Underwater SLAM in a marina environment

This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas or marine platforms. A mechanical scanning imaging sonar is used to obtain information about the location of planar structures present in such environments. A modified version of the Hough transform has been developed to extract line features, together with their uncertainty, from the continuous sonar dataflow. The information obtained is incorporated into a feature-based SLAM algorithm running an Extended Kalman Filter (EKF). Simultaneously, the AUV's position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach

Vehicle WiFi

El projecte presenta el disseny d'un vehicle a motor elèctric construït sobre el sistema microcontrolador LPC1769 amb comunicacions sense fils via xarxes WiFi i detecció d'obstacles per sonar.

Crème Noisette. What else?

Segurament us sonarà aquest eslògan: Nespresso, What else? Café, cuerpo y alma. Segurament, si us mencionem a l’actor George Clooney, ja no només l’identifiqueu amb una de les seves pel·lícules, sinó que directament us ve laimatge de l’anunci que protagonitza per Nespresso. I fins i tot, segurament, molts dels que esteu llegint aquest text, no us heu pogut resistir a la temptació i ja disposeu d’una màquina Nespresso a casa vostra. Nespresso s’ha convertiten un fenomen de masses i en una de les empreses que més està creixent en aquests últims anys. Per tots aquests motius, a l’hora de triar quin seria l’eix fonamental del nostre treball, vam decantar-nos per aquesta empresa.El que pretenem amb aquest treball és esbrinar tots els passos que s’han de seguir per a llençar un nou producte al mercat i analitzar la importància que té el marketing per a les empreses d’avui dia. Hem emmarcat aquests dos objectius dins de l’empresa Nespresso, i és per això que portarem a terme el llançament d’una nova càpsula d’un gust original, analitzarem com serà el seu procés productiu i dissenyarem les possibles tècniques de promoció per tal que tingui èxit. Pel que fa al segon objectiu, comprovarem mitjançant un experiment el grau d’influència que té el marketing sobre els clients.Referent a les conclusions que hem extret amb el nostre treball, aquestes són, per una part, la creació de Crème Noisette, una nova càpsula que no us deixarà indiferents; i per l’altra, que Nespresso basa el seu èxit en la qualitat, però sempre acompanyada d’una gran campanya de marketing.Voleu continuar descobrint els secrets que amaga el llançament d’una nova càpsula? Voleu saber si la gent aprecia realment totes les varietats que ofereix Nespresso? Per a descobrir-ho, us convidem a llegir el nostre treball.

Parallel imaging with phase scrambling.

PURPOSE: Most existing methods for accelerated parallel imaging in MRI require additional data, which are used to derive information about the sensitivity profile of each radiofrequency (RF) channel. In this work, a method is presented to avoid the acquisition of separate coil calibration data for accelerated Cartesian trajectories. METHODS: Quadratic phase is imparted to the image to spread the signals in k-space (aka phase scrambling). By rewriting the Fourier transform as a convolution operation, a window can be introduced to the convolved chirp function, allowing a low-resolution image to be reconstructed from phase-scrambled data without prominent aliasing. This image (for each RF channel) can be used to derive coil sensitivities to drive existing parallel imaging techniques. As a proof of concept, the quadratic phase was applied by introducing an offset to the x(2) - y(2) shim and the data were reconstructed using adapted versions of the image space-based sensitivity encoding and GeneRalized Autocalibrating Partially Parallel Acquisitions algorithms. RESULTS: The method is demonstrated in a phantom (1 × 2, 1 × 3, and 2 × 2 acceleration) and in vivo (2 × 2 acceleration) using a 3D gradient echo acquisition. CONCLUSION: Phase scrambling can be used to perform parallel imaging acceleration without acquisition of separate coil calibration data, demonstrated here for a 3D-Cartesian trajectory. Further research is required to prove the applicability to other 2D and 3D sampling schemes. Magn Reson Med, 2014. © 2014 Wiley Periodicals, Inc.

Integració d’ una unitat inercial i d’ un giroscopi de fibra òptica en un robot submarí i desenvolupament d’ un sistema de posicionament dins una piscina

El Grup de Visió per Computador i Robòtica (VICOROB) del departament d'Electrònica, Informàtica i Automàtica de la Universitat de Girona investiga en el camp de la robòtica submarina. Al CIRS (Centre d’Investigació en Robòtica Submarina), laboratori que forma part del grup VICOROB, el robot submarí Ictineu és la principal eina utilitzada per a desenvolupar els projectes de recerca. Recentment, el CIRS ha adquirit un nou sistema de sensors d' orientació basat en una unitat inercial i un giroscopi de fibra òptica. Aquest projecte pretén realitzar un estudi d' aquests dispositius i integrar-los al robot Ictineu. D' altra banda, aprofitant les característiques d’aquests sensors giroscopics i les mesures d' un sonar ja integrat al robot, es vol desenvolupar un sistema de localització capaç de determinar la posició del robot en el pla horitzontal de la piscina en temps real

Informe preliminar del Crucero de Otoño 1966 (Cabo Blanco - Ilo)

Describe la investigación realizada por el Crucero bio-oceanográfico 6605 del B.A.P. Unanue, correspondiente a la estación Otoño del año 1966, efectuada en dos etapas. El estudio obtuvo información sobre el desove de la anchoveta y otros peces mediante la recolección del plancton con red Hensen, así como se investigó la presencia de cardúmenes de peces por medio de ecosonda y sonar, se efectuaron también observaciones de aves y mamíferos marinos.

Spread spectrum magnetic resonance imaging.

We propose a novel compressed sensing technique to accelerate the magnetic resonance imaging (MRI) acquisition process. The method, coined spread spectrum MRI or simply s(2)MRI, consists of premodulating the signal of interest by a linear chirp before random k-space under-sampling, and then reconstructing the signal with nonlinear algorithms that promote sparsity. The effectiveness of the procedure is theoretically underpinned by the optimization of the coherence between the sparsity and sensing bases. The proposed technique is thoroughly studied by means of numerical simulations, as well as phantom and in vivo experiments on a 7T scanner. Our results suggest that s(2)MRI performs better than state-of-the-art variable density k-space under-sampling approaches.

Ecorrastreos durante febrero de 1966

Describe un rastreo complementario en la zona Callao - Chicama (Crucero 6602 - Carrillo). Con el objeto de hacer factible la comparación de lo ecorregistros en las diferentes lanchas, eligiéndose solo aquellas embarcaciones equipadas con los mismo tipos de sonar y ecosonda.

Eco rastreos durante abril de 1966

Describe las operaciones Eureka III y IV en los días de abril 17 y 24 del 1966, cubriendo las zonas entre Punta Chao y Bahía Independencia. El rastreo con sonar y ecosonda fue completado con observaciones bio oceanológicas básica, especialmente de temperatura.

Informe preliminar del crucero de invierno 1965 (Mácora - Morro Sama)

Describe información acerca del desove de la anchoveta mediante la recolección de planctoncon red hansen. Así mimso, presenta investigaciones sobre la presencia de cardúmenes de peces por medio del eco-sonda y sonar, observaciones de aves y mamiferos marinos.

Persistence of ultrasound synovitis in patients with rheumatoid arthritis fulfilling the DAS28 and/or the new ACR/EULAR RA remission definitions: results of an observational cohort study.

OBJECTIVE: The primary aim of the study was to evaluate whether rheumatoid arthritis (RA) patients considered to be in remission according to clinical criteria sets still had persisting ultrasound (US) synovitis. We further intended to evaluate the capacity of our US score to discriminate between the patients with a clinically active disease versus those in remission. METHODS: This is an observational study nested within the Swiss Clinical Quality Management in Rheumatic Diseases (SCQM) rheumatoid arthritis cohort. A validated US score (SONAR score) based on a semi-quantitative B-mode and Doppler (PwD) score as part of the regular clinical workup by rheumatologists in different clinical settings was used. To define clinically relevant synovitis, the same score was applied to 38 healthy controls and the 90st percentile was used as cut-off for 'relevant' synovitis. RESULTS: Three hundred and seven patients had at least one US examination and concomitant clinical information on disease activity. More than a third of patients in both DAS28 and ACR/EULAR remission showed significant gray scale synovitis (P=0.01 and 0.0002, respectively) and PwD activity (P=0.005 and 0.0005, respectively) when compared to controls. The capacity of US to discriminate between the two clinical remission groups and patients with active disease was only moderate. CONCLUSION: This observational study confirms that many patients considered to be in clinical remission according the DAS and the ACR/EULAR definitions still have residual synovitis on US. The prognostic significance of US synovitis and the exact place of US in patients reaching clinical remission need to be further evaluated.

Design Procedures and Field Monitoring of Submerged Barbs for Streambank Protection, June 2007

The main objective of this study was to evaluate the hydraulic performance of riprap spurs and weirs in controlling bank erosion at the Southern part of the Raccoon River upstream U.S. Highway 169 Bridge utilizing the commercially available model FESWMS and field monitoring. It was found based on a 2 year monitoring and numerical modeling that the design of structures was overall successful, including their spacing and stability. The riprap material incorporated into the structures was directly and favorably correlated to the flow transmission through the structure, or in other words, dictated the permeable nature of the structure. It was found that the permeable dikes and weirs chosen in this study created less volume of scour in the vicinity of the structure toes and thus have less risk comparatively to other impermeable structures to collapse. The fact that the structures permitted the transmission of flow through them it allowed fine sand particles to fill in the gaps of the rock interstices and thus cement and better stabilize the structures. During bank-full flows the maximum scour hole was recorded away from the structures toe and the scourhole size was directly related to the protrusion angle of the structure to the flow. It was concluded that the proposed structure inclination with respect to the main flow direction was appropriate since it provides maximum bank protection while creating the largest volume of local scour away from the structure and towards the center of the channel. Furthermore, the lowest potential for bank erosion also occurs with the present set-up design chosen by the IDOT. About 2 ft of new material was deposited in the area located between the structures for the period extending from the construction day to May 2007. Surveys obtained by sonar and the presence of vegetation indicate that new material has been added at the bank toes. Finally, the structures provided higher variability in bed topography forming resting pools, creating flow shade on the leeward side of the structure, and separation of bed substrate due to different flow conditions. Another notable environmental benefit to rock riprap weirs and dikes is the creation of resting pools, especially in year 2007 (2nd year of the project). The magnitude of these benefits to aquatic habitat has been found in the literature that is directly related to the induced scour-hole volume.

Frequency dynamics of gain-switched injection-locked semiconductor lasers

The frequency dynamics of gain-switched singlemode semiconductor lasers subject to optical injection is investigated. The requirements for low time jitter and reduced frequency chirp operation are studied as a function of the frequency mismatch between the master and slave lasers. Suppression of the power overshoot, typical during gain-switched operation, can be achieved for selected frequency detunings.

Dynamically tuned interferometers for the observation of gravitational waves from coalescing compact binaries

We propose a new method of operating laser interferometric gravitational-wave detectors when observing chirps of gravitational radiation from coalescing compact binary stars. This technique consists of the use of narrow-band dual recycling to increase the signal but with the tuning frequency of the detector arranged to follow the frequency of a chirp. We consider the response of such an instrument to chirps, including the effect of inevitable errors in tracking. Different possible tuning strategies are discussed. Both the final signal-to-noise ratio and timing accuracy are evaluated and are shown to be significantly improved by the use of dynamic tuning. This should allow an accurate and reliable measurement of Hubble's constant.