Measurement of wide frequency range structural microvibrations with a pocket digital camera and sub-pixel techniques

Analysis of vibrations and displacements is a hot topic in structural engineering. Although there is a wide variety of methods for vibration analysis, direct measurement of displacements in the mid and high frequency range is not well solved and accurate devices tend to be very expensive. Low-cost systems can be achieved by applying adequate image processing algorithms. In this paper, we propose the use of a commercial pocket digital camera, which is able to register more than 420 frames per second (fps) at low resolution, for accurate measuring of small vibrations and displacements. The method is based on tracking elliptical targets with sub-pixel accuracy. Our proposal is demonstrated at a 10 m distance with a spatial resolution of 0.15 mm. A practical application over a simple structure is given, and the main parameters of an attenuated movement of a steel column after an impulsive impact are determined with a spatial accuracy of 4 µm.

Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

Radon gas. Environmental concentration measures and remediation actions in exposed buildings

The main contribution to the radiological impact from natural radiation received by general population is due to the emission of radon (222Rn). The objective of this project is the study of radon gas as a radioactive element in our buildings (existing and future constructions) to avoid its influence in interior rooms. The proposed methodology reflects different aspects of natural radioactivity in buildings, their sources, their control criteria and regulatory framework; aspects related to the presence of radon in our constructions, entryways, measurement methodology for indoor environmental concentration are studied; other protection solutions and remediation measures in both existing buildings and new construction projects are analyzed. In conclusion, the paper presents previous evaluation tools, the analysis of existing concentration and the choice of the most appropriate mitigation / remediation measures depending on each case, through the establishment of different architectural proposals to plan actions against radon where necessary.