Pose estimation of a humanoid robot using images from a mobile external camera

NOGUEIRA, Marcelo B. ; MEDEIROS, Adelardo A. D. ; ALSINA, Pablo J. Pose Estimation of a Humanoid Robot Using Images from an Mobile Extern Camera. In: IFAC WORKSHOP ON MULTIVEHICLE SYSTEMS, 2006, Salvador, BA. Anais... Salvador: MVS 2006, 2006.

A low-cost 3D reconstruction system using a single-shot projection of a pattern matrix

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Scintigraphy of the hepatobiliar system in patients with pulmonary tuberculosis

The objective of this paper was to evaluate the hepatobiliary function of patients with pulmonary tuberculosis under triple treatment, using the technetium-99m-DISIDA (99mTc-DISIDA) hepatobiliary scintigraphy. Ten men and three women with pulmonary tuberculosis were subjected to hepatobiliary scintigraphy at the beginning of triple treatment (M1) and two months after it (M2). Patients were from the urban area, of low socioeconomic level, malnourished, and chronic alcohol and/or tobacco users. Ten normal individuals were evaluated as controls. Radiotracer images were acquired on a computerized gamma camera (Orbiter-Siemens) and T1/2 uptake and excretion values were calculated. Nutritional status and serum hepatic enzyme levels for each patient were evaluated at M1 and M2. None presented clinical or laboratory antecedent of hepatobiliary disease. At M1, there were no hepatic serum or kinetic alterations of the 99mTc-DISIDA. At M2, patients presented better nutritional conditions than at M1; there was increased serum aspartate aminotransferase (AST) and reduced excretion time for 99mTc-DISIDA, which was interpreted as a more adaptive than toxic phenomenon, yet not all alterations were significant and none manifested clinically. Apparently, triple treatment acted on the liver inducing the P450 cytochrome enzymatic system, accelerating radiotracer excretion, which follows the same path as the bilirubins.

Accuracy assessment of a photogrammetric close-range reconstruction system

Geometric accuracy of a close-range photogrammetric system is assessed in this paper considering surface reconstruction with structured light as its main purpose. The system is based on an off-the-shelf digital camera and a pattern projector. The mathematical model for reconstruction is based on the parametric equation of the projected straight line combined with collinearity equations. A sequential approach for system calibration was developed and is presented. Results obtained from real data are also presented and discussed. Experiments with real data using a prototype have indicated 0.5mm of accuracy in height determination and 0.2mm in the XY plane considering an application where the object was 1630mm distant from the camera.

Line based camera calibration in machine vision dynamic applications

The problem of dynamic camera calibration considering moving objects in close range environments using straight lines as references is addressed. A mathematical model for the correspondence of a straight line in the object and image spaces is discussed. This model is based on the equivalence between the vector normal to the interpretation plane in the image space and the vector normal to the rotated interpretation plane in the object space. In order to solve the dynamic camera calibration, Kalman Filtering is applied; an iterative process based on the recursive property of the Kalman Filter is defined, using the sequentially estimated camera orientation parameters to feedback the feature extraction process in the image. For the dynamic case, e.g. an image sequence of a moving object, a state prediction and a covariance matrix for the next instant is obtained using the available estimates and the system model. Filtered state estimates can be computed from these predicted estimates using the Kalman Filtering approach and based on the system model parameters with good quality, for each instant of an image sequence. The proposed approach was tested with simulated and real data. Experiments with real data were carried out in a controlled environment, considering a sequence of images of a moving cube in a linear trajectory over a flat surface.

Development of a low-cost mobile mapping system: A South American experience

This paper presents the prototype of a low-cost terrestrial mobile mapping system (MMS) composed of a van, two digital video cameras, two GPS receivers, a notebook computer, and a sound frame synchronisation system. The imaging sensors are mounted as a stereo video camera on top of the vehicle together with the GPS antennae. The GPS receivers and the notebook computer are configured to record data referred to the vehicle position at a planned time interval. This position is subsequently transferred to the road images. This set of equipment and methods provide the opportunity to merge distinct techniques to make topographic maps and also to build georeferenced road image databases. Both vector maps and raster image databases, when integrated appropriately, can give spatial researchers and engineers a new technique whose application may realise better planning and analysis related to the road environment. The experimental results proved that the MMS developed at the São Paulo State University is an effective approach to inspecting road pavements, to map road marks and traffic signs, electric power poles, telephone booths, drain pipes, and many other applications important to people's safety and welfare. A small number of wad images have already been captured by the prototype as a consequence of its application in distinct projects. An efficient organisation of those images and the prompt access to them justify the need for building a georeferenced image database. By expanding it, both at the hardware and software levels, it is possible for engineers to analyse the entire road environment on their office computers.

A low cost structured light system

The aim of this paper is to present the current development status of a low cost system for surface reconstruction with structured light. The acquisition system is composed of a single off-the-shelf digital camera and a pattern projector. A pattern codification strategy was developed to allow the pattern recognition automatically and a calibration methodology ensures the determination of the direction vector of each pattern. The experiments indicated that an accuracy of 0.5mm in depth could be achieved for typical applications.

A mechatronic system applied to wear particle analysis

This paper describes the development of a mechatronic system for a predictive maintenance grounded on wear particle analysis. The reckoning of wear particles containing in lubricating industrial oils brings the image acquisition system into being. The ISO 4406:1999 standard is a guide to establish the counting and evaluation processes of particles. The system applied to the acquisition and analysis of the data consists of a digital camera, a monocular microscope and an oil filtering system. A computational program was developed with the application of Visual Microsoft C++ in a way to detain the oil sample image from the microscope slide to the computer screen. Quantitative analyses of the wear debris particles bulk are exploited applying a graphical interface that was developed to render the image processing of the sample test. The implemented system has a reachable cost thus it can be applied for schooling goals and for bolstering laboratories of minor industries and medium size companies.

An intelligent system to detect drilling problems through drilled cuttings return analysis

Cuttings return analysis is an important tool to detect and prevent problems during the petroleum well drilling process. Several measurements and tools have been developed for drilling problems detection, including mud logging, PWD and downhole torque information. Cuttings flow meters were developed in the past to provide information regarding cuttings return at the shale shakers. Their use, however, significantly impact the operation including rig space issues, interferences in geological analysis besides, additional personel required. This article proposes a non intrusive system to analyze the cuttings concentration at the shale shakers, which can indicate problems during drilling process, such as landslide, the collapse of the well borehole walls. Cuttings images are acquired by a high definition camera installed above the shakers and sent to a computer coupled with a data analysis system which aims the quantification and closure of a cuttings material balance in the well surface system domain. No additional people at the rigsite are required to operate the system. Modern Artificial intelligence techniques are used for pattern recognition and data analysis. Techniques include the Optimum-Path Forest (OPF), Artificial Neural Network using Multilayer Perceptrons (ANN-MLP), Support Vector Machines (SVM) and a Bayesian Classifier (BC). Field test results conducted on offshore floating vessels are presented. Results show the robustness of the proposed system, which can be also integrated with other data to improve the efficiency of drilling problems detection. Copyright 2010, IADC/SPE Drilling Conference and Exhibition.

The aster mission: Exploring for the first time a triple system asteroid

2001 SN263 is a triple system asteroid. Although it was discovery in 2001, in 2008 astronomical observation carried out by Arecibo observatory revealed that it is actually a system with three bodies orbiting each other. The main central body is an irregular object with a diameter about 2.8 km, while the other two are small objects with less than 1 km across. This system presents an orbital eccentricity of 0.47, with perihelion of 1.04 and aphelion of 1.99, which means that it can be considered as a Near Earth Object. This interesting system was chosen as the target for the Aster mission - first Brazilian space exploration undertaking. A small spacecraft with 150 kg of total mass, 30 kg of payload with 110 W available for the instruments, is scheduled to be launched in 2015, and in 2018 it will approach and will be put in orbit of the triple system. This spacecraft will use electric propulsion and in its payload it will carry image camera, laser rangefinder, infrared spectrometer, mass spectrometer, and experiments to be performed in its way to the asteroid. This mission represents a great challenge for the Brazilian space program. It is being structured to allow the full engagement of the Brazilian universities and technological companies in all the necessary developments to be carried out. In this paper, we present some aspects of this mission, including the transfer trajectories to be used, and details of buss and payload subsystems that are being developed and will be used. Copyright ©2010 by the International Astronautical Federation. All rights reserved.

Working postures of dental students: ergonomic analysis using the Ovako Working Analysis System and Rapid Upper Limb Assessment

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Il Senato come camera di rappresentanza territoriale

La riforma del bicameralismo rappresenta nell’ordinamento italiano una delle tematiche più dibattute sin dalla “concessione” dello Statuto Albertino. In Assemblea Costituente, infatti, l’opzione tra monocamerali e bicameralismo - prima - e il dibattito su che tipo di bicameralismo si sarebbe dovuto adottare - poi - hanno dato vita ad una parte organizzativa particolarmente debole e in gran parte antiquata rispetto alle esigenze della prima parte della Costituzione che, al contrario, ha rappresentato il precipitato di una profonda consonanza di ideali. La tesi si propone dunque l’obiettivo di dimostrare che l’esigenza di procedere ad una riforma del sistema bicamerale in Italia sia oggi quanto mai attuale e necessaria. Da un lato, infatti, essa favorirebbe il superamento delle inefficienze del sistema parlamentare e potrebbe rappresentare uno strumento per ovviare alla debole razionalizzazione della forma di governo che, da sempre, ha determinato la strutturale instabilità degli esecutivi. Dall’altro lato, la riforma servirebbe soprattutto a realizzare quella connessione organica tra Stato e regioni necessaria per completare il disegno regionalistico che si ricava dalla Costituzione stessa. Esigenza questa che, peraltro, si è notevolmente rafforzata con la riforma del titolo V della Costituzione, la cui portata innovativa è stata sostanzialmente svuotata di contenuto a causa delle difficoltà che si sono incontrate nella sua attuazione.

Pulsed plasma thruster ignition system: investigation, test design and results

Fra i sistemi di propulsione elettrica per satelliti, il Pulsed Plasma Thruster, PPT, è quello dal design più semplice. È anche il primo sistema di propulsione elettrica utilizzato in un satellite artificiale, ossia ZOND-2 lanciato nel 1964 dall’Unione Sovietica. Tuttavia, dopo circa 50 anni di ricerca, la comprensione teorica e sperimentale di questo dispositivo rimane limitata. Questo elaborato di tesi magistrale indaga sul sottosistema di accensione del PPT, cercando di mettere in luce alcuni aspetti legati al lifetime della spark plug, SP. Tale SP, o candela, è l’attuatore del sottosistema di accensione. Questa produce una scintilla sulla sua superficie, la quale permette la realizzazione della scarica elettrica principale fra i due elettrodi del motore. Questa scarica crea una sottile parete di plasma che, per mezzo della forza elettromagnetica di Lorentz, produce la spinta del PPT. Poiché la SP si trova all’interno del catodo del motore e si affaccia nella camera di scarica, questa soffre di fenomeni di corrosione e di deposizione carbonacea proveniente dal propellente. Questi fenomeni possono limitare notevolmente il lifetime della SP. I parametri connessi alla vita operativa della SP sono numerosi. In questo elaborato si è analizzata la possibilità di utilizzare una elettronica di accensione della candela alternativa alla classica soluzione che utilizza un trasformatore. Il sottosistema di accensione classico e quello nuovo sono stati realizzati e testati, per metterne in luce le differenze ed i possibili vantaggi/svantaggi.

Contributo sperimentale alla ridefinizione della diffusione in parete della camera di prova della galleria del vento Dallara

Joseph Nicolas Cugnot built the first primitive car in 1769 and approximately one hundred year later the first automotive race took place. Thanks to this, for the first time the aerodynamics principles began to be applied to cars. The aerodynamic study of a car is important to improve the performance on the road, or on the track. It purposely enhances the stability in the turns and increases the maximum velocity. However, it is also useful, decrease the fuel consumption, in order to reduce the pollution. Given that cars are a very complex body, the aerodynamic study cannot be conducted following an analytical method, but it is possible, in general, to choose between two different approaches: the numerical or the experimental one. The results of numerical studies depend on the computers’ potential and on the method use to implement the mathematical model. Today, the best way to perform an aerodynamic study is still experimental, which means that in the first phase of the design process the study is performed in a wind tunnel and in later phases directly on track. The automotive wind tunnels are singular mainly due to the test chamber, which typically contains a ground simulation system. The test chamber can have different types of walls: open walls, closed walls, adaptive walls or slotted walls. The best solution is to use the slotted walls because they minimize the interference between the walls and the streamlines, the interaction between the flow and the environment, and also to contain the overall costs. Furthermore, is necessary minimize the boundary layer at the walls, without accelerating the flow, in order to provide the maximum section of homogeneous flow. This thesis aims at redefining the divergent angle of the Dallara Automobili S.P.A. wind tunnel’s walls, in order to improve the overall homogeneity. To perform this study it was necessary to acquire the pressure data of the boundary layer, than it was created the profile of the boundary layer velocity and, to minimize the experimental errors, it was calculated the displacement thickness. The results obtained shows, even if the instrument used to the experiment was not the best one, that the boundary layer thickness could be minor in case of a low diffusion angle. So it is convenient to perform another experiment with a most sensitive instrument to verified what is the better wall configuration.

Fiberoptic system for recording dendritic calcium signals in layer 5 neocortical pyramidal cells in freely moving rats

Calcium influx into the dendritic tufts of layer 5 neocortical pyramidal neurons modifies a number of important cellular mechanisms. It can trigger local synaptic plasticity and switch the firing properties from regular to burst firing. Due to methodological limitations, our knowledge about Ca2+ spikes in the dendritic tuft stems mostly from in vitro experiments. However, it has been speculated that regenerative Ca2+ events in the distal dendrites correlate with distinct behavioral states. Therefore it would be most desirable to be able to record these Ca2+ events in vivo, preferably in the behaving animal. Here, we present a novel approach for recording Ca2+ signals in the dendrites of populations of layer 5 pyramidal neurons in vivo, which ensures that all recorded fluorescence changes are due to intracellular Ca2+ signals in the apical dendrites. The method has two main features: 1) bolus loading of layer 5 with a membrane-permeant Ca2+ dye resulting in specific loading of pyramidal cell dendrites in the upper layers and 2) a fiberoptic cable attached to a gradient index lens and a prism reflecting light horizontally at 90 degrees to the angle of the apical dendrites. We demonstrate that the in vivo signal-to-noise ratio recorded with this relatively inexpensive and easy-to-implement fiberoptic-based device is comparable to conventional camera-based imaging systems used in vitro. In addition, the device is flexible and lightweight and can be used for recording Ca2+ signals in the distal dendritic tuft of freely behaving animals.