence, puis une modification de la méthode de résolution est proposée afin de diminuer significativement les coûts de calculs associées à cette résolution. La méthode de raffinement adaptatif espace temps est appliquée à quelques exemples académiques afin de valider son bon comportement lors de la localisation. / Isogeometric analysis applied to structural mechanics problems is a topic of intense concerns for a decade. Indeed, an exact description of geometries studied is allowed by this discretization method suppressing errors due to a bad description of the spatial domain considered. However, a theoretical problem of refinement propagation appears during mesh localization. Local refinement methods for isogeometric analysis has been developed and implied a complexification of the implementation of such a resolution strategy. This PhD thesis expose a space adaptative refinement strategy for linear elastic problems and a space-time one for transient dynamic using isogeometric analysis. For this purpose, a localization method for isogeometric analysis based on a multigrid resolution is developed for 2D linear elastic problems. This method allow to circumvent mesh refinement propagation inherent to isogeometric analysis, and is easier to implement than existing methods. Moreover, the use of isogeometric analysis simplifies refinement procedures occuring during mesh adaptation and which can be really complex using classical finite element analysis. Then, a space-time adaptative refinement based on a multigrid resolution is developed for one dimensional in space problems. A study on operators structure is exposed in order to choose a well suited time integrator. This strategy's performances are highlighted, then an evolution of this method is set up in order to lower computational costs. The space-time adaptaptive refinement is applied to some academical examples to show it good behavior during localization.

This thesis examines an automated method to detect surface deformations on automotive panels for the purpose of quality control along a manufacturing assembly line. Automation in the automotive manufacturing industry is becoming more prominent, but quality control is still largely performed by human workers. Quality control is important in the context of automotive body panels as deformations can occur along the assembly line such as inadequate handling of parts or tools around a vehicle during assembly, rack storage, and shipping from subcontractors. These defects are currently identified and marked, before panels are either rectified or discarded. This work attempts to develop an automated system to detect deformations to alleviate the dependence on human workers in quality control and improve performance by increasing speed and accuracy. Some techniques make use of an ideal CAD model behaving as a master work, and panels scanned on the assembly line are compared to this model to determine the location of deformations. This thesis presents a solution for detecting deformations of various scales without a master work. It also focuses on automated analysis requiring minimal intuitive operator-set parameters and provides the ability to classify the deformations as dings, which are deformations that protrude from the surface, or dents, which are depressions into the surface. A complete automated deformation detection system is proposed, comprised of a feature extraction module, segmentation module, and classification module, which outputs the locations of deformations when provided with the 3D mesh of an automotive panel. Two feature extraction techniques are proposed. The first is a general feature extraction technique for 3D meshes using octrees for multi-resolution analysis and evaluates the amount of surface variation to locate deformations. The second is specifically designed for the purpose of deformation detection, and analyzes multi-resolution cross-sections of a 3D mesh to locate deformations based on their estimated size. The performance of the proposed automated deformation detection system, and all of its sub-modules, is tested on a set of meshes which represent differing characteristics of deformations in surface panels, including deformations of different scales. Noisy, low resolution meshes are captured from a 3D acquisition, while artificial meshes are generated to simulate ideal acquisition conditions. The proposed system shows accurate results in both ideal situations as well as non-ideal situations under the condition of noise and complex surface curvature by extracting only the deformations of interest and accurately classifying them as dings or dents.

Performing tasks with a robotic hand often requires a complete knowledge of the manipulated object, including its properties (shape, rigidity, surface texture) and its location in the environment, in order to ensure safe and efficient manipulation. While well-established procedures exist for the manipulation of rigid objects, as well as several approaches for the manipulation of linear or planar deformable objects such as ropes or fabric, research addressing the characterization of deformable objects occupying a volume remains relatively limited. The fundamental objectives of this research are to track the deformation of non-rigid objects under robotic hand manipulation using RGB-D data, and to automatically classify deformable objects as either rigid, elastic, plastic, or elasto-plastic, based on the material they are made of, and to support recognition of the category of such objects through a robotic probing process in order to enhance manipulation capabilities. The goal is not to attempt to formally model the material of the object, but rather employ a data-driven approach to make decisions based on the observed properties of the object, capture implicitly its deformation behavior, and support adaptive control of a robotic hand for other research in the future. The proposed approach advantageously combines color image and point cloud processing techniques, and proposes a novel combination of the fast level set method with a log-polar mapping of the visual data to robustly detect and track the contour of a deformable object in a RGB-D data stream. Dynamic time warping is employed to characterize the object properties independently from the varying length of the detected contour as the object deforms. The research results demonstrate that a recognition rate over all categories of material of up to 98.3% is achieved based on the detected contour. When integrated in the control loop of a robotic hand, it can contribute to ensure stable grasp, and safe manipulation capability that will preserve the physical integrity of the object.

La qualité d’une prise de vue est un point incontournable dans la résolution des problèmes d’imagerie. Un capteur non adapté, un éclairage non contrôlé, ou des conditions variables de la scène observée peuvent être à l’origine de problèmes très difficiles à surmonter. Nous présentons différentes méthodes de traitement d’image permettant de prendre en compte au mieux ces conditions de prise de vue instables. Les approches que nous proposons sont définies dans le cadre du modèle LIP (Logarithmic Image Processing). Dans une première partie, nous nous intéressons à des notions de contraste : le contraste LIP additif et un nouveau contraste LIP multiplicatif, ainsi qu’à leurs métriques associées. De nouveaux outils de traitement basés sur ces notions sont ensuite définis : seuillage, détecteur de contours, reconnaissance de modèle. L’utilisation de ces notions de contraste confère à ces algorithmes la capacité des contrastes LIP à s’adapter à différents types d’images mal conditionnées. Nous proposons ensuite de nouvelles techniques de correction de dynamique d’images en exploitant les opérations LIP. Différentes corrections globales et locales sont présentées ainsi que leurs applications directes : correction de dérive d’éclairement pour du contrôle industriel ou amélioration d’image pour de la visualisation. Nous obtenons notamment une méthode de correction locale dont les résultats se rapprochent de ceux de certaines techniques de tone mapping. En comparaison, notre technique s’avère simple, rapide (temps réel à 30 images par seconde) et réaliste car basée sur une interprétation physique de la problématique / The quality of image acquisitions is crucial in the resolution of imaging problems. Troubles during acquisiton can lead to unstability for image processing algorithms. We propose different methods (thresholding techniques, contour detection, pattern matching) based on new metrics and contrasts in the LIP context. The LIP (Logarithmic Image Processing) model is recognized as an efficient framework to process images acquired in transmitted light and to take into account the human visual system. LIP operations are also useful to simulate varitations of image parameters in situation of reflected light. Finally, we propose new methods of global and local dynamic enhancement in the LIP framework like a real time and realistic local dynamic correction that brings results close to those obtained by certain tone mapping methods

The master thesis describes the design and digital commissioning of a robotic production system for 3D concrete printing. The theoretical part of the thesis includes an analysis of the current state of knowledge in the field of 3D printing in industrial automation. It also includes a detailed system analysis of the problem, in which the requirements and elements of the production system are specified. In the applied part of the thesis, a 3D model of the workplace was created and a simulation of the entire production process and digital commissioning of the system were performed using the ABB RobotStudio software. The output of the of the application part of the thesis is the design is the design of the workplace with a debugged control program ready for use in real operation.