A Performance Evaluation of Surface Normals-Based Descriptors for Recognition of Objects using CAD-Models

This paper describes a study and analysis of surface normal-base descriptors for 3D object recognition. Specifically, we evaluate the behaviour of descriptors in the recognition process using virtual models of objects created from CAD software. Later, we test them in real scenes using synthetic objects created with a 3D printer from the virtual models. In both cases, the same virtual models are used on the matching process to find similarity. The difference between both experiments is in the type of views used in the tests. Our analysis evaluates three subjects: the effectiveness of 3D descriptors depending on the viewpoint of camera, the geometry complexity of the model and the runtime used to do the recognition process and the success rate to recognize a view of object among the models saved in the database.

Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks

Traditional visual servoing systems do not deal with the topic of moving objects tracking. When these systems are employed to track a moving object, depending on the object velocity, visual features can go out of the image, causing the fail of the tracking task. This occurs specially when the object and the robot are both stopped and then the object starts the movement. In this work, we have employed a retina camera based on Address Event Representation (AER) in order to use events as input in the visual servoing system. The events launched by the camera indicate a pixel movement. Event visual information is processed only at the moment it occurs, reducing the response time of visual servoing systems when they are used to track moving objects.

Using a RGB-D camera for 6DoF SLAM

This paper presents a method for fast calculation of the egomotion done by a robot using visual features. The method is part of a complete system for automatic map building and Simultaneous Localization and Mapping (SLAM). The method uses optical flow in order to determine if the robot has done a movement. If so, some visual features which do not accomplish several criteria (like intersection, unicity, etc,) are deleted, and then the egomotion is calculated. We use a state-of-the-art algorithm (TORO) in order to rectify the map and solve the SLAM problem. The proposed method provides better efficiency that other current methods.

RGBD Human-Hand recognition for the Interaction with Robot-Hand

New low cost sensors and the new open free libraries for 3D image processing are permitting to achieve important advances for robot vision applications such as tridimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a method to recognize the human hand and to track the fingers is proposed. This new method is based on point clouds from range images, RGBD. It does not require visual marks, camera calibration, environment knowledge and complex expensive acquisition systems. Furthermore, this method has been implemented to create a human interface in order to move a robot hand. The human hand is recognized and the movement of the fingers is analyzed. Afterwards, it is imitated from a Barret hand, using communication events programmed from ROS.

An improvement of a SLAM RGB-D method with movement prediction derived from a study of visual features

This paper presents a method for the fast calculation of a robot’s egomotion using visual features. The method is part of a complete system for automatic map building and Simultaneous Location and Mapping (SLAM). The method uses optical flow to determine whether the robot has undergone a movement. If so, some visual features that do not satisfy several criteria are deleted, and then egomotion is calculated. Thus, the proposed method improves the efficiency of the whole process because not all the data is processed. We use a state-of-the-art algorithm (TORO) to rectify the map and solve the SLAM problem. Additionally, a study of different visual detectors and descriptors has been conducted to identify which of them are more suitable for the SLAM problem. Finally, a navigation method is described using the map obtained from the SLAM solution.

Guidelines for the design of efficient sono-microreactors

Possible drawbacks of microreactors are inefficient reactant mixing and the clogging of microchannels when solid-forming reactions are carried out or solid (catalysts) suspensions are used. Ultrasonic irradiation has been successfully implemented for solving these problems in microreactor configurations ranging from capillaries immersed in ultrasonic baths to devices with miniaturized piezoelectric transducers. Moving forward in process intensification and sustainable development, the acoustic energy implementation requires a strategy to optimize the microreactor from an ultrasound viewpoint during its design. In this work, we present a simple analytical model that can be used as a guide to achieving a proper acoustic design of stacked microreactors. An example of this methodology was demonstrated through finite element analysis and it was compared with an experimental study found in the literature.

Probing large-scale wind structures in Vela X–1 using off-states with INTEGRAL

Vela X–1 is the prototype of the class of wind-fed accreting pulsars in high-mass X-ray binaries hosting a supergiant donor. We have analysed in a systematic way 10 years of INTEGRAL data of Vela X–1 (22–50 keV) and we found that when outside the X-ray eclipse, the source undergoes several luminosity drops where the hard X-rays luminosity goes below ∼3 × 1035 erg s−1, becoming undetected by INTEGRAL. These drops in the X-ray flux are usually referred to as ‘off-states’ in the literature. We have investigated the distribution of these off-states along the Vela X–1 ∼ 8.9 d orbit, finding that their orbital occurrence displays an asymmetric distribution, with a higher probability to observe an off-state near the pre-eclipse than during the post-eclipse. This asymmetry can be explained by scattering of hard X-rays in a region of ionized wind, able to reduce the source hard X-ray brightness preferentially near eclipse ingress. We associate this ionized large-scale wind structure with the photoionization wake produced by the interaction of the supergiant wind with the X-ray emission from the neutron star. We emphasize that this observational result could be obtained thanks to the accumulation of a decade of INTEGRAL data, with observations covering the whole orbit several times, allowing us to detect an asymmetric pattern in the orbital distribution of off-states in Vela X–1.

An XMM-Newton view of FeKα in high-mass X-ray binaries

We present a comprehensive analysis of the whole sample of available XMM-Newton observations of high-mass X-ray binaries (HMXBs) until August 2013, focusing on the FeKα emission line. This line is key to better understanding the physical properties of the material surrounding the X-ray source within a few stellar radii (the circumstellar medium). We collected observations from 46 HMXBs and detected FeKα in 21 of them. We used the standard classification of HMXBs to divide the sample into different groups. We find that (1) different classes of HMXBs display different qualitative behaviours in the FeKα spectral region. This is visible especially in SGXBs (showing ubiquitous Fe fluorescence but not recombination Fe lines) and in γ Cass analogues (showing both fluorescent and recombination Fe lines). (2) FeKα is centred at a mean value of 6.42 keV. Considering the instrumental and fits uncertainties, this value is compatible with ionization states that are lower than Fe xviii. (3) The flux of the continuum is well correlated with the flux of the line, as expected. Eclipse observations show that the Fe fluorescence emission comes from an extended region surrounding the X-ray source. (4) We observe an inverse correlation between the X-ray luminosity and the equivalent width of FeKα (EW). This phenomenon is known as the X-ray Baldwin effect. (5) FeKα is narrow (σline< 0.15 keV), reflecting that the reprocessing material does not move at high speeds. We attempt to explain the broadness of the line in terms of three possible broadening phenomena: line blending, Compton scattering, and Doppler shifts (with velocities of the reprocessing material V ~ 1000 km s-1). (6) The equivalent hydrogen column (NH) directly correlates to the EW of FeKα, displaying clear similarities to numerical simulations. It highlights the strong link between the absorbing and the fluorescent matter. (7) The observed NH in supergiant X-ray binaries (SGXBs) is in general higher than in supergiant fast X-ray transients (SFXTs). We suggest two possible explanations: different orbital configurations or a different interaction compact object – wind. (8) Finally, we analysed the sources IGR J16320-4751 and 4U 1700-37 in more detail, covering several orbital phases. The observed variation in NH between phases is compatible with the absorption produced by the wind of their optical companions. The results clearly point to a very important contribution of the donor’s wind in the FeKα emission and the absorption when the donor is a supergiant massive star.

A Simple RVoG Test for PolInSAR Data

In this paper, we present a simple algorithm for assessing the validity of the RVoG model for PolInSAR-based inversion techniques. This approach makes use of two important features characterizing a homogeneous random volume over a ground surface, i.e., the independence on polarization states of wave propagation through the volume and the structure of the polarimetric interferometric coherency matrix. These two features have led to two different methods proposed in the literature for retrieving the topographic phase within natural covers, i.e., the well-known line fitting procedure and the observation of the (1, 2) element of the polarimetric interferometric coherency matrix. We show that differences between outputs from both approaches can be interpreted in terms of the PolInSAR modeling based on the Freeman-Durden concept, and this leads to the definition of a RVoG/non-RVoG test. The algorithm is tested with both indoor and airborne data over agricultural and tropical forest areas.

Estimation of Key Dates and Stages in Rice Crops Using Dual-Polarization SAR Time Series and a Particle Filtering Approach

Information of crop phenology is essential for evaluating crop productivity. In a previous work, we determined phenological stages with remote sensing data using a dynamic system framework and an extended Kalman filter (EKF) approach. In this paper, we demonstrate that the particle filter is a more reliable method to infer any phenological stage compared to the EKF. The improvements achieved with this approach are discussed. In addition, this methodology enables the estimation of key cultivation dates, thus providing a practical product for many applications. The dates of some important stages, as the sowing date and the day when the crop reaches the panicle initiation stage, have been chosen to show the potential of this technique.

FFT Interpolation From Nonuniform Samples Lying in a Regular Grid

This paper presents a method to interpolate a periodic band-limited signal from its samples lying at nonuniform positions in a regular grid, which is based on the FFT and has the same complexity order as this last algorithm. This kind of interpolation is usually termed “the missing samples problem” in the literature, and there exists a wide variety of iterative and direct methods for its solution. The one presented in this paper is a direct method that exploits the properties of the so-called erasure polynomial and provides a significant improvement on the most efficient method in the literature, which seems to be the burst error recovery (BER) technique of Marvasti’s The paper includes numerical assessments of the method’s stability and complexity.

Estimation of Time-Limited Channel Spectra From Nonuniform Samples

This paper deals with the estimation of a time-invariant channel spectrum from its own nonuniform samples, assuming there is a bound on the channel’s delay spread. Except for this last assumption, this is the basic estimation problem in systems providing channel spectral samples. However, as shown in the paper, the delay spread bound leads us to view the spectrum as a band-limited signal, rather than the Fourier transform of a tapped delay line (TDL). Using this alternative model, a linear estimator is presented that approximately minimizes the expected root-mean-square (RMS) error for a deterministic channel. Its main advantage over the TDL is that it takes into account the spectrum’s smoothness (time width), thus providing a performance improvement. The proposed estimator is compared numerically with the maximum likelihood (ML) estimator based on a TDL model in pilot-assisted channel estimation (PACE) for OFDM.

A new survey of cool supergiants in the Magellanic Clouds

Aims. In this study we conduct a pilot program aimed at the red supergiant population of the Magellanic Clouds. We intend to extend the current known sample to the unexplored low end of the brightness distribution of these stars, building a more representative dataset with which to extrapolate their behaviour to other Galactic and extra-galactic environments. Methods. We select candidates using only near infrared photometry, and with medium resolution multi-object spectroscopy, we perform spectral classification and derive their line-of-sight velocities, confirming the nature of the candidates and their membership in the clouds. Results. Around two hundred new red supergiants have been detected, hinting at a yet to be observed large population. Using near- and mid-infrared photometry we study the brightness distribution of these stars, the onset of mass-loss, and the effect of dust in their atmospheres. Based on this sample, new a priori classification criteria are investigated, combining mid- and near-infrared photometry to improve the observational efficiency of similar programs to this.

Ultraluminous X-ray sources with the SKA

The discovery almost three decades ago of non-nuclear, point-like X-ray sources with X-ray luminosities LX ≥ 3 × 1039 erg s−1 revolutionized the physics of black hole accretion. If of stellar origin, such Ultraluminous X-ray sources (ULXs) would have to accrete at super-Eddington rates in order to reach the observed high X-ray luminosities. Alternatively, ULXs could host sub-Eddington accreting intermediate-mass black holes, which are the long-time sought missing link between stellar and supermassive black holes and the possible seeds of the supermassive black holes that formed in the early Universe. The nature of ULXs can be better investigated in those cases for which a radio counterpart is detected. Radio observations of ULXs have revealed a wide variety of morphologies and source types, from compact and extended jets to radio nebulae and transient behaviours, providing the best observational evidence for the presence of an intermediate-mass black hole in some of them. The high sensitivity of the SKA will allow us to study the faintest ULX radio counterparts in the Local Universe as well as to detect new sources at much larger distances. It will thus perform a leap step in understanding ULXs, their accretion physics, and their possible role as seed black holes in supermassive black hole and galaxy growth.

The donor star of the X-ray pulsar X1908+075

High-mass X-ray binaries consist of a massive donor star and a compact object. While several of those systems have been well studied in X-rays, little is known for most of the donor stars as they are often heavily obscured in the optical and ultraviolet regime. There is an opportunity to observe them at infrared wavelengths, however. The goal of this study is to obtain the stellar and wind parameters of the donor star in the X1908+075 high-mass X-ray binary system with a stellar atmosphere model to check whether previous studies from X-ray observations and spectral morphology lead to a sufficient description of the donor star. We obtained H- and K-band spectra of X1908+075 and analysed them with the Potsdam Wolf-Rayet (PoWR) model atmosphere code. For the first time, we calculated a stellar atmosphere model for the donor star, whose main parameters are: Mspec = 15 ± 6 M⊙, T∗ = 23-3+6 kK, log geff = 3.0 ± 0.2 and log L/L⊙ = 4.81 ± 0.25. The obtained parameters point towards an early B-type (B0–B3) star, probably in a supergiant phase. Moreover we determined a more accurate distance to the system of 4.85 ± 0.50 kpc than the previously reported value.