Objective and accurate surface measurements are important in many clinical disciplines. Non-irradiating and low cost alternatives are available but validation of these measurement tools for clinical application is variable and sparse. This thesis presents a three dimensional (3D) surface measurement method validated by gold standard Computed Tomography (CT). Forty-one 3D surface data sets were acquired by two modalities, a laser scanner and a binocular camera. The binocular camera was tested with three different texture modifiers that increased the colour variability of the imaged surface. A surface area calculation algorithm was created to process the data sets. Relative differences were calculated for each area measurement with respect to its corresponding CT measurement. The laser scanner data sets were affected by movement and specular reflection artefacts. The measurements were statistically equivalent to CT if less than 20% error were considered acceptable. The binocular camera with the slide projected texture modifier was shown to be statistically equivalent to CT gold standard with less than 5% error (p < 0.0005). The surface area measurement method can easily be expanded and customized. By following the protocol outlined by the example in this work, researchers and clinicians would also be able to objectively asses other vision systems' performance and suitability. / Thesis (Master, Computing) -- Queen's University, 2012-01-10 11:37:50.374

Automated construction progress tracking is becoming critical to efficient and effective construction management. More and more construction companies are putting aside the old way of tracking progress, which was mainly based on foremen daily reports and visual inspections, and are adopting 3D sensing technologies as a new and modern way of tracking progress. Technologies such as 3D laser scanners (LADARs) are investigated as a means to acquire comprehensive 3D point-cloud data which can then be studied by management to determine the progress of construction. Although being much more accurate and efficient than visual inspections, this new progress tracking approach can be improved by applying object recognition algorithms that enable an automated progress tracking. This new approach has been investigated by other researchers, but only for progress tracking of structural elements. This study focuses on mechanical objects such as pipes and ducts, which would give the progress tracking a better level of detail and a wider scope. The investigation is carried out on a field database acquired during the construction of the Engineering VI Building at the University of Waterloo. It was found that the laser scanning technology is a suitable method for acquiring point-clouds of pipes and ductwork, and also that the object recognition algorithm used in this study allows a progress tracking as well as a quality tracking of the HVAC system installation.

Made available in DSpace on 2014-06-12T23:15:06Z (GMT). No. of bitstreams: 1 license.txt: 1748 bytes, checksum: 8a4605be74aa9ea9d79846c1fba20a33 (MD5) Previous issue date: 2010 / Com o advento da varredura 3D a laser, é possível a geração de aquisição de dados tridimensionais em apenas alguns minutos, possibilitando um trabalho mais rápido e eficaz. O Laser Scanner Terrestre é uma nova tecnologia que não requer luminosidade para extrair seus dados, representados através de uma nuvem de pontos. A Fotogrametria utiliza fotografias para informações de seus dados, empregando uma técnica para extrair suas formas e dimensões. Já a Topografia faz uso do auxílio da trigonometria, tendo a Estação Total um instrumento com capacidade de armazenar e calcular os dados em coordenadas (X,Y,Z) para determinar a posição dos pontos observados em campo. Este trabalho buscou informações necessárias para uma comparação tridimensional entre esses métodos indiretos que não requerem contato com o objeto e o processo topográfico com a utilização de Estação Total e a Monorestituição apoiada com Laser Scanner Terrestre. O experimento da pesquisa foi efetivado no bloco de Meteorologia situado no campus da Universidade Federal do Paraná - UFPR, localizado na cidade de Curitiba, Brasil

Master thesis deals with the creation of the data visualization measured by 3D laser scanner using the Point Cloud method. Measured data were parameterized after loading for use in programming environment of Microsoft Visual Studio 2010 and in platform XNA. Individual data points forms the center of defined cubes which are displayed and create a scene where is possible to move through a user input in the form of a keyboard or mouse. Created algorithms were analyzed to determine the total running speed of the program, the individual as well as critical sections. The algorithms were optimized to a higher running speed of the program on the basis of analyzed data. Optimization was focused on the selection of retrieved data and on the method of their saving within the program environment. The next optimization process was based on the using of the other method for displaying of measured data points. Individual data points were displayed in form of square 2D texture replacing the cube. This square is rotating according to move of observer. Designed algorithm optimization leads to faster running of the program.

This paper describe design and implementation of SLAM algorithm for selflocalization and mapping in indoor environment using data from laser scanner. Design is focused on 2D variant of SLAM, but parts is purposely reliazed to be usable in 3D SLAM. This ability is demonstrated at the end of paper.

Despite the first unmanned aerial vehicle (UAV) mission being flown on Aug 22 1849 to bomb Venice UAVs have only recently began to modernize into sophisticated tools beyond simple aerial vehicles. With an increasing number of potential applications, such as cargo delivery, communications, search and rescue, law enforcement, and homeland security, the need for appropriate UAV technology advancement also arose. Here, the development of a low-cost collision avoidance system is described. Hardware was tested and selected based on predetermined constraints and goals. Additionally, a variety of potential functions were explored and assessed at their effectiveness in preventing a collision of a UAV with mountainous terrain. Simulations were conducted using Cloud Cap’s Piccolo autopilot in conjunction with Matlab. Based on these simulations, a set of potential functions was selected to be used with the chosen hardware on subsequent UAV-development-related projects.

The pipeline industry has conducted a vast amount of research on the subject of mechanical damage. Mechanical damage makes up a large portion of the total amount of pipeline failures that occur each year. The current methods rely on engineering judgment and experience rather than scientific theory. The method for the assessment of mechanical damage introduced in this study uses a material property called critical strain to predict the onset of cracking within the pipe wall. The critical strain is compared to the strain within a dent using a ductile failure damage indicator (DFDI). To investigate the use of the DFDI to indicate the onset of cracking within a dent, the study attempted to accomplish three tasks. The first was to investigate the use of various techniques to locate the critical strain from the stress-strain curve. Five samples taken from the pipe material was used to generate both engineering and true stress-strain curves. A sensitivity analysis was conducted to show the effects of different variables on the critical strain value. The DFDI compares the critical strain value to the calculated strain at the deepest depth location within a dent. The strain calculations use the curvature of the dent and thus require a dent profile. A high resolution laser scanner was used to extract dent profiles from a pipe. The second task of the study was to investigate the reliability of the laser scanner equipment used for this study. The results from the investigation showed that the laser scanner could be used to scan the inside of the pipe despite its design for external scanning. The results also showed that the scans should be 1 mm in length along the axis of the pipe at a resolution of 0.5 mm and 360 degrees around the pipe. The final task was to conduct the denting test. The test used a spherical indenter to dent the pipe at increments of 3% of the outside diameter. The results from the test showed that a visible crack did not form on the inside pipe surface as expected from the DFDI method. This does not mean a crack did not form. During the denting test distinct popping sounds were observed possibly indicating cracks forming within the pipe wall.

Made available in DSpace on 2015-03-13T17:08:38Z (GMT). No. of bitstreams: 1 VictorAS_DISSERT.pdf: 7384161 bytes, checksum: 52530e2ae828c1016d52cf0da52743d6 (MD5) Previous issue date: 2013-05-21 / In this paper we present the methodological procedures involved in the digital imaging in mesoscale of a block of travertines rock of quaternary age, originating from the city of Acquasanta, located in the Apennines, Italy. This rocky block, called T-Block, was stored in the courtyard of the Laborat?rio Experimental Petr?leo "Kelsen Valente" (LabPetro), of Universidade Estadual de Campinas (UNICAMP), so that from it were performed Scientific studies, mainly for research groups universities and research centers working in brazilian areas of reservoir characterization and 3D digital imaging. The purpose of this work is the development of a Model Solid Digital, from the use of non-invasive techniques of digital 3D imaging of internal and external surfaces of the T-Block. For the imaging of the external surfaces technology has been used LIDAR (Light Detection and Range) and the imaging surface Interior was done using Ground Penetrating Radar (GPR), moreover, profiles were obtained with a Gamma Ray Gamae-spect?metro laptop. The goal of 3D digital imaging involved the identification and parameterization of surface geological and sedimentary facies that could represent heterogeneities depositional mesoscale, based on study of a block rocky with dimensions of approximately 1.60 m x 1.60 m x 2.70 m. The data acquired by means of terrestrial laser scanner made available georeferenced spatial information of the surface of the block (X, Y, Z), and varying the intensity values of the return laser beam and high resolution RGB data (3 mm x 3 mm), total points acquired 28,505,106. This information was used as an aid in the interpretation of radargrams and are ready to be displayed in rooms virtual reality. With the GPR was obtained 15 profiles of 2.3 m and 2 3D grids, each with 24 sections horizontal of 1.3 and 14 m vertical sections of 2.3 m, both the Antenna 900 MHz to about 2600 MHz antenna. Finally, the use of GPR associated with Laser Scanner enabled the identification and 3D mapping of 3 different radarf?cies which were correlated with three sedimentary facies as had been defined at the outset. The 6 profiles showed gamma a low amplitude variation in the values of radioactivity. This is likely due to the fact of the sedimentary layers profiled have the same mineralogical composition, being composed by carbonate sediments, with no clay in siliciclastic pellitic layers or other mineral carrier elements radioactive / Nesse trabalho s?o apresentados os procedimentos metodol?gicos envolvidos no imageamento digital em mesoescala de um bloco de rochas travertinas de idade quatern?ria, oriundas da cidade de Acquasanta, situada na cordilheira dos Apeninos, na It?lia. Esse bloco rochoso, denominado de T-Block, foi armazenado no p?tio do Laborat?rio Experimental de Petr?leo "Kelsen Valente" (LabPetro), da Universidade Estadual de Campinas (UNICAMP) para que a partir dele fossem realizados estudos cient?ficos, principalmente para grupos de pesquisa das universidades e centros de pesquisa brasileiros que atuam nas ?reas de caracteriza??o de reservat?rio e imageamento digital 3D. A proposta deste trabalho consiste na elabora??o de um Modelo de S?lido Digital, a partir da utiliza??o de t?cnicas n?o-invasivas de imageamento digital 3D das superf?cies interna e externa do T-Block. Para o imageamento das superf?cies externas foi utilizada a tecnologia LIDAR (Light Detection and Range) e para o imageamento das superf?cies internas foi feita a utiliza??o do Ground Penetrating Radar (GPR), al?m disso, foram adquiridos perfis de Gamma Ray com um Gamaespect?metro port?til. O objetivo do imageamento digital 3D consistiu na identifica??o e parametriza??o de superf?cies geol?gicas e de f?cies sedimentares que pudessem representar heterogeneidades deposicionais em mesoescala, tomando como base de estudo um bloco rochoso com dimens?es de aproximadamente 1,60m x 1,60m x 2,70 m. Os dados adquiridos por meio do Laser Scanner terrestre disponibilizaram informa??es espaciais georreferenciadas da superf?cie do bloco (X, Y, Z), al?m de valores de varia??o de intensidade de retorno do raio laser e dados RGB com alta resolu??o (3 mm x 3 mm), totalizando 28.505.106 pontos adquiridos. Essas informa??es foram utilizadas como auxilio durante a interpreta??o dos radargramas e est?o prontas para ser exibidas em salas de realidade virtual. Com o GPR, foram adquiridos 15 perfis de 2,3 m e 2 grids 3D, cada um com 24 se??es horizontais de 1,3 m e 14 se??es verticais de 2,3 m, tanto com a antena de 900 MHz quanto com a antena de 2600 MHz. Por fim, o uso do GPR associado ao Laser Scanner possibilitou a identifica??o e mapeamento 3D de 3 radarf?cies distintas as quais foram correlacionadas a 3 f?cies sedimentares j? que j? haviam sido definidas no inicio do trabalho. Os 6 perfis de raios gama mostraram uma baixa varia??o na amplitude dos valores de radioatividade. Provavelmente, isso ocorreu devido ao fato das camadas sedimentares perfiladas possu?rem a mesma composi??o mineral?gica, sendo compostas por sedimentos carbon?ticos, com aus?ncia de argila silicicl?stica nas camadas mais pel?ticas ou de outro mineral portador de elementos radioativos

Existing residential and small commercial buildings now represent the greatest opportunity to improve building energy efficiency. Building energy simulation analysis is becoming increasingly important because the analysis results can assist the decision makers to make decisions on improving building energy efficiency and reducing environmental impacts. However, manually measuring as-is conditions of building envelops including geometry and thermal value is still a labor-intensive, costly, and slow process. Thus, the primary objective of this research was to automatically collect and extract the as-is geometry and thermal data of the building envelope components and create a gbXML-based building geometry model. In the proposed methodology, a rapid and low-cost data collection hardware system was designed by integrating 3D laser scanners and an infrared (IR) camera. Secondly, several algorithms were created to automatically recognize various components of building envelope as objects from collected raw data. The extracted 3D semantic geometric model was then automatically saved as an industry standard file format for data interoperability. The feasibility of the proposed method was validated through three case studies. The contributions of this research include 1) a customized low-cost hybrid data collection system development to fuse various data into a thermal point cloud; 2) an automatic method of extracting building envelope components and its geometry data to generate gbXML-based building geometry model. The broader impacts of this research are that it could offer a new way to collect as is building data without impeding occupants’ daily life, and provide an easier way for laypeople to understand the energy performance of their buildings via 3D thermal point cloud visualization.

The plants and animals that inhabit river channels may act as zoogeomorphic agents affecting the nature and rates of sediment recruitment, transport and deposition. The impact of benthic-feeding fish, which disturb bed material sediments during their search for food, has received little attention, even though benthic feeding species are widespread in rivers and may collectively expend significant amounts of energy foraging across the bed. A series of experiments were conducted to investigate the impacts of benthic feeding fish on the structure and composition of gravel-bed river sediments, and the implications for bed material transport. An ex-situ experiment was conducted to investigate the impact of a benthic feeding fish (European Barbel Barbus barbus) on particle displacements, bed sediment structures, gravel entrainment and transport fluxes. In a laboratory flume, changes in bed surface topography were measured and grain displacements examined when an imbricated, water-worked bed of 5.6-16 mm gravels was exposed to feeding juvenile Barbel. For substrates that had been exposed to feeding fish and control substrates which had not, grain entrainment rates and bedload fluxes were measured under a moderate transport regime. On average, approximately 37% of the substrate, by area, was modified by foraging fish during a four-hour treatment period, resulting in increased microtopographic roughness and reduced particle imbrication. Structural changes caused by fish increased bed load flux by 60% under entrainment flows, whilst on average the total number of grains transported during the entrainment phase was 82% higher from substrates that had been disturbed by Barbel. An ex-situ experiment utilising Barbel and Chub Leuciscus cephalus extended this initial study by considering the role of fish size and species as controls of sediment disturbance by foraging. Increasing the size of Barbel had a significant effect on measured disturbance and bedload transport. Specifically, the area of disturbed substrate, foraging depth, microtopographic roughness and sediment structure all increased as functions of fish size, as did bedload flux and total transported mass. In a comparison of the foraging effects of like-sized Barbel and Chub 8-10 in length, Barbel foraged a larger area of the riverbed and had a greater impact on microtopographic roughness and sediment structure. Foraging by both species was associated with increased sediment transport, but the bed load flux after foraging by Barbel was 150% higher than that following foraging by Chub and the total transported mass of sediment was 98% greater. An in-situ experiment quantified the effects of foraging fish, primarily Cyprinids (specifically Barbel and Chub), on gravel-river bed sediment structures, surface grain-size distributions, sediment transport fluxes and grain entrainment in the River Idle, Nottinghamshire, UK. This was achieved by installing large experimental sediment trays seeded with food at typical densities. The experiments yielded data about 1) topographic and structural differences between pre- and post-feeding substrates using DEMs interpolated from laser scans, 2) modifications to surface and sub-surface grain-size distributions as a function of fish foraging and 3) differences in sediment entrainment from water-worked substrates exposed to feeding fish and control substrates, without fish. Small sections of the substrate trays were recovered in tact from the field and for substrates that had been exposed to feeding fish and control substrates which had not, grain entrainment rates and bedload fluxes were measured under a moderate transport regime in the laboratory. On average, approximately 74% of the substrate, by area, was modified by foraging fish during a twelve-hour period, resulting in increased microtopographic roughness and substrate coarsening which had significant implications for bed material transport during the steady entrainment flow. Together, results from these experiments indicate that by increasing surface microtopography, modifying the composition of fluvial substrates and undoing the naturally stable structures produced by water working, foraging can influence sediment transport dynamics, predominately by increasing the mobility of river bed materials. The implication of this result is that by influencing the quantity of available, transportable sediment and entrainment thresholds, benthic feeding may affect sediment transport fluxes in gravel-bed rivers. In addition, three discrete studies were performed alongside the core experiments described above. A quantitative examination of habitat conditions favoured by feeding Barbel was conducted in the River Idle (Nottinghamshire, UK) which served to supplement existing literature pertaining to Barbel ecology, and inform experimental design during the core experiments. Two further studies considered the potential importance of foraging as a zoogeomorphic activity in terms of spatial extent, at a variety of scales, thereby extending core experiments to larger spatial scales in-situ.