The musculoskeletal disorders have significant health care, social and economic consequences in the factories nowadays. One of the most promising possible solutions is the use of exoskeletons in the workstations. Exoskeletons are assistive wearable robotics connected to the body of a person, which aims to give mechanical power or mobility to the user (Wang, Ikuma, Hondzinski, & de Queiroz, 2017). The objective of this project is to create a realistic CAD model of a passive exoskeleton which will be used in future research to analyse the behaviour of the workers in a virtual environment with and without the exoskeleton. This model will be a virtual representation of the exoskeleton EKSOVest which has been designed to support these workers who have to realize overhead tasks. This virtual representation will be carried out in PTC CREO and exported to IPS IMMA in order to check the viability of this model. To achieve a realistic model, the exoskeleton should have the same characteristics than the real exoskeleton. The objectives of this project will be defined for these characteristics, which are part creation, mechanisms, forces simulation, and parametrization. The parts and the mechanisms will be created and defined in PTC CREO with the same dimensions and behaviour as the real exoskeleton. Furthermore, this report will be focussed mainly in force simulation and the parametrization. The forces of the EKSOVest are generated by two different spring and by a high-pressure spring. To simulate these forces, the equation of these springs will be obtained and introduced in PTC CREO. These equations will be obtained through the regression of a set of points, which will be obtained from the real exoskeleton using a dynamometer. The parametrization will be carried out with the objective to make the virtual model adaptable for every type of mannequins. This parametrization will modify the length of the exoskeleton’s spine bar and the distance between the mechanical arms. These distances will be adapted according to the mannequin’s measures which will be introduced by the user. The measures that have to be introduced by the user are shoulder height, liac spine height, and chest width. In conclusion, it can be said that the regression of the springs obtained are an accurate result which can imitate quite well the forces of this exoskeleton. Furthermore, the results of the parametrization allow the exoskeleton adaptable to any type of dimensions that the mannequin could have. The final model obtained has been exported to IPS IMMA and implemented in a mannequin.

No description available.

La méthode de subdivision Catmull-Clark ainsi que la méthode de subdivision Loop sont des normes industrielle de facto. D'autre part, la méthode de subdivision 4-8 est bien adaptée à la subdivision adaptative, parce que cette méthode augmente le nombre de faces ou de sommets par seulement un facteur de 2 à chaque raffinement. Cela promet d'être plus pratique pour atteindre un niveau donné de précision. Dans ce mémoire, nous présenterons une méthode permettant de paramétrer des surfaces de subdivision de la méthode Catmull-Clark et de la méthode 4-8. Par conséquent, de nombreux algorithmes mis au point pour des surfaces paramétriques pourrant être appliqués aux surfaces de subdivision Catmull-Clark et aux surfaces de subdivision 4-8. En particulier, nous pouvons calculer des bornes garanties et réalistes sur les patches, un peu comme les bornes correspondantes données par Wu-Peters pour la méthode de subdivision Loop. / The Catmull-Clark and Loop methods are de facto industry standards. On the other hand, the 4-8 subdivision method is well suited for adaptive subdivision, because this method increases the number of faces or vertices by only a factor of 2 at each step. It is therefore more convenient when trying to achieve a given practical level of precision. In this thesis we will introduce a method to parametrize the subdivision surfaces of Catmull-Clark and 4-8 subdivision. As a consequence, many algorithms developed for parametric surfaces will be able to be applied to Catmull-Clark and 4-8 subdivision surfaces. In particular, we can produce bounds on surface patches which are both guaranteed and realistic, similar to the bounds given by Wu-Peters [24] for the Loop method

A aquisição experimental de sinais neuronais é um dos principais avanços da neurociência. Por meio de observações da corrente e do potencial elétricos em uma região cerebral, é possível entender os processos fisiológicos envolvidos na geração do potencial de ação, e produzir modelos matemáticos capazes de simular o comportamento de uma célula neuronal. Uma prática comum nesse tipo de experimento é obter leituras a partir de um arranjo de eletrodos posicionado em um meio compartilhado por diversos neurônios, o que resulta em uma mistura de sinais neuronais em uma mesma série temporal. Este trabalho propõe um modelo linear de tempo discreto para o sinal produzido durante o disparo do neurônio. Os coeficientes desse modelo são calculados utilizando-se amostras reais dos sinais neuronais obtidas in vivo. O processo de modelagem concebido emprega técnicas de identificação de sistemas e processamento de sinais, e é dissociado de considerações sobre o funcionamento biofísico da célula, fornecendo uma alternativa de baixa complexidade para a modelagem do disparo neuronal. Além disso, a representação por meio de sistemas lineares permite idealizar um sistema inverso, cuja função é recuperar o sinal original de cada neurônio ativo em uma mistura extracelular. Nesse contexto, são discutidas algumas soluções baseadas em filtros adaptativos para a simulação do sistema inverso, introduzindo uma nova abordagem para o problema de separação de spikes neuronais. / The experimental acquisition of neuronal signals is a major advance in neuroscience. Through observations of electric current and potential in a brain region, it is possible to understand the physiological processes involved in the action potential generation, and create mathematical models capable of simulating the behavior of the neuronal cell. A common practice in this kind of experiment is to obtain readings from an array of electrodes positioned in a medium shared by several neurons, which results in a mixture of neuronal signals in the same time series. This work proposes a discrete-time linear model of the neuronal signal during the firing of the cell. The coefficients of this model are estimated using real samples of the neuronal signals obtained in vivo. The conceived modeling process employs system identification and signal processing concepts, and is dissociated from any considerations about the biophysical function of the neuronal cell, providing a low-complexity alternative to model the neuronal spike. In addition, the use of a linear representation allows the idealization of an inverse system, whose main purpose is to recover the original signal of each active neuron in a given extracellular mixture. In this context, some solutions based on adaptive filters are discussed for the inverse model simulation, introducing a new approach to the problem of neuronal spike separation.

Le concept de radio logicielle (SDR) est une solution pertinente pour concevoir des équipements multi-standards. Une façon de réaliser de tels équipements est d'identifier les fonctions et opérateurs communs entre les standards. Cette approche s’appelle la paramétrisation et est divisée en deux catégories : l'approche pragmatique qui est une version pratique pour créer et développer des opérateurs communs à partir d’opérateurs existants, et l'approche théorique dont l’objectif est de réaliser une exploration graphique d’un équipement multi-standards selon différents niveaux de granularité, accompagnée d’un problème d'optimisation. C’est cette dernière approche qui a constitué le sujet de base de cette thèse. Ainsi, une fonction de coût doit être optimisée afin de sélectionner les opérateurs communs entre les différentes normes, ce qui permet de proposer une configuration optimale à partir de laquelle sont déduits les opérateurs communs. Dans notre travail, nous avons dans un premier temps modélisé théoriquement la structure graphique d’un système multi-standards par un hypergraphe orienté. En outre, nous avons fourni une expression mathématique alternative de la fonction de coût suggérée, en utilisant des définitions propres à la théorie des graphes. Ensuite, nous avons montré que le problème d'optimisation associé était un problème NP sous une certaine contrainte, ce qui a entraîné une preuve d'exclusion de certaines configurations dont les coûts ne peuvent être minimaux. Ceci a constitué la deuxième contribution de cette thèse. Enfin, nous avons proposé un nouvel algorithme permettant de résoudre le problème d'optimisation donné, et dont l'intérêt est de donner une solution optimale du problème au lieu d’une solution approchée fournie par les méthodes heuristiques classiques. Un programme associé à cet algorithme a été développé en langage C, puis appliqué à plusieurs exemples de cas génériques afin d’en étudier les performances. / The Software-Defined Radio (SDR) concept is emerging as a potential and efficient solution for designing flexible future-proof multi-standard systems. A way of realizing a multi-standard terminal is to identify the appropriate common functions and operators inside and between the standards. This is what's called the parametrization approach, which can be divided into two categories: the pragmatic approach which is a practical version to create and develop common operators, and the theoretical approach which represents a graphical exploration of the SDR multi-standard system at different levels of granularity accompanied with an optimization problem. It’s in this last approach where our thesis subject dwells. In this context, a suggested cost function (in previous work) has to be optimized in order to select the convenient common operators between the different standards, enabling to construct an optimal design. In our work, we theoretically model a previously proposed graph structure of an SDR multi-standard system as a directed hypergraph as well as provide an alternative mathematical formal expression of the suggested cost function, using various graph theoretical definitions and notations. Afterwards, we prove that the associated optimization problem is an NP-problem under a certain constraint, which entails a proof of exclusion of some particular design options when searching for a minimum cost design. This was the second contribution in this thesis before we finally present a new algorithm (which exploits various modelization aspects of directed hypergraphs) that can solve the optimization problem, whose interest is in it giving an exact-optimal solution to our problem instead of a near-optimal one provided by heuristics. A program code for this algorithm was developed in C-language, and then it was applied on several generic case examples in order to explore its performance skills.

This Ph.D. thesis specifically deals with the issue of metamorphosis of 3D objects represented as 3D triangular meshes. The objective is to elaborate a complete 3D mesh morphing methodology which ensures high quality transition sequences, smooth and gradual, consistent with respect to both geometry and topology, and visually pleasant. Our first contributions concern the two different approaches of parameterization: a new barycentric mapping algorithm based on the preservation of the mesh length ratios, and a spherical parameterization technique, exploiting a Gaussian curvature criterion. The experimental evaluation, carried out on 3D models of various shapes, demonstrated a considerably improvement in terms of mesh distortion for both methods. In order to align the features of the two input models, we have considered a warping technique based on the CTPS C2a radial basis function suitable to deform the models embeddings in the parametric domain maintaining a valid mapping through the entire movement process. We show how this technique has to be adapted in order to warp meshes specified in the parametric domains. A final contribution consists of a novel algorithm for constructing a pseudo-metamesh that avoids the complex process of edge intersections encountered in the state-of-the-art. The obtained mesh structure is characterized by a small number of vertices and it is able to approximate both the source and target shapes. The entire mesh morphing framework has been integrated in an interactive application that allows the user to control and visualize all the stages of the morphing process

La méthode de subdivision Catmull-Clark ainsi que la méthode de subdivision Loop sont des normes industrielle de facto. D'autre part, la méthode de subdivision 4-8 est bien adaptée à la subdivision adaptative, parce que cette méthode augmente le nombre de faces ou de sommets par seulement un facteur de 2 à chaque raffinement. Cela promet d'être plus pratique pour atteindre un niveau donné de précision. Dans ce mémoire, nous présenterons une méthode permettant de paramétrer des surfaces de subdivision de la méthode Catmull-Clark et de la méthode 4-8. Par conséquent, de nombreux algorithmes mis au point pour des surfaces paramétriques pourrant être appliqués aux surfaces de subdivision Catmull-Clark et aux surfaces de subdivision 4-8. En particulier, nous pouvons calculer des bornes garanties et réalistes sur les patches, un peu comme les bornes correspondantes données par Wu-Peters pour la méthode de subdivision Loop. / The Catmull-Clark and Loop methods are de facto industry standards. On the other hand, the 4-8 subdivision method is well suited for adaptive subdivision, because this method increases the number of faces or vertices by only a factor of 2 at each step. It is therefore more convenient when trying to achieve a given practical level of precision. In this thesis we will introduce a method to parametrize the subdivision surfaces of Catmull-Clark and 4-8 subdivision. As a consequence, many algorithms developed for parametric surfaces will be able to be applied to Catmull-Clark and 4-8 subdivision surfaces. In particular, we can produce bounds on surface patches which are both guaranteed and realistic, similar to the bounds given by Wu-Peters [24] for the Loop method

A aquisição experimental de sinais neuronais é um dos principais avanços da neurociência. Por meio de observações da corrente e do potencial elétricos em uma região cerebral, é possível entender os processos fisiológicos envolvidos na geração do potencial de ação, e produzir modelos matemáticos capazes de simular o comportamento de uma célula neuronal. Uma prática comum nesse tipo de experimento é obter leituras a partir de um arranjo de eletrodos posicionado em um meio compartilhado por diversos neurônios, o que resulta em uma mistura de sinais neuronais em uma mesma série temporal. Este trabalho propõe um modelo linear de tempo discreto para o sinal produzido durante o disparo do neurônio. Os coeficientes desse modelo são calculados utilizando-se amostras reais dos sinais neuronais obtidas in vivo. O processo de modelagem concebido emprega técnicas de identificação de sistemas e processamento de sinais, e é dissociado de considerações sobre o funcionamento biofísico da célula, fornecendo uma alternativa de baixa complexidade para a modelagem do disparo neuronal. Além disso, a representação por meio de sistemas lineares permite idealizar um sistema inverso, cuja função é recuperar o sinal original de cada neurônio ativo em uma mistura extracelular. Nesse contexto, são discutidas algumas soluções baseadas em filtros adaptativos para a simulação do sistema inverso, introduzindo uma nova abordagem para o problema de separação de spikes neuronais. / The experimental acquisition of neuronal signals is a major advance in neuroscience. Through observations of electric current and potential in a brain region, it is possible to understand the physiological processes involved in the action potential generation, and create mathematical models capable of simulating the behavior of the neuronal cell. A common practice in this kind of experiment is to obtain readings from an array of electrodes positioned in a medium shared by several neurons, which results in a mixture of neuronal signals in the same time series. This work proposes a discrete-time linear model of the neuronal signal during the firing of the cell. The coefficients of this model are estimated using real samples of the neuronal signals obtained in vivo. The conceived modeling process employs system identification and signal processing concepts, and is dissociated from any considerations about the biophysical function of the neuronal cell, providing a low-complexity alternative to model the neuronal spike. In addition, the use of a linear representation allows the idealization of an inverse system, whose main purpose is to recover the original signal of each active neuron in a given extracellular mixture. In this context, some solutions based on adaptive filters are discussed for the inverse model simulation, introducing a new approach to the problem of neuronal spike separation.

Orientadores: Gilberto de Martino Jannuzzi, Luiz Carlos Pereira da Silva / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-16T17:50:00Z (GMT). No. of bitstreams: 1 MoyaChaves_FranciscoDavid_D.pdf: 2595862 bytes, checksum: b7384c05596f9dc99d6f2e42bbbe231c (MD5) Previous issue date: 2009 / Resumo: Com a finalidade de constituir os princípios para um futuro marco regulatório no Brasil, que contemple a participação da geração distribuída para o fornecimento de serviços ancilares, este trabalho apresenta uma análise desenvolvida em três grandes áreas assim: técnica, econômica e regulatória. Como objetivo específico do projeto, realiza-se uma analise da utilização da GD para o fornecimento de reservas de potência ativa e suporte de reativos. Para atingir os objetivos dessa pesquisa, o trabalho e realizado em três seções complementares. A primeira parte á uma análise técnica, feita mediante a simulação de sistemas elétricos em regime permanente utilizando a analise de fluxos de carga. Apresentam-se algumas das vantagens e limitações técnicas no uso da GD no fornecimento de potencia ativa e reativa. Apresenta-se também, o estudo sobre o fornecimento de reservas operativas com GD, propondo-se uma metodologia para estabelecer o nível máximo de GD que pode ser instalado sem causar impactos negativos sobre a rede. Apresenta-se o desempenho da GD e seus impactos em situações de entrega de reservas operativas, simulando casos diante de possíveis desligamentos de geradores centralizados. Listam-se diversas tecnologias que podem ser utilizadas em aplicações de GD fornecendo serviços ancilares. A segunda seção é uma análise econômica, na qual, e apresentado o despacho adequado de geradores centralizados e descentralizados, realizada mediante a simulação de cenários de sistemas elétricos com fluxos de carga ótimos. Também e feita uma quantificação da contribuição da GD no fornecimento de suporte de reativos. A análise regulatória lista os aspectos a serem considerados num marco regulatório que permita o fornecimento de serviços ancilares através da GD para o futuro mercado de eletricidade no Brasil. Este trabalho, conseqüentemente, conceitua a GD; especifica suas aplicações; evidencia as suas vantagens; lista os segmentos potencialmente geradores e os principais agentes operantes da GD; aponta as tecnologias ora disponíveis e aquelas em processo de desenvolvimento; mostra, generalizadamente, os aspectos legais e institucionais vigentes que influenciam a GD; detalha as principais barreiras a sua inserção como uma alternativa complementar, no fornecimento de servicos ancilares tão necessários nos sistemas elétricos / Abstract: In order to set the principles for a future regulatory framework in Brazil which involves the participation of distributed generation (DG) to provide ancillary services; this work presents an analysis developed in three broad areas, technical, economic and regulatory. A specific objective of the project is to make an analysis of the use of the DG for the supply of active power reserves and reactive support. To achieve the objectives of this research it is necessary to develop three additional sections. The first part is a technical analysis done through the simulation of electrical systems on a permanent regime that uses the analysis of power flows. There are some advantages and technical limitations in the use of DG for the supply of active and reactive power. This part also presents the study on the provision of operating reserves with DG, and proposes a methodology to establish the level of DG, which can be installed without causing negative impacts on the network. In addition to this, this section shows the performance of DG and its impact in case of delivery of operating reserves, simulating some cases before possible disconnections of centralized generators. Finally, it lists different technologies that can be used in applications of DG provided with ancillary services. The second section is an economic analysis which is presented in the appropriate order that centralized and decentralized generators are made by the simulation of scenarios in electrical systems with optimal power flows. It is a quantification of the contribution of DG in the provision of reactive support. The analysis lists the regulatory aspects to be considered in a regulatory framework that enables the provision of ancillary services through the DG for the future market of electricity in Brazil. This work, therefore, conceptualizes a DG; specifies its applications highlighting their advantages, listing segments and potentially generating the key players involved in DG; outlines the technologies now available and those in the development process; shows generally, the legal and institutional force affecting DG; details the key barriers to their inclusion as an additional alternative in the provision of ancillary services as needed in the electrical systems / Doutorado / Engenharia Mecanica / Doutor em Planejamento de Sistemas Energéticos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / In the present study, the implementation and parameterization of the dispersion correction functions, denominated DM1 and DM2, was carried out to the quantum semiempirical methods RM1 and PM6, in the program Mopac2007. The aim of this study is to improve the description of weak interactions by the methods above mentioned with the addition of na energy correction. The DM1 methodology contains 7 parameters while the DM2 model presents 13 parameters for the correction function. Unlike previous work, the correction was used to adjust not only the energy, but also the geometric parameters. The parameterization was performed using a training set composed by 10 structures from S22 database and 24 structures from S66 database. The results show that RM1-DM1 and RM1- DM2 improved the total response function when compared to RM1, the RM1- DM1 is better at describing the geometries of the complexes on the other hand, the RM1-DM2 is more efficient in reproducing the dispersion energy. The PM6- DM1 and PM6-DM2 methods, for the test set, had a smaller response function than PM7 and PM6 and their extensions with correction of dispersion forces. The best response function for PM6-DM1 and PM6-DM2 is related to the description of the geometries of the complexes, with the dispersion energy being slightly higher than that obtained by the PM6-DH2 method. The semiempirical methods discussed here, together with the theory of density functional, with the most popular B3LYP functional, were used to calculate the geometry of cyclodextrin/guest complexes. The results obtained, with semiempirical methods, showed that AM1, PM3, PM6-DM1 and PM6-DM2 presented the lowest values of RMSD and variability for a set of 43 cyclodextrins. The DFT methodology was used to calculate the geometry of a set of 9 cyclodextrins/guest complexes, the result was compared to semiempirical methods. The best DFT result was obtained with the 6-31G base, it is similar to obtained by the RM1 method. For this set, the methods AM1, PM6-DM1 and PM6-DM2 presented the best results in the description of the geometries. / No presente estudo foi realizada a implementação e parametrização das funções de correção de dispersão, denominadas DM1 e DM2, aos métodos semiempíricos quânticos RM1 e PM6, no programa Mopac2007. O estudo tem o como finalidade melhorar a descrição de interações fracas pelos métodos supracitados com a adição de uma correção de energia. A metodologia DM1 contém 7 parâmetros enquanto, o modelo DM2 apresenta 13 parâmetros para a função de correção. Diferente de trabalhos anteriores a correção foi usada para ajustar, não somente, a energia, mas também parâmetros geométricos. A parametrização foi executada usando um conjunto treinamento que usa 10 estruturas do banco de dados S22 e 24 estruturas do banco de dados S66. Os parâmetros obtidos através do conjunto treinamento foram aplicados ao conjunto teste, o qual é formado pelas 54 estruturas que não fizeram parte do conjunto treinamento. Os resultados mostram que RM1-DM1 e RM1-DM2 melhoraram a função resposta total quando comparado ao RM1, sendo o RM1-DM1 melhor em descrever as geometrias dos complexos e RM1-DM2 mais eficiente em reproduzir a energia de dispersão. Os métodos PM6-DM1 e PM6-DM2 para o conjunto teste apresentaram uma função resposta menor do que o PM7 e PM6 e suas extensões com correção das forças de dispersão. A melhor função resposta para PM6-DM1 e PM6-DM2 está relacionada a descrição das geometrias dos complexos, sendo a energia de dispersão um pouco maior do que a obtida pelo método PM6-DH2. Os métodos semiempíricos, aqui abordados, junto com a teoria do funcional da densidade, com o funcional mais popular B3LYP, foram usados para calcular a geometria de complexos ciclodextrina/convidado. Os resultados obtidos com os métodos semiempíricos mostraram que os métodos AM1, PM3, PM6-DM1 e PM6-DM2 apresentam os menores valores de RMSD e variabilidade para um conjunto de 43 ciclodextrinas. A metodologia DFT foi usada para calcular a geometria para um conjunto de 9 complexos ciclodextrinas/convidado, o resultado foi comparado aos métodos semiempíricos. O melhor resultado DFT foi obtido com a base 6-31G, esse é semelhante ao obtido pelo método RM1. Para esse conjunto os métodos AM1, PM6-DM1 e PM6-DM2 apresentaram os melhores resultados na descrição das geometrias. / São Cristóvão, SE