Algorithms for on-line image registration from multiple views

Images of a scene, static or dynamic, are generally acquired at different epochs from different viewpoints. They potentially gather information about the whole scene and its relative motion with respect to the acquisition device. Data from different (in the spatial or temporal domain) visual sources can be fused together to provide a unique consistent representation of the whole scene, even recovering the third dimension, permitting a more complete understanding of the scene content. Moreover, the pose of the acquisition device can be achieved by estimating the relative motion parameters linking different views, thus providing localization information for automatic guidance purposes. Image registration is based on the use of pattern recognition techniques to match among corresponding parts of different views of the acquired scene. Depending on hypotheses or prior information about the sensor model, the motion model and/or the scene model, this information can be used to estimate global or local geometrical mapping functions between different images or different parts of them. These mapping functions contain relative motion parameters between the scene and the sensor(s) and can be used to integrate accordingly informations coming from the different sources to build a wider or even augmented representation of the scene. Accordingly, for their scene reconstruction and pose estimation capabilities, nowadays image registration techniques from multiple views are increasingly stirring up the interest of the scientific and industrial community. Depending on the applicative domain, accuracy, robustness, and computational payload of the algorithms represent important issues to be addressed and generally a trade-off among them has to be reached. Moreover, on-line performance is desirable in order to guarantee the direct interaction of the vision device with human actors or control systems. This thesis follows a general research approach to cope with these issues, almost independently from the scene content, under the constraint of rigid motions. This approach has been motivated by the portability to very different domains as a very desirable property to achieve. A general image registration approach suitable for on-line applications has been devised and assessed through two challenging case studies in different applicative domains. The first case study regards scene reconstruction through on-line mosaicing of optical microscopy cell images acquired with non automated equipment, while moving manually the microscope holder. By registering the images the field of view of the microscope can be widened, preserving the resolution while reconstructing the whole cell culture and permitting the microscopist to interactively explore the cell culture. In the second case study, the registration of terrestrial satellite images acquired by a camera integral with the satellite is utilized to estimate its three-dimensional orientation from visual data, for automatic guidance purposes. Critical aspects of these applications are emphasized and the choices adopted are motivated accordingly. Results are discussed in view of promising future developments.

Analisi d'immagine, patologia quantitativa e dimensione frattale in patologia veterinaria: Densita' e forme

Fino dagli albori della metodica scientifica, l’osservazione e la vista hanno giocato un ruolo fondamentale. La patologia è una scienza visiva, dove le forme, i colori, le interfacce e le architetture di organi, tessuti, cellule e componenti cellulari guidano l’occhio del patologo e ne indirizzano la scelta diagnostico-classificativa. L’osservazione del preparato istologico in microscopia ottica si attua mediante l’esame e la caratterizzazione di anomalie ad ingrandimenti progressivamente crescenti, a diverse scale spaziali, che partono dalla valutazione dell’assetto architettonico sovracellulare, per poi spostarsi ad investigare e descrivere le cellule e le peculiarità citomorfologiche delle stesse. A differenza di altri esami di laboratorio che sono pienamente quantificabili, l’analisi istologica è intrinsecamente soggettiva, e quindi incline ad un alto grado di variabilità nei risultati prodotti da differenti patologi. L’analisi d’immagine, l’estrazione da un’immagine digitale di contenuti utili, rappresenta una metodica oggettiva, valida e robusta ormai largamente impiegata a completamento del lavoro del patologo. Si sottolinea come l’analisi d’immagine possa essere vista come fase descrittiva quantitativa di preparati macroscopici e microscopici che poi viene seguita da una interpretazione. Nuovamente si sottolinea come questi descrittori siano oggettivi, ripetibili e riproducibili, e non soggetti a bassa concordanza inter operatore. La presente tesi si snoda attraverso un percorso concettuale orientato ad applicazioni di analisi d’immagine e patologia quantitativa che parte dalle applicazioni più elementari (densità, misure lineari), per arrivare a nozioni più avanzate, quali lo studio di complessità delle forme mediante l’analisi frattale e la quantificazione del pattern spaziale di strutture sovracellulari.

Sviluppo e caratterizzazione microstrutturale e meccanica di leghe innovative di magnesio

Le attività di ricerca svolte nel corso del dottorato di ricerca, sono state focalizzate principalmente sullo studio dell’evoluzione microstrutturale, delle proprietà meccaniche e tribologiche di una particolare lega da fonderia, EV31A, con alte percentuali di terre rare (Nd e Gd > 4% in peso). Le analisi microstrutturali sono state eseguite tramite microscopia ottica (OM), elettronica in scansione (SEM) ed elettronica in trasmissione (TEM), mentre le proprietà meccaniche sono state determinate attraverso prove di trazione e prove di fatica a flessione rotante. Al fine di incrementare le proprietà tribologiche delle leghe di magnesio è stata valutata l’efficacia del trattamento PEO sia sulla lega EV31A, sia sulle più comuni leghe AZ80 e AZ91D, effettuando test tribologici in modalità pattino su cilindro (Block on Ring). Infine è stato condotto uno studio sull’efficacia del trattamento di fusione superficiale laser (LSM), analizzandone gli effetti sia sull’evoluzione microstrutturale, sia sulle proprietà meccaniche e sulla resistenza a corrosione. Le attività svolte nel corso del dottorato di ricerca sono state svolte presso il Dipartimento di Ingegneria Industriale DIN della Scuola di Ingegneria e Architettura dell’Università di Bologna sotto la supervisione della Prof. ssa Lorella Ceschini.

Coupling instrumentation and methodology in the search for traces of life on the early Earth and Mars

Evaluating the nature of the earliest, often controversial, traces of life in the geological record (dating to the Palaeoarchaean, up to ~3.5 billion years before the present) is of fundamental relevance for placing constraints on the potential that life emerged on Mars at approximately the same time (the Noachian period). In their earliest histories, the two planets shared many palaeoenvironmental similarities, before the surface of Mars rapidly became inhospitable to life as we know it. Multi-scalar, multi-modal analyses of fossiliferous rocks from the Barberton greenstone belt of South Africa and the East Pilbara terrane of Western Australia are a window onto primitive prokaryotic ecoystems. Complementary petrographic, morphological, (bio)geochemical and nanostructural analyses of chert horizons and the carbonaceous material within using a wide range of techniques – including optical microscopy, SEM-EDS, Raman spectroscopy, PIXE, µCT, laser ablation ICP-MS, high-resolution TEM-based analytical techniques and secondary ion mass spectrometry – can characterise, at scales from macroscopic to nanoscopic, the fossilised biomes of the earliest Earth. These approaches enable the definition of the palaeoenvironments, and potentially metabolic networks, preserved in ancient rocks. Modifying these protocols is necessary for Martian exploration using rovers, since the range and power of space instrumentation is significantly reduced relative to terrestrial laboratories. Understanding the crucial observations possible using highly complementary rover-based payloads is therefore critical in scientific protocols aiming to detect traces of life on Mars.

Assessment of a best practise approach for the attribution and authentication of paintings

The ever-growing interest in scientific techniques, able to characterise the materials and rediscover the steps behind the execution of a painting, makes them widely accepted in its investigation. This research discusses issues emerging from attribution and authentication studies and proposes best practise for the characterisation of materials and techniques, favouring the contextualisation of the results in an integrated approach; the work aims to systematically classify paintings in categories that aid the examination of objects. A first grouping of paintings is based on the information initially available on them, identifying four categories. A focus of this study is the examination of case studies, spanning from the 16th to the 20th century, to evaluate and validate different protocols associated to each category, to show problems arising from paintings and explain advantages and limits of the approach. The research methodology incorporates a combined set of scientific techniques (non-invasive, such as technical imaging and XRF, micro-invasive, such as optical microscopy, SEM-EDS, FTIR, Raman microscopy and in one case radiocarbon dating) to answer the questions and, if necessary for the classification, exhaustively characterise the materials of the paintings, as the creation and contribution of shared technical databases related to various artists and their evolution over time is an objective tool that benefits this kind of study. The reliability of a close collaboration among different professionals is an essential aspect of this research to comprehensively study a painting, as the integration of stylistic, documentary and provenance studies corroborates the scientific findings and helps in the successful contextualisation of the results and the reconstruction of the history of the object.

Exploring New Material and Analytical Method for Characterization and Conservation of Artifacts

In this dissertation, we focus on developing new green bio-based gel systems and evaluating both the cleaning efficiency and the release of residues on the treated surface, different micro or no destructive techniques, such as optical microscopy, TGA, FTIR spectroscopy, HS-SPME and micro-Spatially Offset Raman spectroscopy (micro-SORS) were tested, proposing advanced analytical protocols. In the first part, a ternary PHB-DMC/BD gel system composed by biodiesel, dimethyl carbonate and poly-3 hydroxybutyrate was developed for cleaning of wax-based coatings applied on indoor bronze. The evaluation of the cleaning efficacy of the gel was carried out on a standard bronze sample which covered a layer of beeswax by restores of Opificio delle Pietre Dure in Florence, and a real case precious indoor bronze sculpture Pulpito della Passione attributed to Donatello. Results obtained by FTIR analysis showed an efficient removal of the wax coating. In the second part, two new kinds of combined gels based on electrospun tissues (PVA and nylon) and PHB-GVL gel were developed for removal of dammar varnish from painting. The electrospun tissue combined gels exhibited good mechanical property, and showed good efficient in cleaning over normal gel. In the third part, green deep eutectic solvent which consists urea and choline chloride was proposed to produce the rigid gel with agar for the removal of proteinaceous coating from oil painting. Rabbit glue and whole egg decorated oil painting mock-ups were selected for evaluating its cleaning efficiency, results obtained by ATR analysis showed the DES-agar gel has good cleaning performance. Furthermore, we proposed micro-SORS as a valuable alternative non-destructive method to explore the DES diffusion on painting mock-up. As a result, the micro-SORS was successful applied for monitoring the liquid diffusion behavior in painting sub-layer, providing a great and useful instrument for noninvasive residues detection in the conservation field.

Study of materials and interphases for electrochemical energy storage from renewable sources

Batteries should be refined depending on their application for a future in which the sustainable energy demand increases. On the one hand, it is fundamental to improve their safety, prevent failures, increase energy density, and reduce production costs. On the other hand, new battery materials and architecture are required to satisfy the growing demand. This thesis explores different electrochemical energy storage systems and new methodologies to investigate complex and dynamic processes. Lithium-ion batteries are described in all their cell components. In these systems, this thesis investigates negative electrodes. Both the development of new sustainable materials and new in situ electrode characterization methods were explored. One strategy to achieve high-energy systems is employing lithium metal anodes. In this framework, ammonium hexafluorophosphate is demonstrated to be a suitable additive for stabilizing the interphase and preventing uncontrolled dendritic deposition. Deposition/stripping cycles, electrochemical impedance spectroscopy, in situ optical microscopy, and operando confocal Raman spectroscopy have been used to study lithium metal-electrolyte interphase in the presence of the additive. Redox Flow Batteries (RFBs) are proposed as a sustainable alternative for stationary applications. An all-copper aqueous RFB (CuRFB) has been studied in all its aspects. For the electrolyte optimization, spectro-electrochemical tests in diluted solution have been used to get information on the electrolyte’s electrochemical behaviour with different copper complexes distributions. In concentrated solutions, the effects of copper-to-ligand ratios, the concentration, and the counter-ion of the complexing agent were evaluated. Electrode thermal treatment was optimized, finding a compromise between the electrochemical performance and the carbon footprint. On the membrane side, a new method for permeability studies was designed using scanning electrochemical microscopy (SECM). The Cu(II) permeability of several membranes was tested, obtaining direct visualization of Cu(II) concentration in space. Also, two spectrophotometric approaches were designed for SoC monitoring systems for negative and positive half-cells.