Marcos de Sales Guerra Tsuzuki

Autonomous system for oil pipelines inspection

Abstract Maintenance of oil pipelines is an issue of great concern for oil companies. Any possibility of leakage must be detected before the leakage occurs and a preventive action should be taken in order to avoid losses of oil and ecological disasters. One of the main causes of oil pipelines leakage is the corrosion of the bottom part of the pipeline due to accumulation of water and other corrosive substances. One of the methods used to check the conditions of the oil pipelines is the running of a data acquisition device through all the length of the pipeline (that can be km) to gather information about the corrosion and its position inside the pipeline. This device is commonly referred to as pig. The Brazilian oil company, PETROBRAS, wanting to have the technology of such device to detect corrosion in their oil pipelines proposed to the Department of Mechanical Engineering of the Escola Politecnica da Universidade de Sao Paulo a joint project to the development of a pig that could run uninterruptedly in long oil pipelines gathering corrosion data for the preventive maintenance of their oil pipelines. The result of the project was the development of an ultrasonic pig with 16 ultrasonic transducers with on-board energy system and acquisition and storage systems. Also, comprised in the presented solution was the development of a software to analyze the collected data and give the position of the corrosion spots along the pipeline. This paper presents in detail the implementation and design issues related to the development of the ultrasonic pig. Also, some experimental data will be shown as confirmation of the effectiveness of the developed system.

Simulated annealing with adaptive neighborhood: A case study in off-line robot path planning

Simulated annealing (SA) is an optimization technique that can process cost functions with degrees of nonlinearities, discontinuities and stochasticity. It can process arbitrary boundary conditions and constraints imposed on these cost functions. The SA technique is applied to the problem of robot path planning. Three situations are considered here: the path is represented as a polyline; as a Bezier curve; and as a spline interpolated curve. In the proposed SA algorithm, the sensitivity of each continuous parameter is evaluated at each iteration increasing the number of accepted solutions. The sensitivity of each parameter is associated to its probability distribution in the definition of the next candidate.

Image Reconstruction Using Interval Simulated Annealing in Electrical Impedance Tomography

Electrical impedance tomography (EIT) is an imaging technique that attempts to reconstruct the impedance distribution inside an object from the impedance between electrodes placed on the object surface. The EIT reconstruction problem can be approached as a nonlinear nonconvex optimization problem in which one tries to maximize the matching between a simulated impedance problem and the observed data. This nonlinear optimization problem is often ill-posed, and not very suited to methods that evaluate derivatives of the objective function. It may be approached by simulated annealing (SA), but at a large computational cost due to the expensive evaluation process of the objective function, which involves a full simulation of the impedance problem at each iteration. A variation of SA is proposed in which the objective function is evaluated only partially, while ensuring boundaries on the behavior of the modified algorithm.

An algorithm for the strip packing problem using collision free region and exact fitting placement

The irregular shape packing problem is approached. The container has a fixed width and an open dimension to be minimized. The proposed algorithm constructively creates the solution using an ordered list of items and a placement heuristic. Simulated annealing is the adopted metaheuristic to solve the optimization problem. A two-level algorithm is used to minimize the open dimension of the container. To ensure feasible layouts, the concept of collision free region is used. A collision free region represents all possible translations for an item to be placed and may be degenerated. For a moving item, the proposed placement heuristic detects the presence of exact fits (when the item is fully constrained by its surroundings) and exact slides (when the item position is constrained in all but one direction). The relevance of these positions is analyzed and a new placement heuristic is proposed. Computational comparisons on benchmark problems show that the proposed algorithm generated highly competitive solutions. Moreover, our algorithm updated some best known results.

Animated solid model of the lung constructed from unsynchronized MR sequential images

This work discusses a 4D lung reconstruction method from unsynchronized MR sequential images. The lung, differently from the heart, does not have its own muscles, turning impossible to see its real movements. The visualization of the lung in motion is an actual topic of research in medicine. CT (Computerized Tomography) can obtain spatio-temporal images of the heart by synchronizing with electrocardiographic waves. The FOV of the heart is small when compared to the lungs FOV. The lungs movement is not periodic and is susceptible to variations in the degree of respiration. Compared to CT, MR (Magnetic Resonance) imaging involves longer acquisition times and it is not possible to obtain instantaneous 3D images of the lung. For each slice, only one temporal sequence of 2D images can be obtained. However, methods using MR are preferable because they do not involve radiation. In this paper, based on unsynchronized MR images of the lung an animated B-Rep solid model of the lung is created. The 3D animation represents the lungs motion associated to one selected sequence of MR images. The proposed method can be divided in two parts. First, the lungs silhouettes moving in time are extracted by detecting the presence of a respiratory pattern on 2D spatio-temporal MR images. This approach enables us to determine the lungs silhouette for every frame, even on frames with obscure edges. The sequence of extracted lungs silhouettes are unsynchronized sagittal and coronal silhouettes. Using our algorithm it is possible to reconstruct a 3D lung starting from a silhouette of any type (coronal or sagittal) selected from any instant in time. A wire-frame model of the lung is created by composing coronal and sagittal planar silhouettes representing cross-sections. The silhouette composition is severely underconstrained. Many wire-frame models can be created from the observed sequences of silhouettes in time. Finally, a B-Rep solid model is created using a meshing algorithm. Using the B-Rep solid model the volume in time for the right and left lungs were calculated. It was possible to recognize several characteristics of the 3D real right and left lungs in the shaded model.

Integrated lung field segmentation of injured region with anatomical structure analysis by failure-recovery algorithm from chest CT images

Abstract This work proposes a functionality for computerized tomography (CT) based investigation of diffuse lung diseases diagnosis that enables the evaluation of the disease from lung anatomical structures. Automated methods for segmenting several anatomy structures in chest CT are proposed: namely the lobe lungs, airway tree and pulmonary vessel tree. The airway and pulmonary vessel trees are segmented using a failure tracking and recovery algorithm. The algorithm checks intermediary results consistence, backtrack to a history position if a failure is detected. The quality of the result is improved while reducing the processing time even for subjects with lung diseases. The pulmonary vessels are segmented through the same algorithm with different seed points. The seed for the airway tree segmentation is within the tracheal tube, and the seed for the pulmonary vessels segmentation is within the heart. The algorithm is tested with CT images acquired from four distinct types of subjects: healthy, idiopathic interstitial pneumonias (IIPs), usual interstitial pneumonia (UIP) and chronic obstructive pulmonary disease (COPD). The main bronchi are found in the segmented airway and the associated lung lobes are determined. Combining the segmented lung lobes and the diffuse lung diseases classification, it is possible to quantify how much and where each lobe is injured. The results were compared with a conventional 3D region growing algorithm and commercial systems. Several results were compared to medical doctor evaluations: inter-lobe fissure, percentage of lung lobe that is injured and lung and lobe volumes. The algorithm proposed was evaluated to be robust enough to segment the cases studied.

Registration of temporal sequences of coronal and sagittal MR images through respiratory patterns

Abstract This work discusses the determination of the breathing patterns in time sequence of images obtained from magnetic resonance (MR) and their use in the temporal registration of coronal and sagittal images. The registration is made without the use of any triggering information and any special gas to enhance the contrast. The temporal sequences of images are acquired in free breathing. The real movement of the lung has never been seen directly, as it is totally dependent on its surrounding muscles and collapses without them. The visualization of the lung in motion is an actual topic of research in medicine. The lung movement is not periodic and it is susceptible to variations in the degree of respiration. Compared to computerized tomography (CT), MR imaging involves longer acquisition times and it is preferable because it does not involve radiation. As coronal and sagittal sequences of images are orthogonal to each other, their intersection corresponds to a segment in the three-dimensional space. The registration is based on the analysis of this intersection segment. A time sequence of this intersection segment can be stacked, defining a two-dimension spatio-temporal (2DST) image. The algorithm proposed in this work can detect asynchronous movements of the internal lung structures and lung surrounding organs. It is assumed that the diaphragmatic movement is the principal movement and all the lung structures move almost synchronously. The synchronization is performed through a pattern named respiratory function. This pattern is obtained by processing a 2DST image. An interval Hough transform algorithm searches for synchronized movements with the respiratory function. A greedy active contour algorithm adjusts small discrepancies originated by asynchronous movements in the respiratory patterns. The output is a set of respiratory patterns. Finally, the composition of coronal and sagittal image pairs that are in the same breathing phase is realized by comparing of respiratory patterns originated from diaphragmatic and upper boundary surfaces. When available, the respiratory patterns associated to lung internal structures are also used. The results of the proposed method are compared with the pixel-by-pixel comparison method. The proposed method increases the number of registered pairs representing composed images and allows an easy check of the breathing phase.

SIMULATED ANNEALING APPLIED TO THE ROTATIONAL POLYGON PACKING

Abstract This work deals with the problem of minimize the waste of space that occurs on a placement of a set of bi-dimensional polygons inside a bi-dimensional container. This problem is approached with an heuristic based on Simulated Annealing, which is inspired on the physic-chemical process that take place during the recrystallization of a metal. Traditional “external penalization” techniques are avoided through the application of the Minkowski sum algorithm, that represents collision-free areas for the set of polygons. That gives to the proposed process a more universal character, as external penalization are based on empiric parameters of great influence on the optimization performance. The proposed process is suited for non-convex polygons and containers, and can be easily adapted for related problems, such as container size minimization.

Electrical impedance tomography reconstruction through Simulated Annealing with incomplete evaluation of the objective function

The EIT reconstruction problem is approached as an optimization problem where the difference between a simulated impedance domain and the observed one is minimized. This optimization problem is often solved by Simulated Annealing (SA), but at a large computational cost due to the expensive evaluation process of the objective function. We propose here, a variation of SA applied to EIT where the objective function is evaluated only partially, while ensuring upper boundaries on the deviation on the behavior of the modified SA. The reconstruction method is evaluated with simulated and experimental data.

Converting CSG models into meshed B-Rep models using euler operators and propagation based marching cubes

The purpose of this work is to define a new algorithm for converting a CSG representation into a B-Rep representation. Usually this conversion is done determining the union, intersection or difference from two B-Rep represented solids. Due to the lack of explicit representation of surface boundaries, CSG models must be converted into B-Rep solid models when a description based on polygonal mesh is required. A potential solution is to convert a CSG model into a voxel based volume representation and then construct a B-Rep solid model. This method is called CSG voxelization, conceptually it is a set membership classification problem with respect to the CSG object for all sampling points in a volume space. Marching cubes algorithms create a simple mesh that is enough for visualization purposes. However, when engineering processes are involved, a solid model is necessary. A solid ensures that all triangles in the mesh are consistently oriented and define a closed surface. It is proposed in this work an algorithm for converting CSG models into triangulated solid models through propagation based marching cubes algorithm. Three main new concepts are used in the algorithm: open boundary, B-Rep/CSG Voxelization mapping and constructive triangulation of active cells. The triangles supplied by the marching cubes algorithm need not be coherently oriented; the algorithm itself finds the correct orientation for the supplied triangles. The proposed algorithm restricts the exploration to the space occupied by the solids boundary. Differently from normal marching cubes algorithms that explore the complete sampled space. Keywords : solid model, marching cubes algorithm, triangular meshes