La restauration est un outil de géologie structurale qui a prouvé son utilité dans divers domaines, tels que la compréhension des mécanismes de déformation, la prédiction de fractures, la validation de modèles structuraux, etc. En 3D, l'approche géomécanique est particulièrement prometteuse, puisqu'elle permet non seulement de connaître la déformation en tout point du modèle, mais aussi de prendre en compte les contrastes de propriété des matériaux. Cependant, elle nécessite un maillage tétraédrique du modèle dont la génération est à ce jour très difficile dans le cas de modèles à géométrie complexe (réseaux de failles interconnectés ou à faible rejet, discordances ou amincissements de couche). La modélisation implicite consiste à représenter les horizons stratigraphiques par des isovaleurs de propriété, ce qui permet de s'affranchir de la plupart des contraintes de maillage. Dans une première partie, une méthode de restauration géomécanique 3D applicable à des modèles implicites est présentée. La deuxième partie de ce travail s'intéresse à l'application de celle-ci à des cas complexes. Dans ce cadre, de nouvelles lois de comportement géomécaniques et conditions aux limites ont été développées, et des études de sensibilité à ces paramètres ont été menées. Ces travaux sont illustrés sur un bassin pétrolier complexe situé dans le delta du Niger où la restauration permet de définir une chronologie de déformation. Enfin, la troisième partie présente l'intégration d'une méthode de décompaction isostatique en volume au sein du processus de restauration 3D. Appliquée au synclinal des grès d'Annot (SE de la France), cette méthode permet de caractériser l'histoire de déformation et d'enfouissement du bassin / Restoration is a structural geology tool which usefulness has been shown in various fields, such as the understanding of deformation mechanisms, fracture forecasting, or structural models validation. In 3D, the geomechanical approach is particularly promising as it allows the deformation at any point in the model to be infered, but also to account for material property contrasts. However, it requires to generate a tetrahedral mesh, a step that may be, so far, extremely difficult, particularly when the geometry of the model is complex (interconnected faults, faults with small throws, unconformities or layer pinch-out).Implicit modeling consists in representing stratigraphic horizons by property isovalues, allowing most meshing issues to be overcame. In a first part, a geomechanical restoration method suitable for implicit models is presented. The second part of this work focuses on the application of this method to complex cases. New behavioral laws and boundary conditions have been developed, and sensitivity studies to these parameters have been performed. This work is applied to a petroleum basin located in the Niger delta toe where the restoration allows the structural evolution of the system to be constrained. The last part presents the integration of a 3D isostatic decompaction method into the 3D restoration process. Applied to the Annot Sandstones syncline (SE France), this method allows to characterize the deformation and burial history of the basin

The mining industry is constantly under pressure to improve productivity, effciency and safety. Although an increased use of automation technology has the potential of con- tributing to improvements in all three factors mines have been relatively slow to make use of automation technology. Automation in the underground mining environment is a challenging prospect for a number of reasons not least of which being the diffculties and associated costs of installing infrastructure in this hazardous environment. The work described in this dissertation focuses on the modelling of a Load-Haul-Dump or LHD vehicle for the purpose of autonomous navigation and control. Considerable progress has been made in automating underground mining vehicles in recent years, and successful test installations have been made. There are still however a number of shortcomings in the existing autonomous underground mine vehicle navigation systems. This dissertation attempts to address some of these problems through the development of a more accurate vehicle model for an LHD vehicle incorporating some vehicle and tyre dynamics thereby potentially reducing the number of sensors and the amount of installed infrastructure necessary to implement the vehicle navigation system. Simulation results are provided for different vehicle modelling techniques and the results are compared and discussed in terms of their suitability for physical implementation in an underground mine. / Dissertation (MEng (Electronic Engineering))--University of Pretoria, 2007. / Electrical, Electronic and Computer Engineering / MEng / unrestricted

Aus Punkt 1: "Neben der Funktionserfüllung und den Kosten ist der wirtschaftliche Erfolg eines Produktes nicht zuletzt dadurch gegeben, wie gut es den Wünschen, Bedürfnissen und Fähigkeiten seiner Nutzer entspricht. Zwischen Nutzer und Produkt existieren vielfältige Wechselwirkungen, die erfasst und verstanden werden müssen, um Produktkonzepte hinsichtlich der oben genannten Kriterien bewerten und optimieren zu können. Die Philosophie der menschzentrierten Produktentwicklung (MZP) besteht folglich darin, in allen Phasen der Produktentwicklung konsequent das Gesamtsystem bestehend aus Nutzer, Produkt und Umwelt zu betrachten."

New surgical approaches for total hip arthroplasty (THA) are being developed to reduce muscle damage sustained during surgery, in the hope to allow better muscle functioning afterwards. The goal of this study was to compare the muscle sparing anterior (ANT) approach to a traditional lateral (LAT) approach with three-dimensional motion analysis. Kinematics and kinetics were obtained with an infrared camera system and force plates. It was hypothesized that (1) the ANT group would have closer to normal range of motion, moments and powers, compared to the LAT group, and that (2) the ANT group would have higher peak hip abduction moment than the LAT group. Forty patients undergoing unilateral THA for osteoarthritis between the ages of 50 and 75 (20 ANT, 20 LAT) were asked to perform three trials of walking, stair ascent and stair descent. Patients were assessed between six to twelve months postoperatively. Twenty age- and weight-matched control participants (CON) provided normative data. Results indicated that both THA groups had gait anomalies compared to the CON group. Both THA groups had reduced hip abduction moment during walking (CON vs. ANT: p<0.001; CON vs. LAT: p=0.011), and the ANT group had a significantly lower hip abduction moment compared to the LAT group (p=0.008). Similar results were observed during stair descent, where the ANT group had reduced peak hip abduction moment compared to the CON group (p<0.001) and the LAT group (p=0.014). This indicates that the anterior approach did not allow better gait and stair climbing ability after THA. It is therefore thought that other variables, such as preoperative gait adaptations, trauma from the surgery, or postoperative protection mechanisms to avoid loading the prosthetic hip, are factors that might be more important than surgical approach in determining the mechanics of THA patients after surgery.

Modeling and simulations are useful tools to help understand knee function and injuries. As there are more muscles in the human knee joint than equations of motion, optimization protocols are required to solve a problem. The purpose of this thesis was to improve the biofidelity of these simulations by adding in vivo constraints derived from experimental intra-cortical pin data and stability-inspired objective functions within an OpenSim-Matlab forward-inverse dynamics simulation framework on lower limb muscle activation predictions. Results of this project suggest that constraining the model knee joint’s ranges of motion with pin data had a significant impact on lower limb kinematics, especially in rotational degrees of freedom. This affected muscle activation predictions and knee joint loading when compared to unconstrained kinematics. Furthermore, changing the objective will change muscle activation predictions although minimization of muscle activation as an objective remains more accurate than the stability inspired functions, at least for gait. /// La modélisation et les simulations in-silico sont des outils importants pour approfondir notre compréhension de la fonction du genou et ses blessures. Puisqu’il y a plus de muscles autour du genou humain que d’équations de mouvement, des procédures d’optimisation sont requises pour résoudre le système. Le but de cette thèse était d’explorer l’effet de changer l’objectif de cette optimisation à des fonctions inspirées par la stabilité du genou par l’entremise d’un cadre de simulation de dynamique directe et inverse utilisant MatLab et OpenSim ainsi qu'un model musculo-squelétaire contraint cinématiquement par des données expérimentales dérivées de vis intra-corticales, sur les prédictions d’activation musculaire de la jambe. Les résultats de ce projet suggèrent que les contraintes de mouvement imposées sur le genou modélisé ont démontré des effets importants sur la cinématique de la jambe et conséquemment sur les prédictions d'activation musculaire et le chargement du genou. La fonction objective de l'optimisation change aussi les prédictions d’activations musculaires, bien que la fonction minimisant la consommation énergétique soit la plus juste, du moins pour la marche.

La marche est un mécanisme complexe impliquant l’élaboration de trajectoires dans des milieux divers et variés et la réalisation des mouvements segmentaires qui permettent de les parcourir. Elle est alors dépendante de l’environnement, des obstacles et autres individus qui le peuplent mais également des capacités physiques du corps humain. De part cette complexité, l’étude de la marche est généralement compartimentée en deux niveaux : la génération de trajectoires locomotrices d’une part et les mouvements des membres d’autre part. Ce travail vise à proposer un processus complet d’analyse de la marche, en s’intéressant au lien unissant les trajectoires locomotrices aux mouvements segmentaires. Dans un premier temps nous nous intéressons à la génération de trajectoires. Plus particulièrement, nous nous focalisons sur une situation de croisement entre deux piétons et sur les stratégies mises en place pour éviter la collision. Puis, nous portons notre attention sur la manière dont les endroits de pose de pieds sont influencés par la trajectoire. Cette analyse nous conduit à proposer un modèle de génération d’empreintes de pas. Enfin, nous nous intéressons à la générations des trajectoires articulaires menant au mouvement de marche. Par l’utilisation de la méthode de linéarisation locale nous proposons une nouvelle méthodologie pour la simulation de la marche à partir d’une entrée unique : la prochaine empreinte pas / Walking is a complex mecanism involving trajectories generation in various environments and motion generation in order to follow the path. Then, it is dependent on environment, obstacles and peoples moving around but also on body capabilities. This complexity lead scientits to split walking analysis in two levels : trajectory generation in one hand, and motion generation in the othe hand. This work aim to provide a global walking analysis processus by linking trajectorires and motion generation. First, we explore walking trajectories throw a particular situation : pedestrians crossing. Here we take interest in trajectories and speed adaptations. Then, we sink for the link between trajectory and heelstrike. It lead us to develop a model for heelstrike generation based on trajectory. Finally, we take interest in walking motion simulation. By the use of local linearization, we provide a new methodology for joints joints angles generation

We present the results of a program to map the Sh2-235 molecular cloud complex in the CO and (CO)-C-13 J = 2 - 1 transitions using the Heinrich Hertz Submillimeter Telescope. The map resolution is 38 '' (FWHM), with an rms noise of 0.12K brightness temperature, for a velocity resolution of 0.34 km s(-1). With the same telescope, we also mapped the CO J = 3 - 2 line at a frequency of 345 GHz, using a 64 beam focal plane array of heterodyne mixers, achieving a typical rms noise of 0.5 K brightness temperature with a velocity resolution of 0.23 km s(-1). The three spectral line data cubes are available for download. Much of the cloud appears to be slightly sub-thermally excited in the J = 3 level, except for in the vicinity of the warmest and highest column density areas, which are currently forming stars. Using the CO and (CO)-C-13. J = 2 - 1 lines, we employ an LTE model to derive the gas column density over the entire mapped region. Examining a 125 pc(2). region centered on the most active star formation in the vicinity of Sh2-235, we find that the young stellar object surface density scales as approximately the 1.6-power of the gas column density. The area distribution function of the gas is a steeply declining exponential function of gas column density. Comparison of the morphology of ionized and molecular gas suggests that the cloud is being substantially disrupted by expansion of the H II regions, which may be triggering current star formation.

Este trabalho consiste na elaboração de uma estratégia para a geração de trajetórias otimizadas para um robô cilíndrico de cinco graus de liberdade acionado pneumaticamente. Como resultado da aplicação do método desenvolvido obtêm-se as trajetórias no espaço das juntas que resultam no movimento adequado do efetuador do robô, de acordo com algum critério de otimização. Para a obtenção das trajetórias das juntas do robô a partir de uma dada trajetória desejada para o efetuador, resolveu-se o problema de cinemática inversa por meio de uma abordagem algébrica. Para a geração de trajetórias entre os pontos no espaço de trabalho do robô propõe-se a utilização de um algoritmo de aproximação de pontos através de splines compostas por polinômios de sétimo grau. Essa escolha garante a continuidade da função de posição, bem como de suas três primeiras derivadas, sendo essa uma condição necessária para a implantação de importantes leis e estratégias de controle (como, por exemplo, a estratégia em cascata, utilizada com sucesso no controle de sistemas servopneumáticos). O método proposto para a geração de splines possibilita, através do ajuste de parâmetros em função da exigência de cada aplicação, a obtenção de curvas no espaço das juntas com valores otimizados de jerk, aceleração ou velocidade. Para aplicação na geração de trajetórias para o robô, a interpolação dos pontos é realizada no espaço dos atuadores a fim de fornecer ao controlador as curvas de referência para posição, velocidade, aceleração e jerk. Para a demonstração da aplicação do método no seguimento de trajetórias, são utilizadas como referência curvas tridimensionais cujos valores numéricos são comparados com os resultados fornecidos a partir da metodologia proposta. Assim, uma vez calculadas as trajetórias em cada uma das juntas através da cinemática inversa, utiliza-se as transformações homogêneas da cinemática direta do robô, obtidas a partir do método de Denavit-Hartenberg, para obter a trajetória do efetuador e verificar a funcionalidade do modelo resultante. / This work consists of developing a strategy to generate optimized trajectories for a cylindrical robot with five degrees of freedom which is actuated pneumatically. As a result of the application of the developed method, trajectories in joint space are obtained and result in the proper motion of the robot’s end-effector according to a given optimizing criteria. In order to obtain the trajectories of the robot’s joints from a given desired trajectory for the end-effector, the problem of inverse kinematics was solved by an algebraic approach. To generate trajectories between points in the robot’s workspace it was proposed the use of an algorithm for approximation of points through splines composed by seventh degrees polynomials. This choice ensures the continuity of the position function as well as its first three derivatives. It is a necessary condition for the implementation of important laws and control strategies (for example, the cascade strategy which is successfully used in servo-pneumatic control systems). The proposed method to generate splines allows, through the adjustment of parameters taking into account the requirements of each application, the obtainment of curves in the joint space with optimized values of jerk, acceleration and speed. In order to apply the method in the generation of trajectories for the robot, the interpolation of the points is performed in the space of the actuators with the purpose of providing the controller reference curves for position, speed, acceleration and jerk. To demonstrate the application of the method in trajectory tracking, three-dimensional curves are used and their numerical values are compared with the results provided by the proposed methodology. Therefore, once the calculated trajectory in each joint through inverse kinematics is obtained, homogeneous transformations of the direct kinematics of the robot, obtained by Denavit-Hartenberg’s method, are employed to find out the trajectory of the end-effector and verify the functionality of the resulting model.

Orientador: Janito Vaqueiro Ferreira / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-26T21:15:20Z (GMT). No. of bitstreams: 1 Lopes_GustavoSantos_M.pdf: 9836422 bytes, checksum: 5dd85af9a9e496c3601a34fb639cb6dd (MD5) Previous issue date: 2015 / Resumo: Este trabalho desenvolveu um novo conceito de dispositivo mecânico capaz de variar a taxa de compressão dos cilindros de um motor a combustão interna para estudar as possibilidades de novos projetos para a indústria automotiva e apresentar as possíveis melhorias atingidas com essa tecnologia. O modelo desenvolvido foi submetido a simulações computacionais para avaliar sua cinemática e dinâmica através das teorias de múltiplos corpos rígidos e da modelagem geométrica. Foi implementado um modelo simplificado robusto zero dimensional para tornar as análises mais simples utilizando os conceitos de termodinâmica envolvidos no motor. Foi considerado transferência de calor instantânea, processo de queima finita pela curva de Wiebe e os fluxos de massa envolvidos nos processos de admissão e exaustão dos cilindros. Não foram implementados os processos de dissociação e equilíbrio químico e um modelo que prevê detonação. Os resultados cinemáticos e dinâmicos foram validados em softwares comerciais de renome e apresentaram ótima semelhança. Os resultados termodinâmicos possibilitaram comprovar a eficácia da adoção da variação da taxa de compressão quando se necessita aumentar a eficiência térmica dos motores, melhorar os índices de consumo e desempenho. Os resultados permitiram também o desenvolvimento de novas curvas fundamentais para análises mais sofisticadas e calibrações mais específicas do motor / Abstract: This work developed a new concept of a mechanical device able to vary the compression ratio of an internal combustion engine cylinder to study the possibilities of new projects for the automotive industry and present the possible improvements achieved with this technology. The developed model was subjected to computer simulations to evaluate its kinematics and dynamics through the theories of multiple rigid bodies and geometric modeling. A robust zero dimensional simplified model to make simpler analysis using thermodynamic concepts involved in engines was implemented. Was considered instantaneous heat transfer, finite burning process by Wiebe curve and the mass flows involved in the admissions and exhaust process from the cylinders. The dissociation and chemical balance processes and a model that predicts knocking have not been implemented. The kinematic and dynamic results were validated in leading commercial software and showed excellent accuracy. The thermodynamic results allowed prove the efficacy of adopting varying the compression ratio when it needs to increase the thermal efficiency of the engine, improve the rates of consumption and performance. Results also enabled the development of new fundamental curves for more sophisticated analysis and more specific engine calibrations / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

A curva de rotação da Galáxia apresenta uma anomalia perto do raio da órbita solar R0, caracterizada pela presença de um mínimo. Existem trabalhos que, embora não façam uma afirmação categórica, interpretam o mínimo como sendo o resultado do decréscimo do efeito do disco, combinado com o aumento do efeito de um hipotético halo de matéria escura. A existência de tal interpretação reforça a importância de um estudo detalhado sobre sua natureza. No presente trabalho nós mapeamos a curva de rotação entre os raios galáticos 5 < R < 12 kpc usando diversas estrelas como traçadoras, por exemplo, Cefeidas, C-Miras, etc. Através de um método original realizamos o estudo cinemático para 322 Cefeidas. A partir desse estudo determinamos os melhores valores para os parâmetros da Galáxia, V0=202 +- 15 km/s e R0=7.5 +- 0.5 kpc. A melhor escolha possível para tais parâmetros é de fundamental importância, pois estes afetam a curva de rotação deduzida a partir de dados observacionais. Após determinarmos os valores de R0 e V0, analisamos as curvas de rotação obtidas por nós e vimos que elas apresentam um mínimo a uma distância de 1.5 +- 0.3 kpc de R0. O mínimo apresenta uma velocidade de 30 +- 10 km/s menor que a velocidade encontrada no raio galático igual a R0. Simulações computacionais mostraram que esse mínimo pode ser explicado por um déficit gaussiano na densidade superficial de matéria (gás + estrelas) do disco, com um decréscimo máximo de 30% do valor da densidade superficial total próxima a R0. Esse déficit pode ser explicado pelo efeito da co-rotação. / The Galaxy rotation curve shows an anomaly near the solar radius orbit R0, characterized by the presence of a minimum. There are works that implicitly interpret the minimum as the result of the decrease of the effect of the disk, combined with increasing of effect of a hypothetical dark matter halo. The existence of this interpretation reinforces the importance of a detailed study about its nature. In this work we obtained the rotation curve between Galactic radius, 5 < R < 12 kpc, using several stars as tracers, for instance, Cepheids, C-Miras, etc. Through a new method, we studied the kinematic of 322 Cepheids. From this study we determined the best values for the Galaxy parameters, V0=202 +- 15 km/s, and R0=7.5 +- 0.5 kpc. The best possible choice for such parameters is of fundamental importance since they affect the rotation curve inferred from observational data. After determining the values of R0, and V0, we analyzed the rotation curves obtained by us, and we saw that they have a minimum at a distance of 1.5 +- 0.3 kpc from R0. The minimum shows a velocity of 30 +- 10 km/s less than the velocity found at galactic radius R0. Computational simulations showed that this minimum can be explained by a Gaussian deficit of surface density of matter (gas + stars) of disk, with a maximum decrease of 30% of the value of surface density total arround R0. This deficit is explained by the effect of co-rotation.