Analisi geomorfologica della duna di Lido di Classe in seguito ad un evento di mareggiata, mediante monitoraggio con tenica laser scanner

L’obiettivo di questa tesi è presentare una tecnica di monitoraggio applicabile alle dune costiere, utilizzata per questo studio nella provincia di Ravenna e in particolare su di un cordone trasversale di duna costiera presente nell’area naturale adiacente alla foce del torrente Bevano nella zona di Lido di Classe. Tale tecnica si avvale dell’uso di tecnologia laser per fornire una documentazione 3D estremamente dettagliata, il quale ci permetterà di valutare come il sistema dunale si comporta di fronte ad un evento climatico estremo e/o sotto l’azione delle mareggiate, confrontando sia l’aspetto morfologico che morfometrico mediante l’uso di programmi che ci hanno permesso di confrontare i dati ottenuti prima e dopo l’evento climatico

SERI laser scanner system /

A Laser Scanner System (LSS) produces a photoresponse map and can be used for the nondestructive detection of nonuniformities in the photoresponse of a semiconductor device. At SERI the photoresponse maps are used to identify solar cell faults including microcracks, metallization breaks, regions of poor contact between metallization and the underlying emitter surface, and variations in emitter sheet resistance.

Towards Mapping of Rock Walls Using a UAV-Mounted 2D Laser Scanner in GPS Denied Environments

In geotechnical engineering, the stability of rock excavations and walls is estimated by using tools that include a map of the orientations of exposed rock faces. However, measuring these orientations by using conventional methods can be time consuming, sometimes dangerous, and is limited to regions of the exposed rock that are reachable by a human. This thesis introduces a 2D, simulated, quadcopter-based rock wall mapping algorithm for GPS denied environments such as underground mines or near high walls on surface. The proposed algorithm employs techniques from the field of robotics known as simultaneous localization and mapping (SLAM) and is a step towards 3D rock wall mapping. Not only are quadcopters agile, but they can hover. This is very useful for confined spaces such as underground or near rock walls. The quadcopter requires sensors to enable self localization and mapping in dark, confined and GPS denied environments. However, these sensors are limited by the quadcopter payload and power restrictions. Because of these restrictions, a light weight 2D laser scanner is proposed. As a first step towards a 3D mapping algorithm, this thesis proposes a simplified scenario in which a simulated 1D laser range finder and 2D IMU are mounted on a quadcopter that is moving on a plane. Because the 1D laser does not provide enough information to map the 2D world from a single measurement, many measurements are combined over the trajectory of the quadcopter. Least Squares Optimization (LSO) is used to optimize the estimated trajectory and rock face for all data collected over the length of a light. Simulation results show that the mapping algorithm developed is a good first step. It shows that by combining measurements over a trajectory, the scanned rock face can be estimated using a lower-dimensional range sensor. A swathing manoeuvre is introduced as a way to promote loop closures within a short time period, thus reducing accumulated error. Some suggestions on how to improve the algorithm are also provided.

Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach

In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to obtain the motion estimate. Conversely to traditional approaches, this method does not search for correspondences but performs dense scan alignment based on the scan gradients, in the fashion of dense 3D visual odometry. The minimization problem is solved in a coarse-to-fine scheme to cope with large displacements, and a smooth filter based on the covariance of the estimate is employed to handle uncertainty in unconstraint scenarios (e.g. corridors). Simulated and real experiments have been performed to compare our approach with two prominent scan matchers and with wheel odometry. Quantitative and qualitative results demonstrate the superior performance of our approach which, along with its very low computational cost (0.9 milliseconds on a single CPU core), makes it suitable for those robotic applications that require planar odometry. For this purpose, we also provide the code so that the robotics community can benefit from it.

Monitoramento da morfologia costeira em setores da bacia potiguar sob influência da indústria petrolífera utilizando geodésia de alta precisão e laser escâner terrestre

The objective of this Doctoral Thesis was monitoring, in trimestral scale, the coastal morphology of the Northeastern coast sections of Rio Grande do Norte State, in Brazil, which is an area of Potiguar Basin influenced by the oil industry activities. The studied sections compose coastal areas with intense sedimentary erosion and high environmental sensitivity to the oil spill. In order to achieve the general objective of this study, the work has been systematized in four steps. The first one refers to the evaluation of the geomorphological data acquisition methodologies used on Digital Elevation Model (DEM) of sandy beaches. The data has been obtained from Soledade beach, located on the Northeastern coast of Rio Grande Norte. The second step has been centered on the increasing of the reference geodetic infrastructure to accomplish the geodetic survey of the studied area by implanting a station in Corta Cachorro Barrier Island and by conducting monitoring geodetic surveys to understand the beach system based on the Coastline (CL) and on DEM multitemporal analysis. The third phase has been related to the usage of the methodology developed by Santos; Amaro (2011) and Santos et al. (2012) for the surveying, processing, representation, integration and analysis of Coastlines from sandy coast, which have been obtained through geodetic techniques of positioning, morphological change analysis and sediment transport. The fourth stage represents the innovation of surveys in coastal environment by using the Terrestrial Laser Scanning (TLS), based on Light Detection and Ranging (LiDAR), to evaluate a highly eroded section on Soledade beach where the oil industry structures are located. The evaluation has been achieved through high-precision DEM and accuracy during the modeling of the coast morphology changes. The result analysis of the integrated study about the spatial and temporal interrelations of the intense coastal processes in areas of building cycles and destruction of beaches has allowed identifying the causes and consequences of the intense coastal erosion in exposed beach sections and in barrier islands

Budgeting rockfall and modeling sedimentary delivery in torrent systems

This thesis is a compilation of projects to study sediment processes recharging debris flow channels. These works, conducted during my stay at the University of Lausanne, focus in the geological and morphological implications of torrent catchments to characterize debris supply, a fundamental element to predict debris flows. Other aspects of sediment dynamics are considered, e.g. the coupling headwaters - torrent, as well as the development of a modeling software that simulates sediment transfer in torrent systems. The sediment activity at Manival, an active torrent system of the northern French Alps, was investigated using terrestrial laser scanning and supplemented with geostructural investigations and a survey of sediment transferred in the main torrent. A full year of sediment flux could be observed, which coincided with two debris flows and several bedload transport events. This study revealed that both debris flows generated in the torrent and were preceded in time by recharge of material from the headwaters. Debris production occurred mostly during winter - early spring time and was caused by large slope failures. Sediment transfers were more puzzling, occurring almost exclusively in early spring subordinated to runoffconditions and in autumn during long rainfall. Intense rainstorms in summer did not affect debris storage that seems to rely on the stability of debris deposits. The morpho-geological implication in debris supply was evaluated using DEM and field surveys. A slope angle-based classification of topography could characterize the mode of debris production and transfer. A slope stability analysis derived from the structures in rock mass could assess susceptibility to failure. The modeled rockfall source areas included more than 97% of the recorded events and the sediment budgets appeared to be correlated to the density of potential slope failure. This work showed that the analysis of process-related terrain morphology and of susceptibility to slope failure document the sediment dynamics to quantitatively assess erosion zones leading to debris flow activity. The development of erosional landforms was evaluated by analyzing their geometry with the orientations of potential rock slope failure and with the direction of the maximum joint frequency. Structure in rock mass, but in particular wedge failure and the dominant discontinuities, appear as a first-order control of erosional mechanisms affecting bedrock- dominated catchment. They represent some weaknesses that are exploited primarily by mass wasting processes and erosion, promoting not only the initiation of rock couloirs and gullies, but also their propagation. Incorporating the geological control in geomorphic processes contributes to better understand the landscape evolution of active catchments. A sediment flux algorithm was implemented in a sediment cascade model that discretizes the torrent catchment in channel reaches and individual process-response systems. Each conceptual element includes in simple manner geomorphological and sediment flux information derived from GIS complemented with field mapping. This tool enables to simulate sediment transfers in channels considering evolving debris supply and conveyance, and helps reducing the uncertainty inherent to sediment budget prediction in torrent systems. Cette thèse est un recueil de projets d'études des processus de recharges sédimentaires des chenaux torrentiels. Ces travaux, réalisés lorsque j'étais employé à l'Université de Lausanne, se concentrent sur les implications géologiques et morphologiques des bassins dans l'apport de sédiments, élément fondamental dans la prédiction de laves torrentielles. D'autres aspects de dynamique sédimentaire ont été abordés, p. ex. le couplage torrent - bassin, ainsi qu'un modèle de simulation du transfert sédimentaire en milieu torrentiel. L'activité sédimentaire du Manival, un système torrentiel actif des Alpes françaises, a été étudiée par relevés au laser scanner terrestre et complétée par une étude géostructurale ainsi qu'un suivi du transfert en sédiments du torrent. Une année de flux sédimentaire a pu être observée, coïncidant avec deux laves torrentielles et plusieurs phénomènes de charriages. Cette étude a révélé que les laves s'étaient générées dans le torrent et étaient précédées par une recharge de débris depuis les versants. La production de débris s'est passée principalement en l'hiver - début du printemps, causée par de grandes ruptures de pentes. Le transfert était plus étrange, se produisant presque exclusivement au début du printemps subordonné aux conditions d'écoulement et en automne lors de longues pluies. Les orages d'été n'affectèrent guère les dépôts, qui semblent dépendre de leur stabilité. Les implications morpho-géologiques dans l'apport sédimentaire ont été évaluées à l'aide de MNT et études de terrain. Une classification de la topographie basée sur la pente a permis de charactériser le mode de production et transfert. Une analyse de stabilité de pente à partir des structures de roches a permis d'estimer la susceptibilité à la rupture. Les zones sources modélisées comprennent plus de 97% des chutes de blocs observées et les bilans sédimentaires sont corrélés à la densité de ruptures potentielles. Ce travail d'analyses des morphologies du terrain et de susceptibilité à la rupture documente la dynamique sédimentaire pour l'estimation quantitative des zones érosives induisant l'activité torrentielle. Le développement des formes d'érosion a été évalué par l'analyse de leur géométrie avec celle des ruptures potentielles et avec la direction de la fréquence maximale des joints. Les structures de roches, mais en particulier les dièdres et les discontinuités dominantes, semblent être très influents dans les mécanismes d'érosion affectant les bassins rocheux. Ils représentent des zones de faiblesse exploitées en priorité par les processus de démantèlement et d'érosion, encourageant l'initiation de ravines et couloirs, mais aussi leur propagation. L'incorporation du control géologique dans les processus de surface contribue à une meilleure compréhension de l'évolution topographique de bassins actifs. Un algorithme de flux sédimentaire a été implémenté dans un modèle en cascade, lequel divise le bassin en biefs et en systèmes individuels répondant aux processus. Chaque unité inclut de façon simple les informations géomorpologiques et celles du flux sédimentaire dérivées à partir de SIG et de cartographie de terrain. Cet outil permet la simulation des transferts de masse dans les chenaux, considérants la variabilité de l'apport et son transport, et aide à réduire l'incertitude liée à la prédiction de bilans sédimentaires torrentiels. Ce travail vise très humblement d'éclairer quelques aspects de la dynamique sédimentaire en milieu torrentiel.

Il rilievo della facciata della chiesa di Santa Lucia a Bologna, mediante sistemi fotogrammetrici a basso costo e open source.

Questo elaborato presenta una procedura di rilievo eseguito con la scansione Laser e la Fotogrammetria per lo studio della facciata della Chiesa di Santa Lucia in Bologna e le successive elaborazioni dei dati tramite software di correlazione automatica Open Source e commerciali Low Cost basati sui principi della Structure from Motion. Nel particolare, il rilievo laser è stato eseguito da 5 posizioni diverse e tramite l’utilizzo di 7 target, mentre il rilievo fotogrammetrico è stato di tipo speditivo poiché le prese sono state eseguite solo da terra ed è stato impiegato un tempo di lavoro minimo (una decina di minuti). I punti di appoggio per la georeferenziazione dei dati fotogrammetrici sono stati estratti dal datum fornito dal laser e dal set di fotogrammi a disposizione è stato ottenuta una nuvola di punti densa tramite programmi Open Source e con software commerciali. Si sono quindi potuti operare confronti tra i risultati ottenuti con la fotogrammetria e tra il dato che si aveva di riferimento, cioè il modello tridimensionale ottenuto grazie al rilievo laser. In questo modo si è potuto verificare l’accuratezza dei risultati ottenuti con la fotogrammetria ed è stato possibile determinare quale calcolo teorico approssimativo dell’errore poteva essere funzionante per questo caso di studio e casi simili. Inoltre viene mostrato come produrre un foto raddrizzamento tramite l’utilizzo di una sola foto utilizzando un programma freeware. Successivamente è stata vettorializzata la facciata della chiesa ed è stata valutata l’accuratezza di tale prodotto, sempre confrontandola con il dato di riferimento, ed infine è stato determinato quale calcolo teorico dell’errore poteva essere utilizzato in questo caso. Infine, avendo notato la diffusione nel commercio odierno della stampa di oggetti 3D, è stato proposto un procedimento per passare da una nuvola di punti tridimensionale ad un modello 3D stampato.

Ação de raios gama sobre formas sanguícolas de Trypanosoma cruzi: estudo experimental em camundongos

Amostras de sangue de animais infectados com cepa Y de Trypanosoma cruzi foram submetidas, respectivamente, a 200 e 300 krad de radiação gama. Para verificar a eficácia do método na eliminação do parasita, o material foi inoculado em camundongos e os parâmetros utilizados na avaliação foram: parasitemia, cultura, xenodiagnóstico, subinoculação, reinoculação com cepa virulenta e exame anátomo-patológico das vísceras. Os sangues expostos às duas diferentes intensidades de radiação e inoculados em dois períodos após o processo, mostraram-se inócuos quanto a capacidade de produzir infecção nos animais

Estudo sobre a eventual utilidade de raios gama na profilaxia da malária transmissível por transfusão de sangue

O estudo foi realizado com o objetivo de avaliar a eventual utilidade de raios gama na profilaxia da malária transmissível por transfusão de sangue, tendo sido, para isso, usados camundongos infectados pelo Plasmodium berghei. Na primeira fase, quando submetemos sangue deles retirado a 2.500 e 5.000rad, com associação ou não de metronidazol, não obtivemos sucesso, já que todos os animais antes sem a parasitose apresentaram parasitemia e morreram após inoculação do sangue irradiado. Porém, ocorreu êxito parcial na segunda fase, ao serem empregados 10.000 e 15.000rad, porquanto 20% e 40% dos roedores, respectivamente, embora tenham ficado infectados, sobreviveram, com posterior negativação quanto à presença do P. berghei.

Densidade de um planossolo sob sistemas de cultivo avaliada por meio da tomografia computadorizada de raios gama

A sustentabilidade do arroz (Oryza sativa L.) irrigado em solos de várzea está alicerçada na utilização da rotação e sucessão de culturas, fundamentais para o controle do arroz-vermelho e preto. Os reflexos sobre os atributos dos solos de várzea merecem estudos em especial sobre a compactação do solo. O objetivo deste trabalho foi identificar camadas compactadas em Planossolo submetido a diferentes sistemas de cultivo e preparo, avaliando-se a densidade do solo (Ds) pela Tomografia Computadorizada de Raios Gama (TC). A análise foi realizada em um experimento de longa duração, conduzido de 1985 a 2004, na Estação Experimental da Embrapa Clima Temperado, Capão do Leão, RS, num delineamento experimental em blocos ao acaso, com sete tratamentos, cada um com quatro repetições (T1 - um ano de arroz com preparo convencional do solo seguido de dois anos de pousio; T2 - cultivo contínuo de arroz com preparo convencional do solo; T4 - rotação de arroz e soja (Glycine max L.) com preparo convencional do solo; T5 - rotação de arroz, soja e milho (Zea maiz L.) em preparo convencional do solo; T6 - plantio direto de arroz no verão em sucessão do azevém (Lolium multiflorum L.) no inverno; T7 - rotação de arroz sob plantio direto e soja sob preparo convencional do solo; T8 - testemunha: solo sem cultivo). A Tomografia Computadorizada de Raios Gama permitiu detectar que o plantio direto de arroz no verão em sucessão do azevém no inverno não resultou na formação de camadas compactadas; a utilização de dois anos de pousio, no sistema de produção de arroz irrigado, não foi suficiente para evitar a formação de uma camada superficial compactada; e a rotação de arroz, soja e milho com preparo convencional do solo apresentou duas camadas compactadas (0,0 a 1,5 cm e 11 a 14 cm), indicando que essas podem limitar a produção agrícola nesse sistema de produção em Planossolos.