3D model based map building

Comunicación presentada en el IX Workshop de Agentes Físicos (WAF'2008), Vigo, 11-12 septiembre 2008.

Algorithm for Correcting the Keratometric Error in the Estimation of the Corneal Power in Eyes With Previous Myopic Laser Refractive Surgery

Purpose: To calculate theoretically the errors in the estimation of corneal power when using the keratometric index (nk) in eyes that underwent laser refractive surgery for the correction of myopia and to define and validate clinically an algorithm for minimizing such errors. Methods: Differences between corneal power estimation by using the classical nk and by using the Gaussian equation in eyes that underwent laser myopic refractive surgery were simulated and evaluated theoretically. Additionally, an adjusted keratometric index (nkadj) model dependent on r1c was developed for minimizing these differences. The model was validated clinically by retrospectively using the data from 32 myopic eyes [range, −1.00 to −6.00 diopters (D)] that had undergone laser in situ keratomileusis using a solid-state laser platform. The agreement between Gaussian (PGaussc) and adjusted keratometric (Pkadj) corneal powers in such eyes was evaluated. Results: It was found that overestimations of corneal power up to 3.5 D were possible for nk = 1.3375 according to our simulations. The nk value to avoid the keratometric error ranged between 1.2984 and 1.3297. The following nkadj models were obtained: nkadj= −0.0064286r1c + 1.37688 (Gullstrand eye model) and nkadj = −0.0063804r1c + 1.37806 (Le Grand). The mean difference between Pkadj and PGaussc was 0.00 D, with limits of agreement of −0.45 and +0.46 D. This difference correlated significantly with the posterior corneal radius (r = −0.94, P < 0.01). Conclusions: The use of a single nk for estimating the corneal power in eyes that underwent a laser myopic refractive surgery can lead to significant errors. These errors can be minimized by using a variable nk dependent on r1c.

Learning Probabilistic Features for Robotic Navigation Using Laser Sensors

SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N2), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used.

Sedimentological investigations and age model on sediment core PS2561-2

Benthic d13C values (F. wuellerstorfi), kaolinite/chlorite ratios and sortable silt median grain sizes in sediments of a core from the abyssal Agulhas Basin record the varying impact of North Atlantic Deep Water (NADW) and Antarctic Bottom Water (AABW) during the last 200 ka. The data indicate that NADW influence decreased during glacials and increased during interglacials, in concert with the global climatic changes of the late Quaternary. In contrast, AABW displays a much more complex behaviour. Two independent modes of deep-water formation contributed to the AABW production in the Weddell Sea: 1) brine rejection during sea ice formation in polynyas and in the sea ice zone (Polynya Mode) and 2) super-cooling of Ice Shelf Water (ISW) beneath the Antarctic ice shelves (Ice Shelf Mode). Varying contributions of the two modes lead to a high millennial-scale variability of AABW production and export to the Agulhas Basin. Highest rates of AABW production occur during early glacials when increased sea ice formation and an active ISW production formed substantial amounts of deep water. Once full glacial conditions were reached and the Antarctic ice sheet grounded on the shelf, ISW production shut down and only brine rejection generated moderate amounts of deep water. AABW production rates dropped to an absolute minimum during Terminations I and II and the Marine Isotope Transition (MIS) 4/3 transition. Reduced sea ice formation concurrent with an enhanced fresh water influx from melting ice lowered the density of the surface water in the Weddell Sea, thus further reducing deep water formation via brine rejection, while the ISW formation was not yet operating again. During interglacials and the moderate interglacial MIS 3 both brine formation and ISW production were operating, contributing various amounts to AABW formation in the Weddell Sea.

Digital surface model, hillshade and orthophoto of the world's largest fossil oyster reef, links to GeoTIFFs

The world's largest fossil oyster reef, formed by the giant oyster Crassostrea gryphoides and located in Stetten (north of Vienna, Austria) is studied by Harzhauser et al., 2015, 2016; Djuricic et al., 2016. Digital documentation of the unique geological site is provided by terrestrial laser scanning (TLS) at the millimeter scale. Obtaining meaningful results is not merely a matter of data acquisition with a suitable device; it requires proper planning, data management, and postprocessing. Terrestrial laser scanning technology has a high potential for providing precise 3D mapping that serves as the basis for automatic object detection in different scenarios; however, it faces challenges in the presence of large amounts of data and the irregular geometry of an oyster reef. We provide a detailed description of the techniques and strategy used for data collection and processing in Djuricic et al., 2016. The use of laser scanning provided the ability to measure surface points of 46,840 (estimated) shells. They are up to 60-cm-long oyster specimens, and their surfaces are modeled with a high accuracy of 1 mm. In addition to laser scanning measurements, more than 300 photographs were captured, and an orthophoto mosaic was generated with a ground sampling distance (GSD) of 0.5 mm. This high-resolution 3D information and the photographic texture serve as the basis for ongoing and future geological and paleontological analyses. Moreover, they provide unprecedented documentation for conservation issues at a unique natural heritage site.

Calculating the Uncertainty of a Structure from Motion (SfM) Model, Cadman Quarry, Monroe, Washington

Structure from Motion (SfM) is a new form of photogrammetry that automates the rendering of georeferenced 3D models of objects using digital photographs and independently surveyed Ground Control Points (GCPs). This project seeks to quantify the error found in Digital Elevation Models (DEMs) produced using SfM. I modeled a rockslide found at the Cadman Quarry (Monroe, Washington) because the surface is vegetation-free, which is ideal for SfM and Terrestrial LiDAR Scanner (TLS) surveys. By using SfM, TLS, and GPS positioning at the same time, I attempted to find the deviation in the SfM model from the TLS model and GPS points. Using the deviation, I found the Root-Mean-Square Error (RMSE) between the SfM DEM and GPS positions. The RMSE of the SfM model when compared to surveyed GPS points is 17cm. I propagated the uncertainty of the GPS points with the RMSE of the SfM model to find the uncertainty of the SfM model compared to the NAD 1984 datum. The uncertainty of the SfM model compared to the NAD 1984 is 27cm. This study did not produce a model from the TLS that had sufficient resolution on horizontal surfaces to compare to surveyed GPS points.

General foundation for the nonlinear ponderomotive four-force in laser-plasma interactions

The interaction of electromagnetic radiation with plasmas is studied in relativistic four-vector formalism. A gauge and Lorentz invariant ponderomotive four-force is derived from the time dependent nonlinear three-force of Hora (1985). This four-force, due to its Lorentz invariance, contains new magnetic field terms. A new gauge and Lorentz invariant model of the response of plasma to electromagnetic radiation is then devised. An expression for the dispersion relation is obtained from this model. It is then proved that the magnetic permeability of plasma is unity for a general reference frame. This is an important result since it has been previously assumed in many plasma models.

Multiphoton high-resolution 3D imaging of Langerhans cells and keratinocytes in the mouse skin model adopted for epidermal powdered immunization

Langerhans cells (LCs) can be targeted with DNA-coated gold micro-projectiles ("Gene Gun") to induce potent cellular and humoral immune responses. It is likely that the relative volumetric distribution of LCs and keratinocytes within the epidermis impacts on the efficacy of Gene Gun immunization protocols. This study quantified the three-dimensional (3D) distribution of LCs and keratinocytes in the mouse skin model with a near-infrared multiphoton laser-scanning microscope (NIR-MPLSM). Stratum corneum (SC) and viable epidermal thickness measured with MPLSM was found in close agreement with conventional histology. LCs were located in the vertical plane at a mean depth of 14.9 mum, less than 3 mum above the dermo-epidermal boundary and with a normal histogram distribution. This likely corresponds to the fact that LCs reside in the suprabasal layer (stratum germinativum). The nuclear volume of keratinocytes was found to be approximately 1.4 times larger than that of resident LCs (88.6 mum3). Importantly, the ratio of LCs to keratinocytes in mouse ear skin (1:15) is more than three times higher than that reported for human breast skin (1:53). Accordingly, cross-presentation may be more significant in clinical Gene Gun applications than in pre-clinical mouse studies. These interspecies differences should be considered in pre-clinical trials using mouse models.

Precise orbit determination and analysis from satellite altimetry and laser ranging

For optimum utilization of satellite-borne instrumentation, it is necessary to know precisely the orbital position of the spacecraft. The aim of this thesis is therefore two-fold - firstly to derive precise orbits with particular emphasis placed on the altimetric satellite SEASAT and secondly, to utilize the precise orbits, to improve upon atmospheric density determinations for satellite drag modelling purposes. Part one of the thesis, on precise orbit determinations, is particularly concerned with the tracking data - satellite laser ranging, altimetry and crossover height differences - and how this data can be used to analyse errors in the orbit, the geoid and sea-surface topography. The outcome of this analysis is the determination of a low degree and order model for sea surface topography. Part two, on the other hand, mainly concentrates on using the laser data to analyse and improve upon current atmospheric density models. In particular, the modelling of density changes associated with geomagnetic disturbances comes under scrutiny in this section. By introducing persistence modelling of a geomagnetic event and solving for certain geomagnetic parameters, a new density model is derived which performs significantly better than the state-of-the-art models over periods of severe geomagnetic storms at SEASAT heights. This is independently verified by application of the derived model to STARLETTE orbit determinations.

Characterizing femtosecond laser inscribed Bragg grating spectra

We present numerical modeling based on a combination of the Bidirectional Beam Propagation Method and Finite Element Method that completely describes the wavelength spectra of point by point femtosecond laser inscribed fiber Bragg gratings, showing excellent agreement with experiment. We have investigated the dependence of different spectral parameters such as insertion loss, all dominant cladding and ghost modes and their shape relative to the position of the fiber Bragg grating in the core of the fiber. Our model is validated by comparing model predictions with experimental data and allows for predictive modeling of the gratings. We expand our analysis to more complicated structures, where we introduce symmetry breaking; this highlights the importance of centered gratings and how maintaining symmetry contributes to the overall spectral quality of the inscribed Bragg gratings. Finally, the numerical modeling is applied to superstructure gratings and a comparison with experimental results reveals a capability for dealing with complex grating structures that can be designed with particular wavelength characteristics. (C) 2010 Optical Society of America

Theoretical study of Talbot-like bands observed using a laser diode below threshold

We report on a theoretical study of an interferometric system in which half of a collimated beam from a broadband optical source is intercepted by a glass slide, the whole beam subsequently being incident on a diffraction grating and the resulting spectrum being viewed using a linear CCD array. Using Fourier theory, we derive the expression of the intensity distribution across the CCD array. This expression is then examined for non-cavity and cavity sources for different cases determined by the direction from which the slide is inserted into the beam and the source bandwidth. The theoretical model shows that the narrower the source linewidth, the higher the deviation of the Talbot bands' visibility (as it is dependent on the path imbalance) from the previously known triangular shape. When the source is a laser diode below threshold, the structure of the CCD signal spectrum is very complex. The number of components present simultaneously increases with the number of grating lines and decreases with the laser cavity length. The model also predicts the appearance of bands in situations not usually associated with Talbot bands.

Numerical modelling of complex femtosecond laser inscribed fiber gratings - comparison wih experiment

We present experimental studies and numerical modeling based on a combination of the Bidirectional Beam Propagation Method and Finite Element Modeling that completely describes the wavelength spectra of point by point femtosecond laser inscribed fiber Bragg gratings, showing excellent agreement with experiment. We have investigated the dependence of different spectral parameters such as insertion loss, all dominant cladding and ghost modes and their shape relative to the position of the fiber Bragg grating in the core of the fiber. Our model is validated by comparing model predictions with experimental data and allows for predictive modeling of the gratings. We expand our analysis to more complicated structures, where we introduce symmetry breaking; this highlights the importance of centered gratings and how maintaining symmetry contributes to the overall spectral quality of the inscribed Bragg gratings. Finally, the numerical modeling is applied to superstructure gratings and a comparison with experimental results reveals a capability for dealing with complex grating structures that can be designed with particular wavelength characteristics.

Numerical investigation of the impact of reflectors on spectral performance of Raman fibre laser

Using a cavity mode model we study numerically the impact of bandwidth and spectral response profile of fibre Bragg gratings on four-wave-mixing-induced spectral broadening of radiation generated in 6 km and 22 km SMF-based Raman fibre lasers.

Upconversion assisted self-pulsing in a high-concentration erbium doped fiber laser

We report results on experimental and theoretical characterisation of self-pulsing in high concentration erbium doped fibre laser which is free from erbium clusters. Unlike previous models of self-pulsing accounting for pair-induced quenching (PIQ) on the clustered erbium ions, new model has been developed with accounting for statistical nature of the excitation migration and upconversion and resonance-like pumpto-signal intensity noise transfer. The obtained results are in a good agreement with the experimental data.

Optimized design of high power mid-infrared Er3+, Pr3+ -codoped ZBLAN fiber laser

Based on the rate equations describing the operation of the Er3+, Pr3+ -codoped ZBLAN fiber lasers with different pump configurations, theoretical calculations that relate to the population characteristics and optimization of CW operation of high power Er3+, Pr3+ :ZBLAN double-clad fiber lasers are presented. Using the measured ET (energy-transfer), ETU (energy-transfer-upconversion) and CR (cross-relaxation) parameters relevant to Er3+, Pr3+ -codoped ZBLAN, a good agreement between the theoretical results from the model and recently reported experimental measurements is obtained. The effects on the slope efficiency of a number of laser parameters including fiber length, reflectance of the output mirror and pumping configuration are quantitatively analyzed and used for the design and optimization of high power Er3+, Pr3+ -codoped ZBLAN fiber lasers.