Levantamento da mastofauna terrestre de médio e grande porte em remanescente de floresta neotropical – Itatinga, SP

The Brazil´s Atlantic coastal forest biome is considered one of the richest and most exuberant biodiversity of the whole planet. Still, other data shows the reality of this Brazilian forest: more than 93% of its original formation has been already devastated, being the human actions the greatest threat to the perpetuation of the balance and diversity of this ecosystem. This destruction affects all the fauna and flora, with even greater impact on medium and large mammals, due to its high demand on the availability of resources, living area and sensitivity to disturbances. However, today it is known the vital importance of these mammals in the preservation and maintenance of biological systems. Thus, the purpose of this study was to survey the species richness of medium and large mammals in a remnant neotropical forest located in Itatinga, SP,Brazil, using the indirect method of recording (traces on sand-plots, marking territorial, faeces, carcasses, scratches on tree trunks and vocalizations) and camera trapping. Data were collected during ten (10) consecutive months in the year 2008, from February to November. Within twenty-five plots of sand installed and monitored during the ten months were found fifteen (15) species of terrestrial mammals of medium and large, five (5) orders and twelve (12) families. Among them, we highlight the presence of threated species like the puma (Puma concolor), the deer (Mazama gouazoubira) and the giant anteaters (Myrmecophaga tridactyla). The chosen method showed up effective in raising terrestrial mammalian species of medium and large neotropical forest area, having a good applicability and advantages over other existing methods. The study area presents a huge diversity of species and, therefore, this work it is recommended to be only the beginning of new researches in the area in order to enrich... (Complete abstract click electronic access below)

Orientação semi-automática de uma sequência de pares de imagens frontais por fototriangulação a partir de fotocoordenadas extraídas pelo SIFT

Pós-graduação em Ciências Cartográficas - FCT

Dispositivo para o auxílio e segurança de pessoas portadoras de restrições físicas em piscinas

Being the hydrotherapy a treatment in water of great importance for children and adults with motor disability, providing safety and comfort is a very important task that is difficult to health professional without the aid of some specialized equipment. Generally imported devices are used for such purposes, these highly complex apparatus have a high cost and limit the patient's movement in water and exercise possibilities in some cases. In this work a solution will be presented to replace such equipment, using catalogs and computer modeling a prototype will be studied and new equipment will be developed to assist entry into the pool and it would also allow mobility to the patient in an aqueous medium. This safely mobility in the water increase the possibilities of exercises and the accessories founded in commercial catalogs make this project feasible from an economic aspect

Dispositivo para o auxílio e segurança de pessoas portadoras de restrições físicas em piscinas

Being the hydrotherapy a treatment in water of great importance for children and adults with motor disability, providing safety and comfort is a very important task that is difficult to health professional without the aid of some specialized equipment. Generally imported devices are used for such purposes, these highly complex apparatus have a high cost and limit the patient's movement in water and exercise possibilities in some cases. In this work a solution will be presented to replace such equipment, using catalogs and computer modeling a prototype will be studied and new equipment will be developed to assist entry into the pool and it would also allow mobility to the patient in an aqueous medium. This safely mobility in the water increase the possibilities of exercises and the accessories founded in commercial catalogs make this project feasible from an economic aspect

Tap-Off Power From the Overhead Shield Wires of an HV Transmission Line

In recent years, there was an increase of ancillary service loads, such as signaling systems, inspection robots, surveillance cameras, and other monitoring devices distributed along high-voltage transmission lines which require low-power dc voltage supplies. This paper investigates the use of the induced voltage in the shield wires of an overhead 525 kV transmission line as a primary power source. Since phase current variations throughout the day affect the induced voltage in the overhead ground wire, a step-down dc-dc converter is used after rectification of the ac voltage to provide a regulated dc output voltage. The initial encouraging results obtained indicate that this form of power supply can be a feasible and cost-effective alternative for feeding small ancillary service loads. The simulation results are validated by field measurements as well as the installation of a 200 W voltage stabilization system prototype.

Path planning for image based visual servoing

This thesis deals with Visual Servoing and its strictly connected disciplines like projective geometry, image processing, robotics and non-linear control. More specifically the work addresses the problem to control a robotic manipulator through one of the largely used Visual Servoing techniques: the Image Based Visual Servoing (IBVS). In Image Based Visual Servoing the robot is driven by on-line performing a feedback control loop that is closed directly in the 2D space of the camera sensor. The work considers the case of a monocular system with the only camera mounted on the robot end effector (eye in hand configuration). Through IBVS the system can be positioned with respect to a 3D fixed target by minimizing the differences between its initial view and its goal view, corresponding respectively to the initial and the goal system configurations: the robot Cartesian Motion is thus generated only by means of visual informations. However, the execution of a positioning control task by IBVS is not straightforward because singularity problems may occur and local minima may be reached where the reached image is very close to the target one but the 3D positioning task is far from being fulfilled: this happens in particular for large camera displacements, when the the initial and the goal target views are noticeably different. To overcame singularity and local minima drawbacks, maintaining the good properties of IBVS robustness with respect to modeling and camera calibration errors, an opportune image path planning can be exploited. This work deals with the problem of generating opportune image plane trajectories for tracked points of the servoing control scheme (a trajectory is made of a path plus a time law). The generated image plane paths must be feasible i.e. they must be compliant with rigid body motion of the camera with respect to the object so as to avoid image jacobian singularities and local minima problems. In addition, the image planned trajectories must generate camera velocity screws which are smooth and within the allowed bounds of the robot. We will show that a scaled 3D motion planning algorithm can be devised in order to generate feasible image plane trajectories. Since the paths in the image are off-line generated it is also possible to tune the planning parameters so as to maintain the target inside the camera field of view even if, in some unfortunate cases, the feature target points would leave the camera images due to 3D robot motions. To test the validity of the proposed approach some both experiments and simulations results have been reported taking also into account the influence of noise in the path planning strategy. The experiments have been realized with a 6DOF anthropomorphic manipulator with a fire-wire camera installed on its end effector: the results demonstrate the good performances and the feasibility of the proposed approach.

Architectures for Context Aware Services in Smart Environments

This thesis deals with Context Aware Services, Smart Environments, Context Management and solutions for Devices and Service Interoperability. Multi-vendor devices offer an increasing number of services and end-user applications that base their value on the ability to exploit the information originating from the surrounding environment by means of an increasing number of embedded sensors, e.g. GPS, compass, RFID readers, cameras and so on. However, usually such devices are not able to exchange information because of the lack of a shared data storage and common information exchange methods. A large number of standards and domain specific building blocks are available and are heavily used in today's products. However, the use of these solutions based on ready-to-use modules is not without problems. The integration and cooperation of different kinds of modules can be daunting because of growing complexity and dependency. In this scenarios it might be interesting to have an infrastructure that makes the coexistence of multi-vendor devices easy, while enabling low cost development and smooth access to services. This sort of technologies glue should reduce both software and hardware integration costs by removing the trouble of interoperability. The result should also lead to faster and simplified design, development and, deployment of cross-domain applications. This thesis is mainly focused on SW architectures supporting context aware service providers especially on the following subjects: - user preferences service adaptation - context management - content management - information interoperability - multivendor device interoperability - communication and connectivity interoperability Experimental activities were carried out in several domains including Cultural Heritage, indoor and personal smart spaces – all of which are considered significant test-beds in Context Aware Computing. The work evolved within european and national projects: on the europen side, I carried out my research activity within EPOCH, the FP6 Network of Excellence on “Processing Open Cultural Heritage” and within SOFIA, a project of the ARTEMIS JU on embedded systems. I worked in cooperation with several international establishments, including the University of Kent, VTT (the Technical Reserarch Center of Finland) and Eurotech. On the national side I contributed to a one-to-one research contract between ARCES and Telecom Italia. The first part of the thesis is focused on problem statement and related work and addresses interoperability issues and related architecture components. The second part is focused on specific architectures and frameworks: - MobiComp: a context management framework that I used in cultural heritage applications - CAB: a context, preference and profile based application broker which I designed within EPOCH Network of Excellence - M3: "Semantic Web based" information sharing infrastructure for smart spaces designed by Nokia within the European project SOFIA - NoTa: a service and transport independent connectivity framework - OSGi: the well known Java based service support framework The final section is dedicated to the middleware, the tools and, the SW agents developed during my Doctorate time to support context-aware services in smart environments.

Waldbrandprognose und Waldbrandbekämpfung in Deutschland

Ist Deutschland auf Waldbrandkatastrophen vorbereitet? Dies ist die zentrale Frage dieser wissenschaftlichen Arbeit. Zahlreiche Großwaldbrände der Vergangenheit zeigen ein deutliches Waldbrandpotential für die bundesdeutschen Areale, speziell in Ostdeutschland. Als eine der Folgen des global warming ist zukünftig mit einem Anstieg der Gefahrensituation zu rechnen. Anhand der Untersuchung zweier Katastrophenwaldbrände wurden Schwachstellen bei der Bekämpfung dieser Waldbrände aufgezeigt, aber auch positive Aspekte herausgestellt. Die wichtigste Erkenntnis ist hierbei die große Bedeutung der Brandbekämpfung aus der Luft. Sie spielt die Schlüsselrolle bei der Bekämpfung von Großwaldbränden. Daher untersucht diese Arbeit die aktuelle Situation in Deutschland und erstellt erstmals ein bundesweites Kataster der Hubschrauberaußenlastbehälter sowie den dazugehörigen Trägerfahrzeugen (Hubschrauber). Aufgrund dieses Katasters sowie einer Auflistung der Systeme zur Branddetektion (Feuerwachtürme und kameragestützte Systeme) kommt diese Arbeit zu dem Ergebnis, dass man in Deutschland gut auf Waldbrandkatastrophen vorbereitet ist. Gleichzeitig liefert diese Arbeit aber auch Optimierungsmöglichkeiten in Form eines Maßnahmenkatalogs. So ist beispielsweise das System der Waldbrandprognose nach M-68 zu überarbeiten, da es die tatsächliche Gefährdungslage teilweise unterschätzt, Simulationsprogramme zur Ausbreitung von Waldbränden sind zu entwickeln, Sicherheitsregeln sind einzuführen. Weiterhin ist die indirekte Brandbekämpfung durch die Aufstellung von task-forces in Deutschland erstmalig zu ermöglichen.

Three-dimensional surface reconstruction within noncontact diffuse optical tomography using structured light

A main field in biomedical optics research is diffuse optical tomography, where intensity variations of the transmitted light traversing through tissue are detected. Mathematical models and reconstruction algorithms based on finite element methods and Monte Carlo simulations describe the light transport inside the tissue and determine differences in absorption and scattering coefficients. Precise knowledge of the sample's surface shape and orientation is required to provide boundary conditions for these techniques. We propose an integrated method based on structured light three-dimensional (3-D) scanning that provides detailed surface information of the object, which is usable for volume mesh creation and allows the normalization of the intensity dispersion between surface and camera. The experimental setup is complemented by polarization difference imaging to avoid overlaying byproducts caused by inter-reflections and multiple scattering in semitransparent tissue.

Projector-based augmented reality for intuitive intraoperative guidance in image-guided 3D interstitial brachytherapy

PURPOSE: The aim of this study is to implement augmented reality in real-time image-guided interstitial brachytherapy to allow an intuitive real-time intraoperative orientation. METHODS AND MATERIALS: The developed system consists of a common video projector, two high-resolution charge coupled device cameras, and an off-the-shelf notebook. The projector was used as a scanning device by projecting coded-light patterns to register the patient and superimpose the operating field with planning data and additional information in arbitrary colors. Subsequent movements of the nonfixed patient were detected by means of stereoscopically tracking passive markers attached to the patient. RESULTS: In a first clinical study, we evaluated the whole process chain from image acquisition to data projection and determined overall accuracy with 10 patients undergoing implantation. The described method enabled the surgeon to visualize planning data on top of any preoperatively segmented and triangulated surface (skin) with direct line of sight during the operation. Furthermore, the tracking system allowed dynamic adjustment of the data to the patient's current position and therefore eliminated the need for rigid fixation. Because of soft-part displacement, we obtained an average deviation of 1.1 mm by moving the patient, whereas changing the projector's position resulted in an average deviation of 0.9 mm. Mean deviation of all needles of an implant was 1.4 mm (range, 0.3-2.7 mm). CONCLUSIONS: The developed low-cost augmented-reality system proved to be accurate and feasible in interstitial brachytherapy. The system meets clinical demands and enables intuitive real-time intraoperative orientation and monitoring of needle implantation.

A Comparative Evaluation of Three Skin Color Detection Approaches

Skin segmentation is a challenging task due to several influences such as unknown lighting conditions, skin colored background, and camera limitations. A lot of skin segmentation approaches were proposed in the past including adaptive (in the sense of updating the skin color online) and non-adaptive approaches. In this paper, we compare three skin segmentation approaches that are promising to work well for hand tracking, which is our main motivation for this work. Hand tracking can widely be used in VR/AR e.g. navigation and object manipulation. The first skin segmentation approach is a well-known non-adaptive approach. It is based on a simple, pre-computed skin color distribution. Methods two and three adaptively estimate the skin color in each frame utilizing clustering algorithms. The second approach uses a hierarchical clustering for a simultaneous image and color space segmentation, while the third approach is a pure color space clustering, but with a more sophisticated clustering approach. For evaluation, we compared the segmentation results of the approaches against a ground truth dataset. To obtain the ground truth dataset, we labeled about 500 images captured under various conditions.

SMARTnet: A Sensor for Monitoring the Geostationary Ring

As the number of space debris is increasing in the geostationary ring, it becomes mandatory for any satellite operator to avoid any collisions. Space debris in geosynchronous orbits may be observed with optical telescopes. Other than radar, that requires very large dishes and transmission powers for sensing high-altitude objects, optical observations do not depend on active illumination from ground and may be performed with notably smaller apertures. The detection size of an object depends on the aperture of the telescope, sky background and exposure time. With a telescope of 50 cm aperture, objects down to approximately 50 cm may be observed. This size is regarded as a threshold for the identification of hazardous objects and the prevention of potentially catastrophic collisions in geostationary orbits. In collaboration with the Astronomical Institute of the University of Bern (AIUB), the German Space Operations Center (GSOC) is building a small aperture telescope to demonstrate the feasibility of optical surveillance of the geostationary ring. The telescope will be located in the southern hemisphere and complement an existing telescope in the northern hemisphere already operated by AIUB. These two telescopes provide an optimum coverage of European GEO satellites and enable a continuous monitoring independent of seasonal limitations. The telescope will be operated completely automatically. The automated operations should be demonstrated covering the full range of activities including scheduling of observations, telescope and camera control as well as data processing.

Annotated record of the detailed examination of Mn deposits from SESAM cruise stations

The cores and dredges described at this site were taken on the SESAM cruise from 30 April until 10 June 1976 by the Muséum National d'Histoire Naturelle from the R/V Marion Dufresne. A total of 55 cores, dredges and camera stations were recovered and are available at MNHN for sampling and study.

Annotated record of the detailed examination of Mn deposits from SAFARI II cruise stations

The cores and dredges described at this site were taken on the SAFARI II cruise from 21 July until 1 September 1981 by the MusÈum National d'Histoire Naturelle from the R/V Marion Dufresne. A total of 65 cores, dredges and camera stations were recovered and are available at MNHN for sampling and study.