Simulating the motion of a non-rigid body under external forces is a difficult problem because of the complexity and flexibility of the non-rigid geometry and its associated dynamics. Physically based animation of objects moving in the wind is computationally expensive, so simulation-based approaches oversimplify the model by ignoring important effects, such as tree's sheltering. Motion capture records actual responses of a non-rigid body to external forces and helps solve these problems. Mainly focusing on natural trees and ropes as instances of non-rigid bodies, we present a new approach to building motion for objects in wind using incomplete motion capture data from non-rigid bodies. The incomplete motion capture data are automatically labeled by a cluster-based algorithm while noises are removed. For places with no motion capture data, we estimate forces and motion by interpolating the motion capture data according to the object's characteristics. We discuss a physically or statistically based approach to animate the whole non-rigid object. Basing our work on the collected motion capture data and the estimated motions, we can produce visually plausible and scalable animations of non-rigid objects under external forces at interactive frame rates.

Este trabalho tem como objetivo apresentar, através da modelagem de uma planta gásquímica e da identificação das tecnologias disponíveis, a versatilidade do uso do gás natural como insumo para a indústria química, visando à produção de metanol, amônia e hidrogênio, a partir da fração metano, bem como na indústria petroquímica a obtenção do eteno através da fração etano. Baseado nas pesquisas de mercado, determinou-se que dentre os produtos a serem obtidos a partir do metano, o metanol é o que apresenta o cenário interno mais crítico. Esta situação é refletida através do contínuo aumento da importação, sem que haja nenhuma sinalização deste déficit ser sanado, através da construção de novas unidades industriais. Por outro lado, o cenário da amônia se mostra estável e, ainda que haja um déficit na produção nacional, a situação atual não se mostra tão crítica, mesmo quando realizada a projeção da demanda até 2030. Analisando-se o cenário petroquímico, em poucos anos a produção de eteno atingirá o seu gargalo, e o maior entrave diagnosticado, para a expansão das centrais produtoras, está relacionado à disponibilidade do insumo. Dentro da abordagem técnica proposta, a modelagem da planta gás-química aponta ser viável concentrar a produção de amônia, metanol e hidrogênio no mesmo pólo e que, para estes produtos, a tecnologia atual encontra-se madura e em estágio avançado. Já a produção de eteno, a partir do etano, não deve estar diretamente vinculada, a princípio, à obtenção dos demais produtos, pelo alto volume de gás natural necessário para liberar a fração de etano ideal para a sustentabilidade do projeto. / This work has as objective to present, through the modeling of a gas-chemical plant and also, through the identification of the current available technologies, the versatility of the use of natural gas as a raw material for the chemical industry, aiming the production of methanol, ammonia and hydrogen, from the fraction methane, as well as in the petrochemical industry, the attainment of ethene from the ethane fraction. Based in a market research, it was determined that amongst the products to be obtained from methane, methanol is the product that presents the most critical internal scenario. This situation is reflected through the continuous increase of the importation; without it there is no signaling that this deficit can be overcome, unless new industrials units are constructed. On the other hand, the ammonia scenario is steady and, despite presenting a deficit in the national production, the current situation does not reveal to very so critical, carried through the projection of the demand up to 2030. Analyzing the petrochemical scene, in a few years the ethene production will reach its pass and the biggest diagnosed impediment is related to the availability of the feedstock. Considering the technique proposal, the modeling of the gas-chemical plant shows the viability of concentrating the production of ammonia, methanol and hydrogen in the same site and that, for these products, the current technologies are mature and very well developed. Already the ethene production, from ethane, does not have to be directly entailed, in principle, to the attainment of the other products, considering the high volume of natural gas necessary to liberate the necessary amount of ethane for the sustainable of the project.

Este trabalho tem como objetivo apresentar, através da modelagem de uma planta gásquímica e da identificação das tecnologias disponíveis, a versatilidade do uso do gás natural como insumo para a indústria química, visando à produção de metanol, amônia e hidrogênio, a partir da fração metano, bem como na indústria petroquímica a obtenção do eteno através da fração etano. Baseado nas pesquisas de mercado, determinou-se que dentre os produtos a serem obtidos a partir do metano, o metanol é o que apresenta o cenário interno mais crítico. Esta situação é refletida através do contínuo aumento da importação, sem que haja nenhuma sinalização deste déficit ser sanado, através da construção de novas unidades industriais. Por outro lado, o cenário da amônia se mostra estável e, ainda que haja um déficit na produção nacional, a situação atual não se mostra tão crítica, mesmo quando realizada a projeção da demanda até 2030. Analisando-se o cenário petroquímico, em poucos anos a produção de eteno atingirá o seu gargalo, e o maior entrave diagnosticado, para a expansão das centrais produtoras, está relacionado à disponibilidade do insumo. Dentro da abordagem técnica proposta, a modelagem da planta gás-química aponta ser viável concentrar a produção de amônia, metanol e hidrogênio no mesmo pólo e que, para estes produtos, a tecnologia atual encontra-se madura e em estágio avançado. Já a produção de eteno, a partir do etano, não deve estar diretamente vinculada, a princípio, à obtenção dos demais produtos, pelo alto volume de gás natural necessário para liberar a fração de etano ideal para a sustentabilidade do projeto. / This work has as objective to present, through the modeling of a gas-chemical plant and also, through the identification of the current available technologies, the versatility of the use of natural gas as a raw material for the chemical industry, aiming the production of methanol, ammonia and hydrogen, from the fraction methane, as well as in the petrochemical industry, the attainment of ethene from the ethane fraction. Based in a market research, it was determined that amongst the products to be obtained from methane, methanol is the product that presents the most critical internal scenario. This situation is reflected through the continuous increase of the importation; without it there is no signaling that this deficit can be overcome, unless new industrials units are constructed. On the other hand, the ammonia scenario is steady and, despite presenting a deficit in the national production, the current situation does not reveal to very so critical, carried through the projection of the demand up to 2030. Analyzing the petrochemical scene, in a few years the ethene production will reach its pass and the biggest diagnosed impediment is related to the availability of the feedstock. Considering the technique proposal, the modeling of the gas-chemical plant shows the viability of concentrating the production of ammonia, methanol and hydrogen in the same site and that, for these products, the current technologies are mature and very well developed. Already the ethene production, from ethane, does not have to be directly entailed, in principle, to the attainment of the other products, considering the high volume of natural gas necessary to liberate the necessary amount of ethane for the sustainable of the project.

Les plantes sont des éléments essentiels du monde qui nous entoure. Ainsi, si l’on veut créer des environnements virtuels qui soient à la fois agréables et réalistes, un effort doit être fait pour modéliser les plantes. Malgré les immenses progrès en vision par ordinateur pour reconstruire des objets de plus en plus compliqués, les plantes restent difficiles à reconstruire à cause de la complexité de leur topologie. Cette thèse se divise en deux grandes parties. La première partie s’intéresse à la modélisation de plantes, biologiquement réalistes, à partir d’une seule image. Nous générons un modèle de plante respectant les contraintes biologiques de son espèce et tel que sa projection soit la plus fidèle possible à l’image. La première étape consiste à extraire de l’image le squelette de la plante. Dans la plupart de nos images, aucune branche n’est visible et les images peuvent être de qualité moyenne. Notre première contribution consiste en une méthode de squelettisation basée sur les champs de vecteurs. Le squelette est extrait suite à un partitionnement non déterministe du feuillage de l’image assurant son réalisme. Dans un deuxième temps, la plante est modélisée en 3D. Notre deuxième contribution est la création de modèles pour différents types de plantes, basée sur les L-systèmes. Puis, un processus d’analyse-par-synthèse permet de choisir le modèle 3D final : plusieurs propositions de squelette sont générées et un processus bayésien permet d’extraire le modèle maximisant le critère a posteriori. Le terme d’attache aux données (vraisemblance) mesure la similarité entre l’image et la reprojection du modèle, la probabilité a priori mesure le réalisme du modèle. Après avoir généré des modèles de plantes, des modèles de fruits doivent être créés. Ayant travaillé principalement sur les pieds de vigne, nous avons développé une méthode pour reconstruire une grappe de raisin à partir d’au moins deux vues. Chaque baie est assimilée à un ellipsoïde de révolution. La méthode obtenue peut être plus généralement adaptée à tout type de fruits assimilables à une quadrique de révolution. La seconde partie de cette thèse s’intéresse à la reconstruction de quadriques de révolution à partir d’une ou plusieurs vues. La reconstruction de quadriques et, en général, la reconstruction de surfaces 3D est un problème très ancien en vision par ordinateur qui a donné lieu à de nombreux travaux. Nous rappelons les notions nécessaires de géométrie projective des quadriques, et de vision par ordinateur puis, nous présentons un état de l’art sur les méthodes existantes sur la reconstruction de surfaces quadratiques. Nous détaillons un premier algorithme permettant de retrouver les images des foyers principaux d’une quadrique de révolution à partir d’une vue « calibrée », c’est-à-dire pour laquelle les paramètres intrinsèques de la caméra sont connus. Puis, nous détaillons comment utiliser ce résultat pour reconstruire, à partir d’un schéma de triangulation linéaire, tout type de quadriques de révolution à partir d’au moins deux vues. Enfin, nous montrons comment il est possible de retrouver la pose 3D d’une quadrique de révolution dont on connaît les paramètres à partir d’un seul contour occultant. Nous évaluons les performances de nos méthodes et montrons quelques applications possibles. / Plants are essential elements of our world. Thus, 3D plant models are necessary to create realistic virtual environments. Mature computer vision techniques allow the reconstruction of 3D objects from images. However, due to the complexity of the topology of plants, dedicated methods for generating 3D plant models must be devised. This thesis is divided into two parts. The first part focuses on the modeling of biologically realistic plants from a single image. We propose to generate a 3D model of a plant, using an analysis-by-synthesis method considering both a priori information of the plant species and a single image. First, a dedicated 2D skeletonisation algorithm generates possible branching structures from the foliage segmentation. Then, we built a 3D generative model based on a parametric model of branching systems taking into account botanical knowledge. The resulting skeleton follows the hierarchical organisation of natural branching structures. Varying parameter values of the generative model (main branching structure of the plant and foliage), we produce a series of candidate models. A Bayesian model optimizes a posterior criterion which is composed of a likelihood function which measures the similarity between the image and the reprojected 3D model and a prior probability measuring the realism of the model. After modeling plant models branching systems and foliage, we propose to model the fruits. As we mainly worked on vines, we propose a method for reconstructing a vine grape from at least two views. Each bay is considered to be an ellipsoid of revolution. The resulting method can be adapted to any type of fruits with a shape similar to a quadric of revolution. The second part of this thesis focuses on the reconstruction of quadrics of revolution from one or several views. Reconstruction of quadrics, and in general, 3D surface reconstruction is a very classical problem in computer vision. First, we recall the necessary background in projective geometry quadrics and computer vision and present existing methods for the reconstruction of quadrics or more generally quadratic surfaces. A first algorithm identifies the images of the principal foci of a quadric of revolution from a "calibrated" view (that is, the intrinsic parameters of the camera are given). Then we show how to use this result to reconstruct, from a linear triangulation scheme, any type of quadrics of revolution from at least two views. Finally, we show that we can derive the 3D pose of a given quadric of revolution from a single occluding contour. We evaluate the performance of our methods and show some possible applications.

Made available in DSpace on 2014-12-17T14:56:07Z (GMT). No. of bitstreams: 1 DanielGVF_DISSERT.pdf: 2881772 bytes, checksum: 5236953fb6bb70560393eeeaa01f96f9 (MD5) Previous issue date: 2012-08-31 / Conselho Nacional de Desenvolvimento Cient?fico e Tecnol?gico / The control, automation and optimization areas help to improve the processes used by industry. They contribute to a fast production line, improving the products quality and reducing the manufacturing costs. Didatic plants are good tools for research in these areas, providing a direct contact with some industrial equipaments. Given these capabilities, the main goal of this work is to model and control a didactic plant, which is a level and flow process control system with an industrial instrumentation. With a model it is possible to build a simulator for the plant that allows studies about its behaviour, without any of the real processes operational costs, like experiments with controllers. They can be tested several times before its application in a real process. Among the several types of controllers, it was used adaptive controllers, mainly the Direct Self-Tuning Regulators (DSTR) with Integral Action and the Gain Scheduling (GS). The DSTR was based on Pole-Placement design and use the Recursive Least Square to calculate the controller parameters. The characteristics of an adaptive system was very worth to guarantee a good performance when the controller was applied to the plant / As ?reas de controle, automa??o e otimiza??o contribuem para a melhoria dos processos utilizados pelas ind?strias, permitindo uma linha de produ??o r?pida, aprimorando a qualidade do produto final e reduzindo os custos de produ??o. Boas ferramentas para o desenvolvimento de pesquisas nestas ?reas s?o as plantas did?ticas, pois proporcionam um contato direto com equipamentos semelhantes ou at? mesmo usados no setor industrial. Em vista dessas capacidades, o objetivo deste trabalho ? modelar e controlar uma planta did?tica que consiste de um sistema de controle de processo para vaz?o e n?vel com instrumenta??o industrial. Com o modelo ? poss?vel construir um simulador capaz de permitir estudos a respeito do funcionamento do sistema, sem os gastos com a opera??o do processo real. ? o caso de experimentos com controladores, que podem ser testados diversas vezes antes de serem efetivamente utilizados no processo real. Dentre os diversos tipos de controladores existentes, foi dado foco aos de tipo adaptativo, principalmente ao auto-sintoniz?vel direto (Direct Self-Tuning Regulator DSTR) com a??o integral e ao controlador com Escalonamento de Ganho (Gain Scheduling GS). O controlador DSTR foi projetado com base no m?todo de posicionamento de p?los e teve seus par?metros calculados atrav?s da t?cnica dos m?nimos quadrados recursivos. As caracter?sticas dos sistemas adaptativos foram de grande valia para garantir um desempenho satisfat?rio dos controladores, quando aplicados ? planta

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