Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

Estudio de las diferentes alternativas para mejorar la respuesta de los filtros BAW (Bulk Acoustic Wave) con topología en escalera

Los requisitos de los dispositivos empleados en los nuevos sistemas de telecomunicaciones son: unas avanzadas prestaciones, reducido tamaño y bajo coste. Actualmente, se utilizan filtros basados en la tecnología SAW para trabajar a frecuencias de microondas. Dado los inconvenientes que presentan dicho tipo de filtros, se pretende substituirlos por filtros basados en tecnología BAW. La topología en escalera es hasta el momento la más extendida para diseñar estos filtros.

Development of advanced silicon radiation detectors for high energy physics and medical imaging

The 1st chapter of this work presents the different experiments and collaborations in which I am involved during my PhD studies of Physics. Following those descriptions, the 2nd chapter is dedicated to how the radiation affects the silicon sensors, as well as some experimental measurements carried out at CERN (Geneve, Schwitzerland) and IFIC (Valencia, Spain) laboratories. Besides the previous investigation results, this chapter includes the most recent scientific papers appeared in the latest RD50 (Research & Development #50) Status Report, published in January 2007, as well as some others published this year. The 3rd and 4th are dedicated to the simulation of the electrical behavior of solid state detectors. In chapter 3 are reported the results obtained for the illumination of edgeless detectors irradiated at different fluences, in the framework of the TOSTER Collaboration. The 4th chapter reports about simulation design, simulation and fabrication of a novel 3D detector developed at CNM for ions detection in the future ITER fusion reactor. This chapter will be extended with irradiation simulations and experimental measurements in my PhD Thesis.

Could cell membranes produce acoustic streaming? Making the case for synechococcus self-propulsion

Sir James Lighthill proposed in 1992 that acoustic streaming occurs in the inner ear, as part of the cochlear amplifier mechanism. Here we hypothesize that some of the most ancient organisms use acoustic streaming not only for self-propulsion but also to enhance their nutrient uptake. We focus on a motile strain of Synechococcus, a yanobacteria whose mechanism for self-propulsion is not known. Molecular motors could work like piezoelectric transducers acting on the crystalline structure surrounding the outer cell membrane. Our calculations show that a traveling surface acoustic wave (SAW)could account for the observed velocities. These SAW waves will also produce a non-negligible Stokes layer surrounding the cell: motion within this region being essentially chaotic. Therefore, an AS mechanism would be biologically advantageous, enhancing localized diffusion processes and consequently, chemical reactions. We believe that acoustic streaming, produced by nanometer scale membrane vibrations could be widespread in cell biology. Other possible instances are yeast cells and erythrocytes. Flows generated by acoustic streaming may also be produced by silica coated diatoms along their raphe. We note that microelectromechanical (MEMS) acoustic streaming devices were first introduced in the 1990’s. Nature may have preceded this invention by 2.7 Gyr.

Diseño de filtros Bulk Acoustic Wave con topología en escalera de altas prestaciones

Degut als avenços als dispositius de telecomunicacions durant l’última dècada, els filtres integrats en aquests dispositius requereixen de millors prestacions, baix cost i, per sobre de tot, requereixen unes dimensions el més reduïdes possibles. Tot i que avui dia encara s’utilitzen el filtres SAW en aquests dispositius, cada cop més s’estan substituint pels filtres amb tecnologia BAW, ja que tenen millors prestacions. En l’actualitat la topologia BAW més extensa i utilitzada és la topologia en escala. En aquest projecte s’ha portat a terme un estudi en profunditat de les limitacions dels filtres en escala. A partir de les limitacions detectades s’ha presentat una nova estructura de disseny per aquest tipus de filtres que redueix les dimensions d’aquests i millora considerablement algunes de les limitacions de l’estructura convencional. Paral·lelament s’ha desenvolupat una metodologia sistemàtica pròpia pel disseny de la nova estructura.

Acute Damage to the Posterior Limb of the Internal Capsule on Diffusion Tensor Tractography as an Early Imaging Predictor of Motor Outcome after Stroke

Background and Purpose Early prediction of motor outcome is of interest in stroke management. We aimed to determine whether lesion location at DTT is predictive of motor outcome after acute stroke and whether this information improves the predictive accuracy of the clinical scores. Methods We evaluated 60 consecutive patients within 12 hours of MCA stroke onset. We used DTT to evaluate CST involvement in the MC and PMC, CS, CR, and PLIC and in combinations of these regions at admission, at day 3, and at day 30. Severity of limb weakness was assessed using the m-NIHSS (5a, 5b, 6a, 6b). We calculated volumes of infarct and FA values in the CST of the pons. Results Acute damage to the PLIC was the best predictor associated with poor motor outcome, axonal damage, and clinical severity at admission (P&.001). There was no significant correlation between acute infarct volume and motor outcome at day 90 (P=.176, r=0.485). The sensitivity, specificity, and positive and negative predictive values of acute CST involvement at the level of the PLIC for 4 motor outcome at day 90 were 73.7%, 100%, 100%, and 89.1%, respectively. In the acute stage, DTT predicted motor outcome at day 90 better than the clinical scores (R2=75.50, F=80.09, P&.001). Conclusions In the acute setting, DTT is promising for stroke mapping to predict motor outcome. Acute CST damage at the level of the PLIC is a significant predictor of unfavorable motor outcome.

Solitary Fibrous Tumor. Imaging findings in a series of nine cases

Es presenta un estudi retrospectiu descrivint les característiques radiològiques en una sèrie de nou casos de tumor fibrós solitari que affecta partes toves. Aquests resultats es comparen amb els resultats d’anatomia patològica i amb l’evolució clínica dels pacients

Research development of terahertz imaging systems

The electromagnetic radiation at a terahertz frequencies (from 0.1 THz to 10 THz) is situated in the frequency band comprised between the optical band and the radio band. The interest of the scientific community in this frequency band has grown up due to its large capabilities to develop innovative imaging systems. The terahertz waves are able to generate extremely short pulses that achieve good spatial resolution, good penetration capabilities and allow to identify microscopic structures using spectral analysis. The work carried out during the period of the grant has been based on the developement of system working at the aforementioned frequency band. The main system is based on a total power radiometer working at 0.1 THz to perform security imaging. Moreover, the development of this system has been useful to gain knowledge in the behavior of the component systems at this frequency band. Moreover, a vectorial network analyzer has been used to characterize materials and perform active raster imaging. A materials measurement system has been designed and used to measure material properties as permittivity, losses and water concentration. Finally, the design of a terahertz time-domain spectrometer (THz-TDS) system has been started. This system will allow to perform tomographic measurement with very high penetration resolutions while allowing the spectral characterization of the sample material. The application range of this kind of system is very wide: from the identification of cancerous tissues of a skin to the characterization of the thickness of a painted surface of a car.

On the way to solve lighting problems in underwater imaging

A major obstacle to processing images of the ocean floor comes from the absorption and scattering effects of the light in the aquatic environment. Due to the absorption of the natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion, and, as the vehicle moves, induce shadows in the scene. For this reason, the first step towards application of standard computer vision techniques to underwater imaging requires dealing first with these lighting problems. This paper analyses and compares existing methodologies to deal with low-contrast, nonuniform illumination in underwater image sequences. The reviewed techniques include: (i) study of the illumination-reflectance model, (ii) local histogram equalization, (iii) homomorphic filtering, and, (iv) subtraction of the illumination field. Several experiments on real data have been conducted to compare the different approaches

Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar

In dam inspection tasks, an underwater robot has to grab images while surveying the wall meanwhile maintaining a certain distance and relative orientation. This paper proposes the use of an MSIS (mechanically scanned imaging sonar) for relative positioning of a robot with respect to the wall. An imaging sonar gathers polar image scans from which depth images (range & bearing) are generated. Depth scans are first processed to extract a line corresponding to the wall (with the Hough transform), which is then tracked by means of an EKF (Extended Kalman Filter) using a static motion model and an implicit measurement equation associating the sensed points to the candidate line. The line estimate is referenced to the robot fixed frame and represented in polar coordinates (rho&thetas) which directly corresponds to the actual distance and relative orientation of the robot with respect to the wall. The proposed system has been tested in simulation as well as in water tank conditions

Avenços en l'estudi de la litiasi renal: mètodes de chemical imaging i intel·ligencia artificial (ANN) per la caracterització de càlculs renals

La litiasi urinària és un trastorn que implica la formació de precipitats en qualsevol part del tracte urinari. Aquest és un desordre comú que afecta aproximadament a una desena part de la població de la Unió Europea al llarg de la seva vida. A més, durant els cinc anys posteriors a un episodi litiàsic el percentatge de recurrència dels pacients és del 45 al 75%. Aquest trastorn urinari està influït per una gran quantitat de variables, d’origen fisiològic, psicològic i ambiental. Els episodis litiàsics, es poden solucionar espontàniament, amb l’expulsió del càlcul renal, o bé a través de diverses intervencions mèdiques. Els tractaments mèdics derivats de la litiasi urinària; és a dir, la fragmentació del càlcul, intervencions quirúrgiques i tractaments posteriors generen unes grans despeses als sistemes mèdics. Pels motius exposats, la identificació del desordre que ha originat l’episodi litiàsic és de radical importància, per tal de minimitzar el risc de reincidència. Els mètodes més usuals per determinar les causes que desencadenen la formació del càlcul renal són les anàlisis d’orina i l’estudi del càlcul generat. La correcta descripció de la composició i, especialment, l’estructura del càlcul renal pot aportar informació clau sobre les possibles causes de la seva formació, tant de l’inici de nucleació del càlcul com de les successives etapes de creixement cristal·lí. Tenint en compte aquest darrer aspecte, el present estudi s’ha dirigit a la caracterització de càlculs urinaris mitjançant l’aplicació de metodologies d’imatge química (Hyperspectral Imaging), el que va contribuir a determinar les principals característiques espectrals de cada compost majoritari als càlculs renals. D’altra banda, la utilització de mostres de composició coneguda ha possibilitat la creació d’un model amb Xarxes Neuronals Artificials, que permet la classificació de noves mostres de composició desconeguda, de manera més ràpida que el procediment actual. Aquest treball constitueix una nova contribució a la comprensió de l’estructura de les pedres de ronyó, així com les condicions de la seva formació. Els resultats obtinguts destaquen les possibilitats que presenten les tècniques emprades al camp de la litiasi renal, que permeten complementar els coneixements existents enfocats a millorar la qualitat de vida dels pacients.

SLAM using an Imaging Sonar for Partially Structured Underwater Environments

In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach

Underwater SLAM in a marina environment

This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas or marine platforms. A mechanical scanning imaging sonar is used to obtain information about the location of planar structures present in such environments. A modified version of the Hough transform has been developed to extract line features, together with their uncertainty, from the continuous sonar dataflow. The information obtained is incorporated into a feature-based SLAM algorithm running an Extended Kalman Filter (EKF). Simultaneously, the AUV's position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach

Acoustic properties of polypropylene composites reinforced with stone groundwood

Currently, acoustic isolation is one of the problems raised with building construction in Spain. The publication of the Basic Document for the protection against noise of the Technical Building Code has increased the demand of comfort for citizens. This has created the need to seek new composite materials that meet the new required acoustical building codes. In this paper we report the results of the newly developed composites that are able to improve the acoustic isolation of airborne noise. These composites were prepared from polypropylene (PP) reinforced with mechanical pulp fibers from softwood (Pinus radiata). Mechanical and acoustical properties of the composites from mechanical pulp (MP) and polypropylene (PP) have been investigated and compared to fiberglass (FG) composites. MP composites had lower tensile properties compared with FG composites, although these properties can be improved by incorporation of a coupling agent. The results of acoustical properties of MP composites were reported and compared with the conventional composites based on fiberglass and gypsum plasterboards. Finally, we suggest the application of MP composites as a light-weight building material to reduce acoustic transmitions