Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

Structured Light System Calibration for Perception in Underwater Tanks

The process of visually exploring underwater environments is still a complex problem. Underwater vision systems require complementary means of sensor information to help overcome water disturbances. This work proposes the development of calibration methods for a structured light based system consisting on a camera and a laser with a line beam. Two different calibration procedures that require only two images from different viewpoints were developed and tested in dry and underwater environments. Results obtained show, an accurate calibration for the camera/projector pair with errors close to 1 mm even in the presence of a small stereos baseline.

Aquisição e Processamento de Imagens de Microscopia em Balística Forense

As novas tecnologias aplicadas ao processamento de imagem e reconhecimento de padrões têm sido alvo de um grande progresso nas últimas décadas. A sua aplicação é transversal a diversas áreas da ciência, nomeadamente a área da balística forense. O estudo de evidências (invólucros e projeteis) encontradas numa cena de crime, recorrendo a técnicas de processamento e análise de imagem, é pertinente pelo facto de, aquando do disparo, as armas de fogo imprimirem marcas únicas nos invólucros e projéteis deflagrados, permitindo relacionar evidências deflagradas pela mesma arma. A comparação manual de evidências encontradas numa cena de crime com evidências presentes numa base de dados, em termos de parâmetros visuais, constitui uma abordagem demorada. No âmbito deste trabalho pretendeu-se desenvolver técnicas automáticas de processamento e análise de imagens de evidências, obtidas através do microscópio ótico de comparação, tendo por base algoritmos computacionais. Estes foram desenvolvidos com recurso a pacotes de bibliotecas e a ferramentas open-source. Para a aquisição das imagens de evidências balísticas foram definidas quatro modalidades de aquisição: modalidade Planar, Multifocus, Microscan e Multiscan. As imagens obtidas foram aplicados algoritmos de processamento especialmente desenvolvidos para o efeito. A aplicação dos algoritmos de processamento permite a segmentação de imagem, a extração de características e o alinhamento de imagem. Este último tem como finalidade correlacionar as evidências e obter um valor quantitativo (métrica), indicando o quão similar essas evidências são. Com base no trabalho desenvolvido e nos resultados obtidos, foram definidos protocolos de aquisição de imagens de microscopia, que possibilitam a aquisição de imagens das regiões passiveis de serem estudadas, assim como algoritmos que permitem automatizar o posterior processo de alinhamento de imagens de evidências, constituindo uma vantagem em relação ao processo de comparação manual.

Algorithms for information extraction and signal annotation on long-term biosignals using clustering techniques

Dissertação para obtenção do Grau de Mestre em Engenharia Biomédica

Time series morphological analysis applied to biomedical signals events detection

Dissertation submitted in the fufillment of the requirements for the Degree of Master in Biomedical Engineering

Automatic eye blink detection using consumer web cameras

This research aims to advance blinking detection in the context of work activity. Rather than patients having to attend a clinic, blinking videos can be acquired in a work environment, and further automatically analyzed. Therefore, this paper presents a methodology to perform the automatic detection of eye blink using consumer videos acquired with low-cost web cameras. This methodology includes the detection of the face and eyes of the recorded person, and then it analyzes the low-level features of the eye region to create a quantitative vector. Finally, this vector is classified into one of the two categories considered —open and closed eyes— by using machine learning algorithms. The effectiveness of the proposed methodology was demonstrated since it provides unbiased results with classification errors under 5%

Hochdurchsatz-Screeningsystem zur Objekterkennung in Mikroskop-Farbbildern im Rahmen der Analyse pflanzlicher Pathogenresistenz

Color image processing, pattern recognition, machine vision, application

The aggregation of Chauliognathus species (Coleoptera, Cantharidae) and its possible role for coexistence and mimicry

The relative population sizes of a species complex of Chauliognathus are reported, as well as their spatial distribution associated with different patches of food plants. Field work was done at Fazenda Santa Isabel, municipality of Guaíba, State of Rio Grande do Sul, Brazil. The results suggest that two mechanisms account for the reduction in food competition among the species involved: one is asynchrony in the appearance of the species in the area, and the other is aggregation in different patches of food plants. Since the species here reported show a similar colour pattern (yellow-black) the possibility of the occurrence of serial mimicry in this complex of species is dicussed.

Terceira contribuicäo ao conhecimento do gênero Archytas Jaennicke, 1867: (Diptera, Tachinidae)

Twelve species of the genus Archytas Jennicke, 1867, eight of which described as new are studied and figured in detail. Definitions of the species are based mainly on characters of male genitalia. The male genital characters are the most significant for separation of the species and most demonstrative of their affinities. By examining a long series of species of this genus we came to the conclusion that the presence of one pair of median marginal bristles on the third abdominal tergite seems to be characteristic of the genus. This caracter apparently so important, is not however considered fundamental. The most significant example is found in Archytas lenkoi sp. n. and Archytas vexor Curran, 1928. In A. lenkoi we can find one or two pairs or thay may, less frquently, be absent. In A. vexor these bristles are lacking. The shape of the male copulatory apparatus of Jurinia nitidiventris Curran, 1928 refered to by CURRAN in his "Revision of Archytas", is not characteristic of any species of the group and so, is not considered in this paper. To help in the identification, the species studied here are divided into groups. The analis group" includes: A. apicifer (Walker, 1894), A. californiae (Walker, 1856), A. nivalis Curran, 1928, a. giacomellii (Blanchard, 1941), A. basifulvus (Walker, 1849), A. incasanus Townsend, 1912 and A. cirphis Curran, 1927. The identification of members of these group is extremely difficult owing both to their similarity in colour pattern and to their variability. They all have black testaceous or dark brown abdomen, the last segment pale or brownish pollinose; second segment without bristles; third with a pair of strong marginals, fourth and fifth with two rows of discals on apical third. The final determination often rests upon the structure of the male copulatory apparatus. Fortunately in this group, many of the forcipes superiores and palpi genitalium are strikingly different from one another. The "zikani group" includes: A. zikani sp. n., A seabrai sp. n., A. duckei sp. n. and A. vernalis Curran, 1928. This group may be characterized as follows: forcipes interiores absent; forcipes superiores strongly chitinized an dilated at anex. Within this group, the forcipes of. A. seabrai sp. n. do not present an aberrant form. The "dissimilis group" will be studied in forthcoming papers. The limits of the genus Archyta Jaen. are not as yet sharply difined, the evaluation of the significance of each character used in the definition remaining as most difficult problem. The distinction between Archytas and other related genera is very difficult, chiefly because it is based on variable characters. In this paper we place the genera Parafabricia Towsend, 1931, Itachytas Blanchard, 1940, Archynemochaeta Blanchard, 1941, Proarchytoides Blanchard, 1941 and Archytodejeania Blanchard, 1941 in the synonymy of Archytas Jaen. The detailed examination of the characters used in their definition, proved them to be fundamentally proposed on basis of chaetotasy, these characters alone being precarious, because of the considerabel intraspecifical variation. The type of the new species are in the Oswaldo Cruz Institute collection. Rio de Janeiro, Brazil, and paratypes in the collections of the followings institutions: Departamento de Zoologia da Secretaria de Agricultura do Estado de São Paulo; Instituto de Ecologia e Experimemtação Agrícolas; Departamento de Defesa Sanitária Vegetal; Campos Seabra collection; and Barbiellini collection.

Modeling sequencing errors by combining Hidden Markov models.

Among the largest resources for biological sequence data is the large amount of expressed sequence tags (ESTs) available in public and proprietary databases. ESTs provide information on transcripts but for technical reasons they often contain sequencing errors. Therefore, when analyzing EST sequences computationally, such errors must be taken into account. Earlier attempts to model error prone coding regions have shown good performance in detecting and predicting these while correcting sequencing errors using codon usage frequencies. In the research presented here, we improve the detection of translation start and stop sites by integrating a more complex mRNA model with codon usage bias based error correction into one hidden Markov model (HMM), thus generalizing this error correction approach to more complex HMMs. We show that our method maintains the performance in detecting coding sequences.

Immune regulation and function of the NOD-like receptors NLRC5 and NLRP3

AbstractThe vertebrate immune system is composed of the innate and the adaptive branches. Innate immune cells represent the first line of defense and detect pathogens through pattern recognition receptors (PRRs), detecting evolutionary conserved pathogen- and danger- associated molecular patterns. Engagement of these receptors initiates the inflammatory response, but also instructs antigen-specific adaptive immune cells. NOD-like receptors (NLRs) are an important group of PRRs, leading to the production of inflammatory mediators and favoring antigen presentation to Τ lymphocytes through the regulation of major histocompatibility complex (MHC) molecules.In this work we focused our attention on selected NOD-like receptors (NLRs) and their role at the interface between innate and adaptive immunity. First, we describe a new regulatory mechanism controlling IL-1 production. Our results indicate that type I interferons (IFNs) block NLRP1 and NLRP3 inflammasome activity and interfere with LPS-driven proIL-Ια and -β induction. As type I IFNs are produced upon viral infections, these anti-inflammatory effects of type I IFN could be relevant in the context of superinfections, but could also help explaining the efficacy of IFN-β in multiple sclerosis treatment.The second project addresses the role of a novel NLR family member, called NLRC5. The function of this NLR is still matter of debate, as it has been proposed as both an inhibitor and an activator of different inflammatory pathways. We found that the expression of this protein is restricted to immune cells and is positively regulated by IFNs. We generated Nlrc5-deficient mice and found that this NLR plays an essential role in Τ, NKT and, NK lymphocytes, in which it drives the expression of MHC class I molecules. Accordingly, we could show that CD8+ Τ cell-mediated killing of target lymphocytes lacking NLRC5 is strongly impaired. Moreover, NLRC5 expression was found to be low in many lymphoid- derived tumor cell lines, a mechanism that could be exploited by tumors to escape immunosurveillance.Finally, we found NLRC5 to be involved in the production of IL-10 by CD4+ Τ cells, as Nlrc5- deficient Τ lymphocytes produced less of this cytokine upon TCR triggering. In line with these observations, Mrc5-deficient CD4+ Τ cells expanded more than control cells when transferred into lymphopenic hosts and led to a more rapid appearance of colitis symptoms. Therefore, our work gives novel insights on the function of NLRC5 by using knockout mice, and strongly supports the idea that NLRs direct not only innate, but also adaptive immune responses.

Automatic Mallampati Classification Using Active Appearance Models

Difficult tracheal intubation assessment is an important research topic in anesthesia as failed intubations are important causes of mortality in anesthetic practice. The modified Mallampati score is widely used, alone or in conjunction with other criteria, to predict the difficulty of intubation. This work presents an automatic method to assess the modified Mallampati score from an image of a patient with the mouth wide open. For this purpose we propose an active appearance models (AAM) based method and use linear support vector machines (SVM) to select a subset of relevant features obtained using the AAM. This feature selection step proves to be essential as it improves drastically the performance of classification, which is obtained using SVM with RBF kernel and majority voting. We test our method on images of 100 patients undergoing elective surgery and achieve 97.9% accuracy in the leave-one-out crossvalidation test and provide a key element to an automatic difficult intubation assessment system.

Ecdysone triggered PGRP-LC expression controls Drosophila innate immunity.

Throughout the animal kingdom, steroid hormones have been implicated in the defense against microbial infection, but how these systemic signals control immunity is unclear. Here, we show that the steroid hormone ecdysone controls the expression of the pattern recognition receptor PGRP-LC in Drosophila, thereby tightly regulating innate immune recognition and defense against bacterial infection. We identify a group of steroid-regulated transcription factors as well as two GATA transcription factors that act as repressors and activators of the immune response and are required for the proper hormonal control of PGRP-LC expression. Together, our results demonstrate that Drosophila use complex mechanisms to modulate innate immune responses, and identify a transcriptional hierarchy that integrates steroid signalling and immunity in animals.

Generating controlled image sets in cognitive neuroscience research.

The investigation of perceptual and cognitive functions with non-invasive brain imaging methods critically depends on the careful selection of stimuli for use in experiments. For example, it must be verified that any observed effects follow from the parameter of interest (e.g. semantic category) rather than other low-level physical features (e.g. luminance, or spectral properties). Otherwise, interpretation of results is confounded. Often, researchers circumvent this issue by including additional control conditions or tasks, both of which are flawed and also prolong experiments. Here, we present some new approaches for controlling classes of stimuli intended for use in cognitive neuroscience, however these methods can be readily extrapolated to other applications and stimulus modalities. Our approach is comprised of two levels. The first level aims at equalizing individual stimuli in terms of their mean luminance. Each data point in the stimulus is adjusted to a standardized value based on a standard value across the stimulus battery. The second level analyzes two populations of stimuli along their spectral properties (i.e. spatial frequency) using a dissimilarity metric that equals the root mean square of the distance between two populations of objects as a function of spatial frequency along x- and y-dimensions of the image. Randomized permutations are used to obtain a minimal value between the populations to minimize, in a completely data-driven manner, the spectral differences between image sets. While another paper in this issue applies these methods in the case of acoustic stimuli (Aeschlimann et al., Brain Topogr 2008), we illustrate this approach here in detail for complex visual stimuli.

Can MMTV exploit TLR4?

The recognition of microbial pathogens based on their molecular patterns is essential for host defense. Recently, Toll-like receptors have been shown not only to recognize viruses as well as bacteria and fungi, but also to trigger an efficient immune response. A recent publication proposed that the retrovirus mouse mammary tumor virus exploits the pattern-recognition receptor Toll-like receptor 4 to achieve more efficient infection.