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

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

Least Limiting Water Range and Load Bearing Capacity of Soil under Types of Tractor-Trailers for Mechanical Harvesting of Green Sugarcane

ABSTRACT The expansion of the sugarcane industry in Brazil has intensified the mechanization of agriculture and caused effects on the soil physical quality. The purpose of this study was to evaluate the limiting water range and soil bearing capacity of a Latossolo Vermelho distroférrico típico (Rhodic Hapludox) under the influence of different tractor-trailers used in mechanical sugarcane harvesting. The experiment was arranged in a randomized block design with five replications. The treatments consisted of green sugarcane harvesting with: harvester without trailer (T1); harvester with two trailers with a capacity of 10 Mg each (T2); harvester with trailer with a capacity of 20 Mg (T3) and harvester and truck with trailer with a capacity of 20 Mg (10 Mg per compartment) (T4). The least limiting water range and soil bearing capacity were evaluated. The transport equipment to remove the harvested sugarcane from the field (trailer) at harvest decreased the least limiting water range, reducing the structural soil quality. The truck trailer caused the greatest impact on the soil physical properties studied. The soil load bearing capacity was unaffected by the treatments, since the pressure of the harvester (T1) exceeded the pre-consolidation pressure of the soil.

The characteristics of six species of living hollow-bearing trees and their importance for arboreal marsupials in the dry sclerophyll forests of southeast Queensland, Australia

Six species of trees located in the dry sclerophyll forests of southeast Queensland were studied to ascertain which was most suitable to be retained as hollow-bearing trees for nesting and denning by arboreal marsupials. Generally for all tree species, the number of entrances to hollows was positively correlated with the diameter at breast height (DBH) and the growth stage, and entrance diameters also increased in trees with a larger DBH. However, there were differences between the species; Corymbia citriodora had few hollows until the individuals were very large while Eucalyptus crebra had low numbers of hollows throughout its entire size range. It was concluded that a mixture of tree species provided a range of hollow sizes and positions that would be suitable for nesting and denning by arboreal marsupials in those forests. There were large differences between tree species in the relationship between tree size and estimated age. Five of the tree species took between 186 and 230 years to begin to produce hollows while E. crebra took up to 324 years. This suggests that tree species other than E. crebra may be the most preferred for retention in areas where hollow-bearing tree densities are lower than the prescribed level. Other data also suggests there are likely to be enough trees in larger size classes that would begin to form hollows within the next 50 years to compensate for an expected loss of hollow-bearing stags during that same period. In terms of forest operation, the retention of six hollow-bearing trees/ha would represent an estimated loss of 7.3-15% wood production. (C) 2003 Elsevier Science B.V. All rights reserved.

Ambulatory gait analysis results after total knee arthroplasty : arguments for mobile or fixed bearing?

Background: Mobile-bearing knee replacements have some theoretical advantages over fixed-bearing devices. However, very few randomized controlled clinical trials have been published to date, and studies showed little clinical and subjective advantages for the mobile-bearing using traditional systems of scoring. The choice of the ideal outcome measure to assess total joint replacement remains a complex issue. However, gait analysis provides objective and quantifying evidences of treatment evaluation. Significant methodological advances are currently made in gait analysis laboratories and ambulatory gait devices are now available. The goal of this study was to provide gait parameters as a new objective method to assess total knee arthroplasty outcome between patients with fixed- and mobile-bearing, using an ambulatory device with minimal sensor configuration. Methods: This randomized controlled double-blind study included to date 31 patients: the gait signatures of 12 patients with mobile-bearing were compared to the gait signatures of 19 patients with fixed-bearing pre-operatively and post-operatively at 6 weeks, 3 months and 6 months. Each participant was asked to perform two walking trials of 30m long at his/her preferred speed and to complete a EQ-5D questionnaire, a WOMAC and Knee Society Score (KSS). Lower limbs rotations were measured by four miniature angular rate sensors mounted respectively, on each shank and thigh. Results: Better relative differences between pre-operative and post-operative 3 months and 6 months KSS (122% vs 34% at 3 months, 138% vs 36% at 6 months) and KSS function (154% vs 8% at 3 months, 183% vs 42% at 6 months) scores were observed for the fixed-bearing compared to the mobile-bearing. The same better improvements for fixed-bearing were also found with the range of knee angles (Affected side: 31% vs -5% at 3 months, 47% vs 5% at 6 months), (Unaffected side: 16% vs 5% at 3 months, 15% vs 6% at 6 months) and peak swing speeds of shank (Affected side: 18% vs -2% at 3 months, 30% vs 4% at 6 months), (Unaffected side: 8% vs -3% at 3 months, 7% vs 4% at 6 months). Conclusions: A new method for a portable system for gait analysis has been developed with very encouraging results regarding the objective outcome of total knee arthroplasty using mobile- and fixed-bearings.

The effect of femoral component rotation on the five-year outcome of cemented mobile bearing total knee arthroplasty.

PURPOSE: Performing total knee replacement, accurate alignment and neutral rotation of the femoral component are widely believed to be crucial for the ultimate success. Contrary to absolute bone referenced alignment, using a ligament balancing technique does not automatically rotate the femoral component parallel to the transepicondylar axis. In this context we established the hypothesis that rotational alignment of the femoral component parallel to the transepicondylar axis (0° ± 3°) results in better outcome than alignment outside of this range. METHODS: We analysed 204 primary cemented mobile bearing total knee replacements five years postoperatively. Femoral component rotation was measured on axial radiographs using the condylar twist angle (CTA). Knee society score, range of motion as well as subjective rating documented outcome. RESULTS: In 96 knees the femoral component rotation was within the range 0 ± 3° (neutral rotation group), and in 108 knees the five-year postoperative rotational alignment of the femoral component was outside of this range (outlier group). Postoperative CTA showed a mean of 2.8° (±3.4°) internal rotation (IR) with a range between 6° external rotation (ER) and 15° IR (CI 95). No difference with regard to subjective and objective outcome could be detected. CONCLUSION: The present work shows that there is a large given natural variability in optimal rotational orientation, in this study between 6° ER and 15° IR, with numerous co-factors determining correct positioning of the femoral component. Further studies substantiating pre- and postoperative determinants are required to complete the understanding of resulting biomechanics in primary TKA.

A randomised controlled clinical trial and gait analysis of fixed- and mobile-bearing total knee replacements with a five-year follow-up.

This study compared the outcome of total knee replacement (TKR) in adult patients with fixed- and mobile-bearing prostheses during the first post-operative year and at five years' follow-up, using gait parameters as a new objective measure. This double-blind randomised controlled clinical trial included 55 patients with mobile-bearing (n = 26) and fixed-bearing (n = 29) prostheses of the same design, evaluated pre-operatively and post-operatively at six weeks, three months, six months, one year and five years. Each participant undertook two walking trials of 30 m and completed the EuroQol questionnaire, Western Ontario and McMaster Universities osteoarthritis index, Knee Society score, and visual analogue scales for pain and stiffness. Gait analysis was performed using five miniature angular rate sensors mounted on the trunk (sacrum), each thigh and calf. The study population was divided into two groups according to age (≤ 70 years versus > 70 years). Improvements in most gait parameters at five years' follow-up were greater for fixed-bearing TKRs in older patients (> 70 years), and greater for mobile-bearing TKRs in younger patients (≤ 70 years). These findings should be confirmed by an extended age controlled study, as the ideal choice of prosthesis might depend on the age of the patient at the time of surgery.

Synthesis of resorcinolic lipids bearing structural similarities to cytosporone A

Inspired by the structure and biological activities of resorcinolic lipids and, particularly cytosporone A- a potent inhibitor of plantule germination and growth, we have performed the synthesis of the analogs 3-heptyl-3-hydroxy-5,7-dimethoxy-2-benzofuran-1(3H)-one (1) and 3-heptyl-3-hydroxy-4,6-dimethoxy-2-benzofuran-1(3H)-one (2). The intermediates and products were submitted to allelopathic test using Lactuca sativa L. seeds. Target compound 1 showed an inhibitory effect on germination and growth of hypocotyl and radicle in milimolar range.

Michelson interferometer with porch swing bearing for portable FTIR spectrometer

The interferometer for low resolution portable Fourier Transform middle infrared spectrometer was developed and studied experimentally. The final aim was a concept for a commercial prototype. Because of the portability, the interferometer should be compact sized and insensitive to the external temperature variations and mechanical vibrations. To minimise the size and manufacturing costs, Michelson interferometer based on plane mirrors and porch swing bearing was selected and no dynamic alignment system was applied. The driving motor was a linear voice coil actuator to avoid mechanical contact of the moving parts. The driving capability for low mirror driving velocities required by the photoacoustic detectors was studied. In total, four versions of such an interferometer were built and experimentally studied. The thermal stability during the external temperature variations and the alignment stability over the mirror travel were measured using the modulation depth of the wide diameter laser beam. Method for estimating the mirror tilt angle from the modulation depth was developed to take account the effect from the non-uniform intensity distribution of the laser beam. The spectrometer stability was finally studied also using the infrared radiation. The latest interferometer was assembled for the middle infrared spectrometer with spectral range from 750 cm−1 to 4500 cm−1. The interferometer size was (197 × 95 × 79) mm3 with the beam diameter of 25 mm. The alignment stability as the change of the tilt angle over the mirror travel of 3 mm was 5 μrad, which decreases the modulation depth only about 0.7 percent in infrared at 3000 cm−1. During the temperature raise, the modulation depth at 3000 cm−1 changed about 1 . . . 2 percentage units per Celsius over short term and even less than 0.2 percentage units per Celsius over the total temperature raise of 30 °C. The unapodised spectral resolution was 4 cm−1 limited by the aperture size. The best achieved signal to noise ratio was about 38 000:1 with commercially available DLaTGS detector. Although the vibration sensitivity requires still improving, the interferometer performed, as a whole, very well and could be further developed to conform all the requirements of the portable and stable spectrometer.

Pinguino In-bearing polymetallic vein deposit, Deseado Massif, Patagonia, Argentina: characteristics of mineralization and ore-forming fluids

The Pinguino deposit, located in the low sulfidation epithermal metallogenetical province of the Deseado Massif, Patagonia, Argentina, represents a distinct deposit type in the region. It evolved through two different mineralization events: an early In-bearing polymetallic event that introduced In, Zn, Pb, Ag, Cd, Au, As, Cu, Sn, W and Bi represented by complex sulfide mineralogy, and a late Ag-Au quartz-rich vein type that crosscut and overprints the early polymetallic mineralization. The indium-bearing polymetallic mineralization developed in three stages: an early Cu-Au-In-As-Sn-W-Bi stage (Ps(1)), a Zn-Pb-Ag-In-Cd-Sb stage (Ps(2)) and a late Zn-In-Cd (Ps(3)). Indium concentrations in the polymetallic veins show a wide range (3.4 to 1,184 ppm In). The highest indium values (up to 1,184 ppm) relate to the Ps(2) mineralization stage, and are associated with Fe-rich sphalerites, although significant In enrichment (up to 159 ppm) is also present in the Ps(1) paragenesis associated with Sn-minerals (ferrokesterite and cassiterite). The hydrothermal alteration associated with the polymetallic mineralization is characterized by advanced argillic alteration within the immediate vein zone, and sericitic alteration enveloping the vein zone. Fluid inclusion studies indicate homogenisation temperatures of 308.2-327A degrees C for Ps(1) and 255-312.4A degrees C for Ps(2), and low to moderate salinities (2 to 5 eq.wt.% NaCl and 4 to 9 eq.wt.% NaCl, respectively). delta(34)S values of sulfide minerals (+0.76aEuro degrees to +3.61aEuro degrees) indicate a possible magmatic source for the sulfur in the polymetallic mineralization while Pb isotope ratios for the sulfides and magmatic rocks ((206)Pb/(204)Pb, (207)Pb/(204)Pb and (208)Pb/(204)Pb ratios of 17.379 to 18.502; 15.588 to 15.730 and 38.234 to 38.756, respectively) are consistent with the possibility that the Pb reservoirs for both had the same crustal source. Spatial relationships, hydrothermal alteration styles, S and Pb isotopic data suggest a probable genetic relation between the polymetallic mineralization and dioritic intrusions that could have been the source of metals and hydrothermal fluids. Mineralization paragenesis, alteration mineralogy, geochemical signatures, fluid inclusion data and isotopic data, confirm that the In-bearing polymetallic mineralization from Pinguino deposit is a distinct type, in comparison with the well-known epithermal low sulfidation mineralization from the Deseado Massif.

Cordierite-bearing lavas from Jaguarao, southern Brazil: Petrological evidence for crustal melts during early rifting of Gondwana

The Jaguarao stratoid dacites (Rio Grande do Sul, Brazil) are limited in areal extent, are comprised of about 3.2 km(3) of preserved erupted material, and outcrop only in areas of the region underlain by mylonitic and ultramylonitic rocks. They are S-type volcanic rocks containing cordierite, orthopyroxene, plagioclase, and ilmenite as liquidus phases, and partially melted granite, gneiss, and migmatite enclaves that are very similar to the Precambrian basement rocks. The Jaguarao lavas have distinct geochemical signatures and Sr-Nd isotopes with respect to other volcanic rocks of the region. Available geochronological data for Jaguarao dacites range between 157 +/- 5 Ma and 139.6 +/- 7.4 Ma. Considering the errors, the younger ages obtained for Jaguarao lavas overlap the 138-128 Ma age of rocks of the Serra Geral Group, and thus indicate that the dacites were erupted prior to the break-up of Gondwana in this region. Petrographic, mineralogical, and petrochemical data, as well as the tectonic context of the Jaguarao lavas, suggest that magma genesis was linked, at least in part, to friction melts. The dacitic magma was generated by partial melting reactions involving biotite breakdown in a dominantly quartz-feldspathic source terrane, leaving a granulite facies residue in subsurface. These melts were probably generated as a consequence of crustal thinning linked to simple shear extension just prior to Gondwana break-up and rifting of the southern Atlantic Ocean. (C) 2009 International Association for Gondwana Research. Published by Elsevier B.V. All rights reserved.

Assessment of water contamination caused by a mutagenic textile effluent/dyehouse effluent bearing disperse dyes

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Weathering of Fe-bearing minerals under extraterrestrial conditions, investigated by Mössbauer spectroscopy

The weathering of Fe-bearing minerals under extraterrestrial conditions was investigated by Mössbauer (MB) spectroscopy to gain insights into the role of water on the planet Mars. The NASA Mars Exploration Rovers Spirit and Opportunity each carry a miniaturized Mössbauer spectrometer MIMOS II for the in situ investigation of Martian soils and rocks as part of their payload. The MER flight instruments had to be modified in order to work over the Martian diurnal temperature range (180 K – 290 K) and within the unique electronic environment of the rovers. The modification required special calibration procedures. The integration time necessary to obtain a good quality Mössbauer spectrum with the MIMOS II flight instruments was reduced by 30 % through the design of a new collimator. The in situ investigation of rocks along the rover Spirit's traverse in Gusev crater revealed weakly altered olivine basalt on the plains and pervasively altered basalt in the Columbia Hills. Correlation plots of primary Fe-bearing minerals identified by MB spectroscopy such as olivine versus secondary Fe-bearing phases such as nanophase Fe oxides showed that olivine is the mineral which is primarily involved in weathering reactions. This argues for a reduced availability of water. Identification of the Fe-oxyhydroxide goethite in the Columbia Hills is unequivocal evidence for aqueous weathering processes in the Columbia Hills. Experiments in which mineral powders were exposed to components of the Martian atmosphere showed that interaction with the atmosphere alone, in the absence of liquid water, is sufficient to oxidize Martian surface materials. The fine-grained dust suspended in the Martian atmosphere may have been altered solely by gas-solid reactions. Fresh and altered specimens of Martian meteorites were investigated with MIMOS II. The study of Martian meteorites in the lab helped to identify in Bounce Rock the first rock on Mars which is similar in composition to basaltic shergottites, a subgroup of the Martian meteorites. The field of astrobiology includes the study of the origin, evolution and distribution of life in the universe. Water is a prerequisite for life. The MER Mössbauer spectrometers identified aqueous minerals such as jarosite and goethite. The identification of jarosite was crucial to evaluate the habitability of Opportunity's landing site at Meridiani Planum during the formation of the sedimentary outcrop rocks, because jarosite puts strong constrains on pH levels. The identification of olivine in rocks and soils on the Gusev crater plains provide evidence for the sparsity of water under current conditions on Mars. Ratios of Fe2+/Fe3+ were obtained with Mössbauer spectroscopy from basaltic glass samples which were exposed at a deep sea hydrothermal vent. The ratios were used as a measure of potential energy for use by a microbial community. Samples from Mars analogue field sites on Earth exhibiting morphological biosignatures were also investigated.

Adaptive rather than non-adaptive evolution of Mimulus guttatus in its invasive range

Adaptive and non-adaptive evolutionary processes are likely to play important roles in biological invasions but their relative importance has hardly ever been quantified. Moreover, although genetic differences between populations in their native versus invasive ranges may simply reflect different positions along a genetic latitudinal cline, this has rarely been controlled for. To study non-adaptive evolutionary processes in invasion of Mimulus guttatus, we used allozyme analyses on offspring of seven native populations from western North America, and three and four invasive populations from Scotland and New Zealand, respectively. To study quantitative genetic differentiation, we grew 2474 plants representing 17 native populations and the seven invasive populations in a common greenhouse environment under temporarily and permanently wet soil conditions. The absence of allozyme differentiation between the invasive and native range indicates that multiple genotypes had been introduced to Scotland and New Zealand, and suggests that founder effects and genetic drift played small, if any, roles in shaping genetic structure of invasive M. guttatus populations. Plants from the invasive and native range did not differ in phenology, floral traits and sexual and vegetative reproduction, and also not in plastic responses to the watering treatments. However, plants from the invasive range produced twice as many flower-bearing upright side branches than the ones from the native populations. Further, with increasing latitude of collection, vegetative reproduction of our experimental plants increased while sexual reproduction decreased. Plants from the invasive and native range shared these latitudinal clines. Because allozymes showed that the relatedness between native and invasive populations did not depend on latitude, this suggests that plants in the invasive regions have adapted to the local latitude. Overall, our study indicates that quantitative genetic variation of M. guttatus in its two invasive regions is shaped by adaptive evolutionary processes rather than by non-adaptive ones. (C) 2007 Gesellschaft fur Okologie. Published by Elsevier GmbH. All rights reserved.

Boron-Bearing Kornerupine from Fiskenaesset, West Greenland: A Reexamination of Specimens from the Type Locality

In 1884, Lorenzen proposed the formula MgAI2SiO6 for his new mineral kornerupine from Fiskenæsset and did not suspect it to contain boron. Lacroix and de Gramont (1919) reported boron in Fiskenæsset kornerupine, while Herd (1973) found none. New analyses (ion microprobe mass analyser and spectrophotometric) of kornerupine in three specimens from the type locality, including the specimens analysed by Lorenzen and Herd, indicate the presence of boron in all three, in amounts ranging from 0.50 to 1.44 wt.% B203, e.g. (Li0.04 Na0.01 Ca0.01) (Mg3.49 Mn0.01 Fe0.17 Ti0.01 Al5.64)Σ9.30 (Si3.67 Al1.02 B0.31)Σ5 O21 (OH0.99 F0.01) for Lorenzen's specimen. Textures and chemical compositions suggest that kornerupine crystallized in equilibrium in the following assemblages, all with anorthite (An 92-95) and phlogopite (XFe = atomic Fe/(Fe + Mg) = 0.028-0.035): (1) kornerupine (0.045)-gedrite (0.067); (2) kornerupine (0.038-0.050)-sapphirine (0.032-0.035); and (3) kornerupine (0.050)-hornblende. Fluorine contents of kornerupine range from 0.01 to 0.06%, of phlogopite, from 0.09 to 0.10%. In the first assemblage, sapphirine (0.040) and corundum are enclosed in radiating bundles of kornerupine; additionally sapphirine, corundum, and/or gedrite occur with chlorite and pinite (cordierite?) as breakdown products of kornerupine. Kornerupine may have formed by reactions such as: gedrite + sapphirine + corundum + B203 (in solution) + H20 = kornerupine + anorthite + Na-phlogopite under conditions of the granulite facies. Boron for kornerupine formation was most likely remobilized by hydrous fluids from metasedimentary rocks occurring along the upper contact of the Fiskenæsset gabbro-anorthosite complex with amphibolite.