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

Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

Surface registration from range image fusion

The registration of full 3-D models is an important task in computer vision. Range finders only reconstruct a partial view of the object. Many authors have proposed several techniques to register 3D surfaces from multiple views in which there are basically two aspects to consider. First, poor registration in which some sort of correspondences are established. Second, accurate registration in order to obtain a better solution. A survey of the most common techniques is presented and includes experimental results of some of them

Un estudi de casos sobre l'avaluació del resultat de l'aprenentatge a l'E.S.O.: una base per a la reflexió i la formació del professorat

This study is built up on the need to enhance the thinking over the decisions taken and the performances carried out by teachers and students in secondary education with regard to the evaluation of the learning result. The problem lies in that the information and - or - the results gathered from the evaluation practices do not always entail a serious consideration of these data. Hence the lack of a systematic modification of the educational practices. In this study a range of self-questioning tools are proposed in order to enhance ¡the teachers and students' ability to think about this topic as well as their ability to evaluate themselves. The proceeding has been the following: a) the issues that generate conflict have been identified according to the dimensions and categories of this research; b) a model to build the tools has been elaborated; c) finally, questions have been constructed for each one of the conflicts previously specified. This has been done bearing in mind the theoretical framework that has been chosen to carry out this research. The mechanism that is proposed here is formed by five tools for the teachers and one for the students. Each tool consists of a) the definition of the problem; b) the goal of the tool, and c) the three levels of consideration. In the first level, general questions are put forward in order to be discussed either individually or in a group. The goal of this activity is to gain consciousness of the key issues in order to solve the problems. In the second level, a more structured guide is proposed. Its goal is to direct the practice of the reflection of the issues that generate a conflict. Finally, in the third level, a method is proposed to increase the reflection and the viewpoints of this reflection, like written documents, web pages, specific references, experiences, and opinions about the topic.